Solar panel driving mechanism working state autonomous detection and abnormal disposal method and system

Abstract

The application provides a solar panel drive mechanism working state autonomous detection and abnormal treatment method and system. The method comprises the following steps: step S1: collecting telemetry data of the solar panel drive mechanism according to a collection control period, and performing single-machine layer state detection based on a solar panel drive mechanism working state judgment method; step S2: when the single-machine layer state is detected to be abnormal, a corresponding single-machine layer treatment method is taken to make the solar panel drive mechanism return to a normal working state. Based on the state data of the solar panel drive mechanism itself, the sensor data on the satellite and the current data generated by the solar panel, according to the solar panel drive mechanism working state judgment method that can be implemented on the satellite, and aiming at the abnormal state, a set of abnormal response treatment method that can be implemented on the satellite is provided, so that the solar panel drive mechanism abnormal state determination and treatment can be completed on the satellite in time and autonomously, and the risk of insufficient satellite energy caused by the abnormal working state of the solar panel drive mechanism is reduced.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft control technology, and in particular to a method for autonomously detecting the working state of a solar panel drive mechanism and handling abnormalities. Background Art

[0002] In recent years, with the proposals and subsequent launches of numerous low-orbit communication satellite constellations both domestically and internationally, the number of satellites that ground control centers must simultaneously maintain has increased. Due to the harsh space environment of satellite orbits, even with the appropriate protective measures designed into onboard equipment, in-orbit anomalies are difficult to avoid. If ground control centers were solely responsible for identifying and addressing in-orbit anomalies, the timeliness of such identification and resolution would be difficult to guarantee due to the limitations of the tracking and control arc. To meet the pointing requirements of payloads and ensure energy supply, low-orbit communication satellites are often equipped with solar array actuators, which rotate the solar arrays to maintain their Sun-facing orientation. If an in-orbit anomaly in the solar array actuator is not detected and addressed promptly, it could lead to a decrease in the power generated by the solar arrays, potentially jeopardizing the energy security of the entire satellite. Summary of the Invention

[0003] In order to overcome the above technical deficiencies, the first aspect of the present invention provides a method for autonomously detecting the working status of a solar panel drive mechanism and handling abnormalities, which includes:

[0004] Step S1: collecting telemetry data of the solar panel drive mechanism according to the collection control period, and performing single-machine layer status detection based on the working status judgment method of the solar panel drive mechanism;

[0005] Step S2: When it is detected that the state of a single machine layer is abnormal, a corresponding single machine layer treatment method is adopted to restore the solar panel driving mechanism to a normal working state.

[0006] Furthermore, in step S1, the telemetry data includes the working voltage V, the working current I, the temperature of the rotating mechanism T, the software counting angle θ s and the potentiometer to measure the angle θ dwj , the method for determining the working state of the solar panel driving mechanism includes:

[0007] (1) Judgment of data acquisition status: After the solar panel drive mechanism is powered on, if the telemetry data source code of the solar panel drive mechanism collected by the onboard computer for n1 consecutive acquisition control cycles does not change or no telemetry data of the solar panel drive mechanism is collected, the data acquisition status is determined to be abnormal, and the data acquisition abnormality count Counter is set according to the acquisition control cycle. CJ +1; otherwise, the data collection status is determined to be normal, and Counter CJ Set to zero;

[0008] (2) Judgment of the working voltage status: When the data acquisition status is normal and the working voltage V is not in the interval [(1-δ1)V0, (1+δ2)V0] for n2 consecutive acquisition control cycles, the working voltage status is judged to be abnormal; otherwise, the working voltage status is judged to be normal;

[0009] (3) Judgment of the working current state: When the data acquisition state is normal and the working current I of the solar panel drive mechanism during rotation is not within the interval [(1-δ3)I0, (1+δ4)I0] for n3 consecutive acquisition control cycles, the working current state is judged to be abnormal; otherwise, the working current state is judged to be normal;

[0010] (4) Judgment of working temperature status: When the data acquisition status is normal and the temperature of the rotating mechanism T exceeds T for n4 consecutive acquisition control cycles, m +ΔT1 or when the temperature rises by more than ΔT2, the operating temperature state is determined to be abnormal; otherwise, the operating temperature state is determined to be normal;

[0011] (5) Judgment of angle measurement status: When the data acquisition status is normal and the software of the drive mechanism counts the angle θ s Measuring angle θ with a potentiometer dwj When the absolute value of the difference is greater than δ5 for n5 consecutive acquisition control cycles, the angle measurement state is judged to be abnormal; otherwise, the angle measurement state is judged to be normal;

[0012] (6) Determination of zero position: When the drive mechanism is in tracking mode and pointing to the sun, if the software counts the angle θ s >(360°+δ6), if the software counting angle is still not triggered to clear to zero, the zero position state is determined to be abnormal; otherwise, the zero position state is determined to be normal;

[0013] Among them, n1, n2, n3, n4, n5 are counting thresholds, which are integers. To avoid the influence of single acquisition data on judgment, the value is required to be greater than 1; δ1, δ2, δ3, δ4 are the voltage and current fluctuation percentages, which are selected according to the fluctuation range of the working voltage and current, and the value range is (0, 1); T m is the upper limit of the operating temperature of the rotating mechanism, ΔT1 and ΔT2 are the short-term allowable temperature fluctuation thresholds of the driving mechanism, ΔT1>0, ΔT2>0; δ5 is the angle measurement state judgment threshold, the value should be greater than the angle measurement accuracy of the potentiometer, δ5>0; δ6 is the zero position state judgment angle threshold, δ6>0; V0 represents the design value of the operating voltage when the driving mechanism is working normally; I0 represents the design value of the operating current when the driving mechanism is working normally; T1 and T2 are the short-term allowable temperature fluctuation thresholds of the driving mechanism;

[0014] When one or more of the data acquisition state, the working voltage state, the working current state, the working temperature state, the angle measurement state, and the zero position state is abnormal, it is determined that the working state of the solar panel driving mechanism is abnormal.

[0015] Furthermore, in step S2, the corresponding single-machine layer handling method includes:

[0016] (1) When the data acquisition state is abnormal, or the working voltage state is abnormal, or the working current state is abnormal, or the working temperature state is abnormal, the onboard computer program controls and sends a command for the drive mechanism to enter the standby mode, and stops the rotation of the drive mechanism;

[0017] (2) When the angle measurement state or the zero position state is abnormal, the onboard computer program controls the drive mechanism to enter the zero return mode command, so that the drive mechanism rotates back to the zero position first and the software count angle is corrected; when the angle measurement state and the zero position state are normal, the tracking mode is restored to point to the sun;

[0018] (3) When the rotation state is abnormal and the rotation state abnormality counter DR <C DR3 When the satellite is in orbit, the onboard computer first sends the drive mechanism an instruction to enter the zero return mode to correct the software counting angle; when the software counting angle correction is completed, the onboard computer sends the drive mechanism an instruction to enter the tracking mode to enable the solar sail drive mechanism to point towards the sun again.

[0019] (4) When the drive mechanism enters the zero return mode, before the drive mechanism completes the zero return, the zero return time counter is counted according to the acquisition control cycle. Zero +1; When the drive mechanism completes the return to zero, the Counter Zero Clear to zero;

[0020] (5) When both the working current state and the working temperature state are abnormal, the onboard computer program controls and sends a reset instruction for the solar panel drive mechanism;

[0021] (6) When the count satisfies: C CJ1 <Counter CJ <C CJ2 , or C DR1 <Counter DR <C DR2 , or C Zero1 <Counter Zero <C Zero2 When the onboard computer program controls the solar sail drive mechanism, it sends a reset instruction;

[0022] (7) When the count satisfies: C CJ2 <Counter CJ <C CJ3, or C DR2 <Counter DR <C DR3 , or C Zero2 <Counter Zero <C Zero3 When the satellite computer program controls the solar sail driving mechanism, it sends the main and standby machine switching command, that is, if the main machine is currently powered on, the main machine is powered off, the standby machine is powered on, and the switch is made to the standby machine; if the standby machine is currently powered on, the standby machine is powered off, the main machine is powered on, and the switch is made to the main machine;

[0023] (8) When the count satisfies: Counter CJ >C CJ3 , or Counter DR >C DR3 , or Counter Zero >C Zero3 When the onboard computer stops the solar panel drive mechanism reset or the main standby machine switching operation;

[0024] Among them, C CJ1 ,C CJ2 ,C CJ3 is the data collection status abnormality handling count threshold, C CJ3 >C CJ2 >C CJ1 >0;C DR1 ,C DR2 ,C DR3 is the rotation state abnormality counting threshold, C DR3 >C DR2 >C DR1 >0;C Zero1 ,C Zero2 ,C Zero3 To judge the counting threshold of zero return abnormality, the value is C Zero3 >3×360° / (ω0t), C Zero2 >2×360° / (ω0t), C Zero1 >360° / (ω0t); ω0 is the angular velocity of the drive mechanism in the zero return mode, and t is the acquisition control period.

[0025] Furthermore, the method for autonomously detecting the working state of the solar panel drive mechanism and handling abnormalities further includes:

[0026] Step S3: collecting telemetry data of other units in the system according to the collection control cycle, and performing system level status detection based on a working status judgment method that cross-compares the solar panel drive mechanism data with the data of other units in the system;

[0027] Step S4: When the solar panel drive mechanism has not recovered to normal working state after adopting the single-machine layer treatment method and an abnormal system layer state is detected, the satellite attitude is controlled by the system layer treatment method to restore the solar panel drive mechanism to normal working state.

[0028] Furthermore, in step S3, the working status judgment method of cross-comparing the solar panel driving mechanism data with the data of other single devices in the system includes:

[0029] (1) Determine the rotation state of the solar panel drive mechanism based on the comparison of the solar sensor data installed on the solar panel and the solar vector data of the satellite system:

[0030] In the illuminated area, the sun vector S' is calculated from the sun sensor data on the solar sail and the rotation angle of the solar sail drive mechanism. b as follows:

[0031] S′ b =R bm R ml S l

[0032] Then calculate S′ b and the sun vector S in the satellite body coordinate system b The cosine of the angle δ between them is:

[0033]

[0034] If cosδ<λ for n6 consecutive acquisition control cycles, it is determined that the rotation state of the solar sail drive mechanism is abnormal, and the rotation state abnormality count Counter is counted according to the cycle. DR +1; otherwise, the abnormal status counter will be turned periodically. DR -1;

[0035] Among them, S l The solar vector in the solar sensor coordinate system obtained from the solar sensor data on the solar sail, dimension 1*3; S b It can be obtained from the data of the sun sensor on the satellite or through satellite attitude calculation, with a dimension of 1*3; R ml is the installation matrix of the sun sensor relative to the solar sail panel, with a dimension of 3*3; R bm is the transformation matrix of the solar panel relative to the satellite coordinate system obtained by calculating the rotation angle of the solar panel drive mechanism, with a dimension of 3*3; n6 is the counting threshold, which is an integer and n6>1; λ is the cosine threshold of the angle, 0<λ<1; || represents the modulus value of the vector;

[0036] (2) Determine the rotation state of the solar panel drive mechanism based on the current generated on the solar panel and the solar vector data of the satellite system:

[0037] Calculate the theoretical current value I generated by the solar panel at the current rotation angle of the solar panel drive mechanism in the illumination area d , the calculation formula is as follows:

[0038] L b =R bm ·L m

[0039]

[0040] Then calculate the current value I generated by the solar panel b The theoretical current value I generated by the solar panel d The percentage deviation η between:

[0041]

[0042] If |η|>η0 for n7 consecutive acquisition cycles, the rotation state of the solar sail drive mechanism is determined to be abnormal, and the rotation state abnormality count Counter is set according to the cycle. DR +1; otherwise, the abnormal status counter will be turned periodically. DR -1;

[0043] Among them, L b is the normal vector of the solar sail panel in the satellite coordinate system calculated based on the current rotation angle of the solar sail panel drive mechanism; L m is the normal vector of the solar cell on the solar sail panel, dimension 1*3; I m is the maximum current that the solar panel can generate when sunlight shines vertically on the plane of the solar panel; n7 is the counting threshold, which is an integer and n7>1; η0 is the percentage threshold of the current difference and 0<η0<1.

[0044] Furthermore, in step S4, the system layer handling method includes:

[0045] (1) When Counter CJ >C CJ3 When the onboard computer program controls the drive mechanism to enter the standby mode, the drive mechanism stops rotating; at the same time, the onboard computer controls the satellite attitude according to the current normal position vector of the solar sail panel, and completes the solar sail panel pointing to the sun by rotating the satellite;

[0046] (2) Otherwise, when Counter Zero >C Zero3 When the onboard computer program controls the drive mechanism to enter the standby mode, the drive mechanism stops rotating, and at the same time the onboard computer controls the satellite attitude according to the current normal position vector of the solar panel, and completes the pointing of the solar panel towards the sun by rotating the satellite;

[0047] (3) Otherwise, when Counter DR >C DR3 At this time, the onboard computer program controls the sending of the drive mechanism to enter the return to zero mode instruction, so that the drive mechanism returns to the zero position; at the same time, the onboard computer controls the satellite attitude according to the normal position vector of the solar sail panel when the solar sail panel drive mechanism is at the zero position, and completes the pointing of the solar sail panel towards the sun by rotating the satellite.

[0048] A second aspect of the present application provides a system for autonomously detecting the working status of a solar panel drive mechanism and handling abnormalities, comprising:

[0049] a single-machine-layer state detection module, the single-machine-layer state detection module being configured to collect telemetry data of the solar panel drive mechanism according to an acquisition control period, and perform single-machine-layer state detection based on a method for determining the working state of the solar panel drive mechanism;

[0050] The single-machine layer processing module is configured to take corresponding single-machine layer processing methods to restore the solar panel driving mechanism to a normal working state when detecting that the single-machine layer state is abnormal.

[0051] Furthermore, the solar panel drive mechanism working state autonomous detection and abnormality handling system further includes:

[0052] a system-level state detection module configured to collect telemetry data from other units in the system according to an acquisition control cycle, and perform system-level state detection based on a working state judgment method that cross-compares solar panel drive mechanism data with data from other units in the system;

[0053] A system layer handling module is configured to control the satellite attitude through the system layer handling method to restore the solar panel drive mechanism to a normal working state when the solar panel drive mechanism has not recovered to a normal working state after adopting the single-machine layer handling method and an abnormal system layer state is detected.

[0054] The third aspect of the present application provides an electronic device, which includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor. When the computer instructions are run by the processor, the above-mentioned solar panel drive mechanism working status autonomous detection and abnormality handling method is completed.

[0055] The fourth aspect of the present application provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the above-mentioned method for autonomous detection of the working status of the solar panel drive mechanism and abnormality handling is completed.

[0056] Compared with the existing technology, the above technical solution has the following beneficial effects:

[0057] The method for autonomously detecting the working status of the solar panel drive mechanism of the present invention and handling abnormalities is based on the status data of the solar panel drive mechanism itself, on-board sensor data, current generated by the solar panel and other data, and is based on a method for judging the working status of the solar panel drive mechanism that can be implemented on-board. A set of abnormal response and handling methods that can be implemented on-board are provided for abnormal conditions, so as to realize timely and autonomous completion of abnormal status judgment and handling of the solar panel drive mechanism on-board, and reduce the risk of insufficient satellite energy due to abnormal working status of the solar panel drive mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a flow chart of the method for autonomous detection of the working status of the solar panel drive mechanism and abnormality handling;

[0059] Figure 2 This is a module structure diagram of the solar panel drive mechanism's working status autonomous detection and abnormality handling system. DETAILED DESCRIPTION

[0060] The advantages of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments. Those skilled in the art will appreciate that the content specifically described below is illustrative and not restrictive, and should not limit the scope of protection of the present invention in this manner. It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment. In the absence of conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0061] The solar panel drive mechanism consists of a drive control circuit and a rotation mechanism. The drive control circuit receives commands from the onboard computer and converts them into analog signals to control the rotation mechanism's motion. The drive control circuit utilizes a primary / backup configuration, and the drive mechanism's motor uses primary / backup windings, both with independent cold standby. The solar panel drive mechanism's operating modes include standby, tracking, hold, and home modes.

[0062] Example 1

[0063] This embodiment provides a method for autonomous detection of the working status of a solar panel drive mechanism and abnormality handling, which includes the following four parts: (1) designing a working status criterion based on the solar panel drive mechanism data to realize single-machine-level status detection; (2) designing a status criterion for cross-comparison with other single-machine data on the system to realize system-level status detection; (3) designing a single-machine-level handling method when the solar panel drive mechanism status is abnormal; (4) designing a system-level handling method when the solar panel drive mechanism status is abnormal.

[0064] Specifically, if Figure 1 As shown, this embodiment provides a method for autonomously detecting the working state of a solar panel drive mechanism and handling abnormalities, including:

[0065] Step S1: collecting telemetry data of the solar panel driving mechanism according to the collection control period, and performing single-machine layer status detection based on the working status judgment method of the solar panel driving mechanism.

[0066] First, the onboard computer collects telemetry data of the solar panel drive mechanism according to the acquisition control cycle. The data includes working voltage V, working current I, rotation mechanism temperature T, software counting angle θ s 、Potentiometer measures angle θ dwj The method for judging the working status of the solar panel driving mechanism includes:

[0067] (1) Judgment of data acquisition status: After the solar panel drive mechanism is powered on, if the telemetry data source code of the solar panel drive mechanism collected by the onboard computer for n1 consecutive acquisition control cycles does not change or no telemetry data of the solar panel drive mechanism is collected, the data acquisition status is determined to be abnormal, and the data acquisition abnormality count Counter is set according to the acquisition control cycle. CJ +1; otherwise, the data collection status is determined to be normal, and Counter CJ Set to zero;

[0068] (2) Judgment of the working voltage status: When the data acquisition status is normal and the working voltage V is not in the interval [(1-δ1)V0, (1+δ2)V0] for n2 consecutive acquisition control cycles, the working voltage status is judged to be abnormal; otherwise, the working voltage status is judged to be normal;

[0069] (3) Judgment of the working current state: When the data acquisition state is normal and the working current I of the solar panel drive mechanism during rotation is not within the interval [(1-δ3)I0, (1+δ4)I0] for n3 consecutive acquisition control cycles, the working current state is judged to be abnormal; otherwise, the working current state is judged to be normal;

[0070] (4) Judgment of working temperature status: When the data acquisition status is normal and the temperature of the rotating mechanism T exceeds T for n4 consecutive acquisition control cycles,m +ΔT1 or when the temperature rises by more than ΔT2, the operating temperature state is determined to be abnormal; otherwise, the operating temperature state is determined to be normal;

[0071] (5) Judgment of angle measurement status: When the data acquisition status is normal and the software of the drive mechanism counts the angle θ s Measuring angle θ with a potentiometer dwj When the absolute value of the difference is greater than δ5 for n5 consecutive acquisition control cycles, the angle measurement state is judged to be abnormal; otherwise, the angle measurement state is judged to be normal;

[0072] (6) Determination of zero position: When the drive mechanism is in tracking mode and pointing to the sun, if the software counts the angle θ s >(360°+δ6), if the software counting angle is still not triggered to clear to zero, the zero position state is determined to be abnormal; otherwise, the zero position state is determined to be normal;

[0073] Among them, n1, n2, n3, n4, n5 are counting thresholds, which are integers. To avoid the influence of single acquisition data on judgment, the value is required to be greater than 1; δ1, δ2, δ3, δ4 are the voltage and current fluctuation percentages, which are selected according to the fluctuation range of the working voltage and current, and the value range is (0, 1); T m is the design upper limit of the operating temperature of the rotating mechanism, ΔT1 and ΔT2 are the short-term allowable temperature fluctuation thresholds of the driving mechanism, ΔT1>0, ΔT2>0; δ5 is the angle measurement state judgment threshold, and the value should be greater than the angle measurement accuracy of the potentiometer, δ5>0; δ6 is the zero position state judgment angle threshold, δ6>0; V0 represents the design value of the working voltage when the driving mechanism is working normally; I0 represents the design value of the working current when the driving mechanism is working normally; T1 and T2 are the short-term allowable temperature fluctuation thresholds of the driving mechanism.

[0074] The above six judgment methods are in an "or" relationship, that is, as long as any one of them is abnormal, it can be determined that the single machine layer status is abnormal.

[0075] Step S2: When it is detected that the state of a single machine layer is abnormal, a corresponding single machine layer treatment method is adopted to restore the solar panel driving mechanism to a normal working state.

[0076] When the solar panel drive mechanism is in an abnormal state, the single-machine layer's handling is aimed at restoring the working state of the solar panel drive mechanism. The main measures include returning to zero, resetting, and master-backup switching.

[0077] The working mode of the solar panel drive mechanism is designed as follows:

[0078] (1) When the data acquisition state is abnormal, or the working voltage state is abnormal, or the working current state is abnormal, or the working temperature state is abnormal, the onboard computer program controls and sends a command for the drive mechanism to enter the standby mode, and stops the rotation of the drive mechanism;

[0079] (2) When the angle measurement state or the zero position state is abnormal, the onboard computer program controls the drive mechanism to enter the zero return mode command, so that the drive mechanism rotates back to the zero position first and the software count angle is corrected; when the angle measurement state and the zero position state are normal, the tracking mode is restored to point to the sun;

[0080] (3) When the rotation state is abnormal and the rotation state abnormality counter DR <C DR3 When the satellite is in orbit, the onboard computer first sends the drive mechanism an instruction to enter the zero return mode to correct the software counting angle; when the software counting angle correction is completed, the onboard computer sends the drive mechanism an instruction to enter the tracking mode to enable the solar sail drive mechanism to point towards the sun again.

[0081] (4) When the drive mechanism enters the zero return mode, before the drive mechanism completes the zero return, the zero return time counter is counted according to the acquisition control cycle. Zero +1; When the drive mechanism completes the return to zero, the Counter Zero Clear to zero;

[0082] The solar panel drive mechanism reset and main / standby switching strategy is designed as follows:

[0083] (5) When both the working current state and the working temperature state are abnormal, the onboard computer program controls and sends a reset instruction for the solar panel drive mechanism;

[0084] (6) When the count satisfies: C CJ1 <Counter CJ <C CJ2 , or C DR1 <Counter DR <C DR2 , or C Zero1 <Counter Zero <C Zero2 When the onboard computer program controls the solar sail drive mechanism, it sends a reset instruction;

[0085] (7) When the count satisfies: C CJ2 <Counter CJ <C CJ3 , or C DR2 <Counter DR <C DR3 , or C Zero2 <Counter Zero <C Zero3When the satellite computer program controls the solar sail driving mechanism, it sends the main and standby machine switching command, that is, if the main machine is currently powered on, the main machine is powered off, the standby machine is powered on, and the switch is made to the standby machine; if the standby machine is currently powered on, the standby machine is powered off, the main machine is powered on, and the switch is made to the main machine;

[0086] (8) When the count satisfies: Counter CJ >C CJ3 , or Counter DR >C DR3 , or Counter Zero >C Zero3 When the onboard computer stops the solar panel drive mechanism reset or the main standby machine switching operation;

[0087] Among them, C CJ1 ,C CJ2 ,C CJ3 is the data collection status abnormality handling count threshold, C CJ3 >C CJ2 >C CJ1 >0;C DR1 ,C DR2 ,C DR3 is the rotation state abnormality counting threshold, C DR3 >C DR2 >C DR1 >0;C Zero1 ,C Zero2 ,C Zero3 To judge the counting threshold of zero return abnormality, the value is C Zero3 >3×360° / (ω0t), C Zero2 >2×360° / (ω0t), C Zero1 >360° / (ω0t); ω0 is the angular velocity of the drive mechanism in the zero return mode, and t is the acquisition control period.

[0088] Step S3: collecting telemetry data of other units in the system according to the collection control cycle, and performing system level status detection based on a working status judgment method that cross-compares the solar panel drive mechanism data with the data of other units in the system.

[0089] In step S3, the working status judgment method of cross-comparing the solar panel driving mechanism data with the data of other single devices in the system includes:

[0090] (1) Determine the rotation state of the solar panel drive mechanism based on the comparison of the solar sensor data installed on the solar panel and the solar vector data of the satellite system:

[0091] In the illuminated area, the sun vector S' is calculated from the sun sensor data on the solar sail and the rotation angle of the solar sail drive mechanism. b as follows:

[0092] S′ b =R bm R ml S l

[0093] Then calculate S′ b and the sun vector S in the satellite body coordinate system b The cosine of the angle δ between them is:

[0094]

[0095] If cosδ<λ for n6 consecutive acquisition control cycles, it is determined that the rotation state of the solar sail drive mechanism is abnormal, and the rotation state abnormality count Counter is counted according to the cycle. DR +1; otherwise, the abnormal status counter will be turned periodically. DR -1;

[0096] Among them, S l The solar vector in the solar sensor coordinate system obtained from the solar sensor data on the solar sail, dimension 1*3; S b It can be obtained from the data of the sun sensor on the satellite or through satellite attitude calculation, with a dimension of 1*3; R ml is the installation matrix of the sun sensor relative to the solar sail panel, with a dimension of 3*3; R bm is the transformation matrix of the solar panel relative to the satellite coordinate system obtained by calculating the rotation angle of the solar panel drive mechanism, with a dimension of 3*3; n6 is the counting threshold, which is an integer and n6>1; λ is the cosine threshold of the angle, 0<λ<1; || represents the modulus value of the vector;

[0097] (2) Determine the rotation state of the solar panel drive mechanism based on the current generated on the solar panel and the solar vector data of the satellite system:

[0098] Calculate the theoretical current value I generated by the solar panel at the current rotation angle of the solar panel drive mechanism in the illumination area d , the calculation formula is as follows:

[0099] L b =R bm ·L m

[0100]

[0101] Then calculate the current value I generated by the solar panel b The theoretical current value I generated by the solar panel d The percentage deviation η between:

[0102]

[0103] If |η|>η0 for n7 consecutive acquisition cycles, the rotation state of the solar sail drive mechanism is determined to be abnormal, and the rotation state abnormality count Counter is set according to the cycle. DR +1; otherwise, the abnormal status counter will be turned periodically. DR -1;

[0104] Among them, L b is the normal vector of the solar sail panel in the satellite coordinate system calculated based on the current rotation angle of the solar sail panel drive mechanism; L m is the normal vector of the solar cell on the solar sail panel, dimension 1*3; I m is the maximum current that the solar panel can generate when sunlight shines vertically on the plane of the solar panel; n7 is the counting threshold, which is an integer and n7>1; η0 is the percentage threshold of the current difference and 0<η0<1.

[0105] Step S4: When the solar panel drive mechanism has not recovered to normal working state after adopting the single-machine layer treatment method and an abnormal system layer state is detected, the satellite attitude is controlled by the system layer treatment method to restore the solar panel drive mechanism to normal working state.

[0106] System-level disposal aims to ensure satellite energy security. When standalone disposal measures cannot restore the solar array drive mechanism to normal rotation of the solar array, the main measure is to control the satellite attitude to make the solar array point toward the sun. System-level disposal methods include:

[0107] (1) When Counter CJ >C CJ3 When the onboard computer program controls the drive mechanism to enter the standby mode, the drive mechanism stops rotating; at the same time, the onboard computer controls the satellite attitude according to the current normal position vector of the solar sail panel, and completes the solar sail panel pointing to the sun by rotating the satellite;

[0108] (2) Otherwise, when Counter Zero >C Zero3 When the onboard computer program controls the drive mechanism to enter the standby mode, the drive mechanism stops rotating, and at the same time the onboard computer controls the satellite attitude according to the current normal position vector of the solar panel, and completes the pointing of the solar panel towards the sun by rotating the satellite;

[0109] (3) Otherwise, when Counter DR >C DR3At this time, the onboard computer program controls the sending of the drive mechanism to enter the return to zero mode instruction, so that the drive mechanism returns to the zero position; at the same time, the onboard computer controls the satellite attitude according to the normal position vector of the solar sail panel when the solar sail panel drive mechanism is at the zero position, and completes the pointing of the solar sail panel towards the sun by rotating the satellite.

[0110] The above system layer disposal method controls the satellite attitude in the order of (1) → (2) → (3) to restore the solar sail panel drive mechanism to a normal working state.

[0111] Example 2

[0112] This embodiment provides a solar panel drive mechanism working state autonomous detection and abnormality handling system, such as Figure 2 As shown, it includes: a single-machine layer status detection module, a single-machine layer processing module, a system layer status detection module and a system layer processing module.

[0113] The single-machine layer state detection module is configured to collect telemetry data of the solar panel driving mechanism according to an acquisition control period, and perform single-machine layer state detection based on a working state judgment method of the solar panel driving mechanism.

[0114] Telemetry data includes working voltage V, working current I, rotating mechanism temperature T, software counting angle θ s and the potentiometer to measure the angle θ dwj The method for determining the working status of the solar panel drive mechanism includes:

[0115] (1) Judgment of data acquisition status: After the solar panel drive mechanism is powered on, if the telemetry data source code of the solar panel drive mechanism collected by the onboard computer for n1 consecutive acquisition control cycles does not change or no telemetry data of the solar panel drive mechanism is collected, the data acquisition status is determined to be abnormal, and the data acquisition abnormality count Counter is set according to the acquisition control cycle. CJ +1; otherwise, the data collection status is determined to be normal, and Counter CJ Set to zero;

[0116] (2) Judgment of the working voltage status: When the data acquisition status is normal and the working voltage V is not in the interval [(1-δ1)V0, (1+δ2)V0] for n2 consecutive acquisition control cycles, the working voltage status is judged to be abnormal; otherwise, the working voltage status is judged to be normal;

[0117] (3) Judgment of the working current state: When the data acquisition state is normal and the working current I of the solar panel drive mechanism during rotation is not within the interval [(1-δ3)I0, (1+δ4)I0] for n3 consecutive acquisition control cycles, the working current state is judged to be abnormal; otherwise, the working current state is judged to be normal;

[0118] (4) Judgment of working temperature status: When the data acquisition status is normal and the temperature of the rotating mechanism T exceeds T for n4 consecutive acquisition control cycles, m +ΔT1 or when the temperature rises by more than ΔT2, the operating temperature state is determined to be abnormal; otherwise, the operating temperature state is determined to be normal;

[0119] (5) Judgment of angle measurement status: When the data acquisition status is normal and the software of the drive mechanism counts the angle θ s Measuring angle θ with a potentiometer dwj When the absolute value of the difference is greater than δ5 for n5 consecutive acquisition control cycles, the angle measurement state is judged to be abnormal; otherwise, the angle measurement state is judged to be normal;

[0120] (6) Determination of zero position: When the drive mechanism is in tracking mode and pointing to the sun, if the software counts the angle θ s >(360°+δ6), if the software counting angle is still not triggered to clear to zero, the zero position state is determined to be abnormal; otherwise, the zero position state is determined to be normal;

[0121] Among them, n1, n2, n3, n4, n5 are counting thresholds, which are integers. To avoid the influence of single acquisition data on judgment, the value is required to be greater than 1; δ1, δ2, δ3, δ4 are the voltage and current fluctuation percentages, which are selected according to the fluctuation range of the working voltage and current, and the value range is (0, 1); T m is the upper limit of the operating temperature of the rotating mechanism, ΔT1 and ΔT2 are the short-term allowable temperature fluctuation thresholds of the driving mechanism, ΔT1>0, ΔT2>0; δ5 is the angle measurement state judgment threshold, the value should be greater than the angle measurement accuracy of the potentiometer, δ5>0; δ6 is the zero position state judgment angle threshold, δ6>0; V0 represents the design value of the operating voltage when the driving mechanism is working normally; I0 represents the design value of the operating current when the driving mechanism is working normally; T1 and T2 are the short-term allowable temperature fluctuation thresholds of the driving mechanism;

[0122] When one or more of the data acquisition state, the working voltage state, the working current state, the working temperature state, the angle measurement state, and the zero position state is abnormal, it is determined that the working state of the solar panel driving mechanism is abnormal.

[0123] The single-machine layer handling module is configured to take corresponding single-machine layer handling methods to restore the solar sail panel driving mechanism to a normal working state when detecting that the single-machine layer state is abnormal.

[0124] The corresponding single-machine layer handling methods include:

[0125] (1) When the data acquisition state is abnormal, or the working voltage state is abnormal, or the working current state is abnormal, or the working temperature state is abnormal, the onboard computer program controls and sends a command for the drive mechanism to enter the standby mode, and stops the rotation of the drive mechanism;

[0126] (2) When the angle measurement state or the zero position state is abnormal, the onboard computer program controls the drive mechanism to enter the zero return mode command, so that the drive mechanism rotates back to the zero position first and the software count angle is corrected; when the angle measurement state and the zero position state are normal, the tracking mode is restored to point to the sun;

[0127] (3) When the rotation state is abnormal and the rotation state abnormality counter DR <C DR3 When the satellite is in orbit, the onboard computer first sends the drive mechanism an instruction to enter the zero return mode to correct the software counting angle; when the software counting angle correction is completed, the onboard computer sends the drive mechanism an instruction to enter the tracking mode to enable the solar sail drive mechanism to point towards the sun again.

[0128] (4) When the drive mechanism enters the zero return mode, before the drive mechanism completes the zero return, the zero return time counter is counted according to the acquisition control cycle. Zero +1; When the drive mechanism completes the return to zero, the Counter Zero Clear to zero;

[0129] (5) When both the working current state and the working temperature state are abnormal, the onboard computer program controls and sends a reset instruction for the solar panel drive mechanism;

[0130] (6) When the count satisfies: C CJ1 <Counter CJ <C CJ2 , or C DR1 <Counter DR <C DR2 , or C Zero1 <Counter Zero <C Zero2 When the onboard computer program controls the solar sail drive mechanism, it sends a reset instruction;

[0131] (7) When the count satisfies: C CJ2 <Counter CJ <C CJ3 , or C DR2 <Counter DR <C DR3 , or C Zero2 <Counter Zero <C Zero3 When the satellite computer program controls the solar sail driving mechanism, it sends the main and standby machine switching command, that is, if the main machine is currently powered on, the main machine is powered off, the standby machine is powered on, and the switch is made to the standby machine; if the standby machine is currently powered on, the standby machine is powered off, the main machine is powered on, and the switch is made to the main machine;

[0132] (8) When the count satisfies: Counter CJ >C CJ3 , or Counter DR >C DR3 , or Counter Zero >C Zero3 When the onboard computer stops the solar panel drive mechanism reset or the main standby machine switching operation;

[0133] Among them, C CJ1 ,C CJ2 ,C CJ3 is the data collection status abnormality handling count threshold, C CJ3 >C CJ2 >C CJ1 >0;C DR1 ,C DR2 ,C DR3 is the rotation state abnormality counting threshold, C DR3 >C DR2 >C DR1 >0;C Zero1 ,C Zero2 ,C Zero3 To judge the counting threshold of zero return abnormality, the value is C Zero3 >3×360° / (ω0t), C Zero2 >2×360° / (ω0t), C Zero1 >360° / (ω0t); ω0 is the angular velocity of the drive mechanism in the zero return mode, and t is the acquisition control period.

[0134] The system level status detection module is configured to collect telemetry data of other units in the system according to the collection control cycle, and perform system level status detection based on a working status judgment method that cross-compares the solar panel drive mechanism data with the data of other units in the system.

[0135] The working status judgment method of cross-comparing the solar panel drive mechanism data with the data of other single devices in the system includes:

[0136] (1) Determine the rotation state of the solar panel drive mechanism based on the comparison of the solar sensor data installed on the solar panel and the solar vector data of the satellite system:

[0137] In the illuminated area, the sun vector S' is calculated from the sun sensor data on the solar sail and the rotation angle of the solar sail drive mechanism. b as follows:

[0138] S′ b =R bm R ml S l

[0139] Then calculate S′b and the sun vector S in the satellite body coordinate system b The cosine of the angle δ between them is:

[0140]

[0141] If cosδ<λ for n6 consecutive acquisition control cycles, it is determined that the rotation state of the solar sail drive mechanism is abnormal, and the rotation state abnormality count Counter is counted according to the cycle. DR +1; otherwise, the abnormal status counter will be turned periodically. DR -1;

[0142] Among them, S l The solar vector in the solar sensor coordinate system obtained from the solar sensor data on the solar sail, dimension 1*3; S b It can be obtained from the data of the sun sensor on the satellite or through satellite attitude calculation, with a dimension of 1*3; R ml is the installation matrix of the sun sensor relative to the solar sail panel, with a dimension of 3*3; R bm is the transformation matrix of the solar panel relative to the satellite coordinate system obtained by calculating the rotation angle of the solar panel drive mechanism, with a dimension of 3*3; n6 is the counting threshold, which is an integer and n6>1; λ is the cosine threshold of the angle, 0<λ<1; || represents the modulus value of the vector;

[0143] (2) Determine the rotation state of the solar panel drive mechanism based on the current generated on the solar panel and the solar vector data of the satellite system:

[0144] Calculate the theoretical current value I generated by the solar panel at the current rotation angle of the solar panel drive mechanism in the illumination area d , the calculation formula is as follows:

[0145] L b =R bm ·L m

[0146]

[0147] Then calculate the current value I generated by the solar panel b The theoretical current value I generated by the solar panel d The percentage deviation η between:

[0148]

[0149] If |η|>η0 for n7 consecutive acquisition cycles, the rotation state of the solar sail drive mechanism is determined to be abnormal, and the rotation state abnormality count Counter is set according to the cycle. DR+1; otherwise, the abnormal status counter will be turned periodically. DR -1;

[0150] Among them, L b is the normal vector of the solar sail panel in the satellite coordinate system calculated based on the current rotation angle of the solar sail panel drive mechanism; L m is the normal vector of the solar cell on the solar sail panel, dimension 1*3; I m is the maximum current that the solar panel can generate when sunlight shines vertically on the plane of the solar panel; n7 is the counting threshold, which is an integer and n7>1; η0 is the percentage threshold of the current difference and 0<η0<1.

[0151] The system layer handling module is configured to control the satellite attitude through the system layer handling method to restore the solar panel drive mechanism to a normal working state when the solar panel drive mechanism has not recovered to a normal working state after adopting the single-machine layer handling method and an abnormal system layer state is detected.

[0152] System-level disposal methods include:

[0153] (1) When Counter CJ >C CJ3 When the onboard computer program controls the drive mechanism to enter the standby mode, the drive mechanism stops rotating; at the same time, the onboard computer controls the satellite attitude according to the current normal position vector of the solar sail panel, and completes the solar sail panel pointing to the sun by rotating the satellite;

[0154] (2) Otherwise, when Counter Zero >C Zero3 When the onboard computer program controls the drive mechanism to enter the standby mode, the drive mechanism stops rotating, and at the same time the onboard computer controls the satellite attitude according to the current normal position vector of the solar panel, and completes the pointing of the solar panel towards the sun by rotating the satellite;

[0155] (3) Otherwise, when Counter DR >C DR3 At this time, the onboard computer program controls the sending of the drive mechanism to enter the return to zero mode instruction, so that the drive mechanism returns to the zero position; at the same time, the onboard computer controls the satellite attitude according to the normal position vector of the solar sail panel when the solar sail panel drive mechanism is at the zero position, and completes the pointing of the solar sail panel towards the sun by rotating the satellite.

[0156] The above system layer disposal method controls the satellite attitude in the order of (1) → (2) → (3) to restore the solar sail panel drive mechanism to a normal working state.

[0157] It should be noted that the above modules correspond to the steps described in Example 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Example 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer-executable instructions.

[0158] Example 3

[0159] This embodiment provides an electronic device, which includes a memory and a processor, and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, the method described in Example 1 is performed. For the sake of brevity, it is not described here in detail.

[0160] It should be understood that in this embodiment, the processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0161] The memory may include a read-only memory and a random access memory, and provides instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0162] Example 4

[0163] This embodiment provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the method described in Embodiment 1 is performed.

[0164] The method in Example 1 can be directly implemented as a hardware processor, or can be implemented using a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, it will not be described in detail here.

[0165] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for autonomously detecting the working status of a solar panel drive mechanism and handling abnormalities, characterized in that: include: Step S1: collecting telemetry data of the solar panel drive mechanism according to the collection control period, and performing single-machine layer status detection based on the working status judgment method of the solar panel drive mechanism; Step S2: when a single machine layer state abnormality is detected, a corresponding single machine layer treatment method is adopted to restore the solar panel drive mechanism to a normal working state; In step S1, the telemetry data includes the working voltage V, the working current I, the temperature of the rotating mechanism T, the software counting angle θ s and the potentiometer to measure the angle θ dwj , the method for determining the working state of the solar panel driving mechanism includes: (1) Judgment of data acquisition status: After the solar panel drive mechanism is powered on, if the telemetry data source code of the solar panel drive mechanism collected by the onboard computer for n1 consecutive acquisition control cycles does not change or no telemetry data of the solar panel drive mechanism is collected, the data acquisition status is determined to be abnormal, and the data acquisition abnormality count Counter is set according to the acquisition control cycle. CJ +1; otherwise, the data collection status is determined to be normal, and Counter CJ Set to zero; (2) Judgment of the working voltage status: When the data acquisition status is normal and the working voltage V is not in the interval [(1-δ1)V0, (1+δ2)V0] for n2 consecutive acquisition control cycles, the working voltage status is judged to be abnormal; otherwise, the working voltage status is judged to be normal; (3) Judgment of the working current state: When the data acquisition state is normal and the working current I of the solar panel drive mechanism during rotation is not within the interval [(1-δ3)I0, (1+δ4)I0] for n3 consecutive acquisition control cycles, the working current state is judged to be abnormal; otherwise, the working current state is judged to be normal; (4) Judgment of working temperature status: When the data acquisition status is normal and the temperature of the rotating mechanism T exceeds T for n4 consecutive acquisition control cycles, m +ΔT1 or when the temperature rises by more than ΔT2, the operating temperature state is determined to be abnormal; otherwise, the operating temperature state is determined to be normal; (5) Judgment of angle measurement status: When the data acquisition status is normal and the software of the drive mechanism counts the angle θ s Measuring angle θ with a potentiometer dwj When the absolute value of the difference is greater than δ5 for n5 consecutive acquisition control cycles, the angle measurement state is judged to be abnormal; otherwise, the angle measurement state is judged to be normal; (6) Determination of zero position: When the drive mechanism is in tracking mode and pointing to the sun, if the software counts the angle θ s >(360°+δ6), if the software counting angle is still not triggered to clear to zero, the zero position state is determined to be abnormal; otherwise, the zero position state is determined to be normal; Among them, n1, n2, n3, n4, n5 are counting thresholds, which are integers. To avoid the influence of single acquisition data on judgment, the value is required to be greater than 1; δ1, δ2, δ3, δ4 are the voltage and current fluctuation percentages, which are selected according to the fluctuation range of the working voltage and current, and the value range is (0, 1); T m is the upper limit of the operating temperature of the rotating mechanism, ΔT1 and ΔT2 are the short-term allowable temperature fluctuation thresholds of the driving mechanism, ΔT1>0, ΔT2>0; δ5 is the angle measurement state judgment threshold, the value should be greater than the angle measurement accuracy of the potentiometer, δ5>0; δ6 is the zero position state judgment angle threshold, δ6>0; V0 represents the design value of the operating voltage when the driving mechanism is working normally; I0 represents the design value of the operating current when the driving mechanism is working normally; T1 and T2 are the short-term allowable temperature fluctuation thresholds of the driving mechanism; When one or more of the data acquisition state, working voltage state, working current state, working temperature state, angle measurement state, and zero position state is abnormal, it is determined that the working state of the solar panel drive mechanism is abnormal; In step S2, the corresponding single-machine layer handling method includes: (1) When the data acquisition state is abnormal, or the working voltage state is abnormal, or the working current state is abnormal, or the working temperature state is abnormal, the onboard computer program controls and sends a command for the drive mechanism to enter the standby mode, and stops the rotation of the drive mechanism; (2) When the angle measurement state or the zero position state is abnormal, the onboard computer program controls the drive mechanism to enter the zero return mode command, so that the drive mechanism rotates back to the zero position first and the software count angle is corrected; when the angle measurement state and the zero position state are normal, the tracking mode is restored to point to the sun; (3) When the rotation state is abnormal and the rotation state abnormality counter DR <C DR3 When the solar array is pointing to the sun, the onboard computer first sends a command to the drive mechanism to enter the zero return mode to correct the software counting angle; after the software counting angle correction is completed, the onboard computer sends a command to the drive mechanism to enter the tracking mode to re-point the solar array drive mechanism to the sun; (4) When the drive mechanism enters the zero return mode, before the drive mechanism completes the zero return, the zero return time counter is counted according to the acquisition control cycle. Zero +1; When the drive mechanism completes the return to zero, the Counter Zero Clear to zero; (5) When both the working current state and the working temperature state are abnormal, the onboard computer program controls and sends a reset instruction for the solar panel drive mechanism; (6) When the count satisfies: C CJ1 <Counter CJ <C CJ2 , or C DR1 <Counter DR <C DR2 , or C Zero1 <Counter Zero <C Zero2 When the onboard computer program controls the solar sail drive mechanism, it sends a reset instruction; (7) When the count satisfies: C CJ2 <Counter CJ <C CJ3 , or C DR2 <Counter DR <C DR3 , or C Zero2 <Counter Zero <C Zero3 When the satellite computer program controls the solar sail driving mechanism, it sends the main and standby machine switching command, that is, if the main machine is currently powered on, the main machine is powered off, the standby machine is powered on, and the switch is made to the standby machine; if the standby machine is currently powered on, the standby machine is powered off, the main machine is powered on, and the switch is made to the main machine; (8) When the count satisfies: Counter CJ >C CJ3 , or Counter DR >C DR3 , or Counter Zero >C Zero3 When the onboard computer stops the solar panel drive mechanism reset or the main standby machine switching operation; Among them, C CJ1 ,C CJ2 ,C CJ3 is the data collection status abnormality handling count threshold, C CJ3 >C CJ2 >C CJ1 >0;C DR1 ,C DR2 ,C DR3 is the rotation state abnormality counting threshold, C DR3 >C DR2 >C DR1 >0;C Zero1 ,C Zero2 ,C Zero3 To judge the counting threshold of zero return abnormality, the value is C Zero3 >3×360° / (ω0t), C Zero2 >2×360° / (ω0t), C Zero1 >360° / (ω0t); ω0 is the angular velocity of the drive mechanism in the zero return mode, and t is the acquisition control period.

2. The method for autonomously detecting the working state of a solar panel driving mechanism and handling abnormalities according to claim 1, characterized in that: Further including: Step S3: collecting telemetry data of other units in the system according to the collection control cycle, and performing system level status detection based on a working status judgment method that cross-compares the solar panel drive mechanism data with the data of other units in the system; Step S4: When the solar panel drive mechanism has not recovered to normal working state after adopting the single-machine layer treatment method and an abnormal system layer state is detected, the satellite attitude is controlled by the system layer treatment method to restore the solar panel drive mechanism to normal working state.

3. The method for autonomously detecting the working state of a solar panel driving mechanism and handling abnormalities according to claim 2, characterized in that: In step S3, the working status judgment method of cross-comparing the solar panel driving mechanism data with the data of other single devices in the system includes: (1) Determine the rotation state of the solar panel drive mechanism based on the comparison of the solar sensor data installed on the solar panel and the solar vector data of the satellite system: In the illuminated area, the solar vector S is calculated based on the solar sensor data on the solar sail and the rotation angle of the solar sail drive mechanism. b 'as follows: S b ′=R bm R ml S l Then calculate S b ′ and the sun vector S in the satellite body coordinate system b The cosine of the angle δ between them is: If cosδ<λ for n6 consecutive acquisition control cycles, it is determined that the rotation state of the solar sail drive mechanism is abnormal, and the rotation state abnormality count Counter is counted according to the cycle. DR +1; otherwise, the abnormal status counter will be turned periodically. DR -1; Among them, S l The solar vector in the solar sensor coordinate system obtained from the solar sensor data on the solar sail, dimension 1*3; S b It can be obtained from the data of the sun sensor on the satellite or through satellite attitude calculation, with a dimension of 1*3; R ml is the installation matrix of the sun sensor relative to the solar sail panel, with a dimension of 3*3; R bm is the transformation matrix of the solar panel relative to the satellite coordinate system obtained by calculating the rotation angle of the solar panel drive mechanism, with a dimension of 3*3; n6 is the counting threshold, which is an integer and n6>1; λ is the cosine threshold of the angle, 0<λ<1; || represents the modulus value of the vector; (2) Determine the rotation state of the solar panel drive mechanism based on the current generated on the solar panel and the solar vector data of the satellite system: Calculate the theoretical current value I generated by the solar panel at the current rotation angle of the solar panel drive mechanism in the illumination area d , the calculation formula is as follows: L b =R bm ·L m Then calculate the current value I generated by the solar panel b The theoretical current value I generated by the solar panel d The percentage deviation η between: If |η|>η0 for n7 consecutive acquisition cycles, the rotation state of the solar sail drive mechanism is determined to be abnormal, and the rotation state abnormality count Counter is set according to the cycle. DR +1; otherwise, the abnormal status counter will be turned periodically. DR -1; Among them, L b is the normal vector of the solar sail panel in the satellite coordinate system calculated based on the current rotation angle of the solar sail panel drive mechanism; L m is the normal vector of the solar cell on the solar sail panel, dimension 1*3; I m is the maximum current that the solar panel can generate when sunlight shines vertically on the plane of the solar panel; n7 is the counting threshold, which is an integer and n7>1; η0 is the percentage threshold of the current difference and 0<η0<1.

4. The method for autonomously detecting the working state of a solar panel driving mechanism and handling abnormalities according to claim 2, wherein: In step S4, the system layer handling method includes: (1) When Counter CJ >C CJ3 When the onboard computer program controls the drive mechanism to enter the standby mode, the drive mechanism stops rotating; at the same time, the onboard computer controls the satellite attitude according to the current normal position vector of the solar sail panel, and completes the solar sail panel pointing to the sun by rotating the satellite; (2) Otherwise, when Counter Zero >C Zero3 When the onboard computer program controls the drive mechanism to enter the standby mode, the drive mechanism stops rotating, and at the same time the onboard computer controls the satellite attitude according to the current normal position vector of the solar panel, and completes the pointing of the solar panel towards the sun by rotating the satellite; (3) Otherwise, when Counter DR >C DR3 At this time, the onboard computer program controls the sending of the drive mechanism to enter the return to zero mode instruction, so that the drive mechanism returns to the zero position; at the same time, the onboard computer controls the satellite attitude according to the normal position vector of the solar sail panel when the solar sail panel drive mechanism is at the zero position, and completes the pointing of the solar sail panel towards the sun by rotating the satellite.

5. A solar panel drive mechanism working state autonomous detection and abnormality handling system, characterized in that: For carrying out the method according to any one of claims 1 to 4, the system comprises: a single-machine-layer state detection module, the single-machine-layer state detection module being configured to collect telemetry data of the solar panel drive mechanism according to an acquisition control period, and perform single-machine-layer state detection based on a method for determining the working state of the solar panel drive mechanism; The single-machine layer processing module is configured to take corresponding single-machine layer processing methods to restore the solar panel driving mechanism to a normal working state when detecting that the single-machine layer state is abnormal.

6. The solar panel drive mechanism operating state autonomous detection and abnormality handling system according to claim 5, characterized in that: Further including: a system-level state detection module configured to collect telemetry data from other units in the system according to an acquisition control cycle, and perform system-level state detection based on a working state judgment method that cross-compares solar panel drive mechanism data with data from other units in the system; A system layer handling module is configured to control the satellite attitude through the system layer handling method to restore the solar panel drive mechanism to a normal working state when the solar panel drive mechanism has not recovered to a normal working state after adopting the single-machine layer handling method and an abnormal system layer state is detected.

7. An electronic device, characterized in that: The method comprises a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein the computer instructions complete the method according to any one of claims 1 to 4 when executed by the processor.

8. A computer-readable storage medium, characterized in that Used to store computer instructions, which, when executed by a processor, complete the method according to any one of claims 1 to 4.

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