Flexible solar wing deployment control method

Abstract

The application discloses a secondary-expansion flexible solar cell wing on-orbit autonomous step-by-step expansion control method, which comprises the following steps: flexible solar cell wing on-orbit autonomous primary expansion; after the spacecraft completes the orbit transfer and docking action, the flexible solar cell wing is secondarily expanded; the application can realize the on-orbit autonomous step-by-step expansion of the flexible solar cell wing, and can autonomously judge the failure mode and suspend the expansion process, thereby protecting the flexible solar cell wing and the spacecraft.

Description

Technical Field

[0001] This invention relates to a method for autonomous step-by-step deployment control of a flexible solar cell wing that deploys in two stages into orbit, belonging to the field of control. Background Technology

[0002] With the development of aerospace technology, the deployment area of ​​spacecraft solar panels has been continuously increasing, and their configurations have evolved from rigid and semi-rigid solar panels to flexible solar panels. Flexible solar panels are characterized by multiple active and passive mechanisms, strong deployment timing, long deployment time, and complex deployment processes. The traditional control method of direct deployment of rigid and semi-rigid solar panels into position by passive mechanisms after orbital pyrotechnic unlocking is no longer suitable for the orbital deployment of flexible solar panels. In the initial stage of orbital insertion for large spacecraft, the deployment of flexible solar panels needs to reach a certain fundamental frequency to ensure the spacecraft's orbital maneuvering and docking attitude control requirements. After orbital maneuvering and docking, the solar panels need to have a large deployment area to meet the spacecraft's energy demands; therefore, flexible solar panels with a secondary deployment configuration have been developed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: the present invention provides an autonomous step-by-step deployment control method for a flexible solar cell wing to enter orbit in a secondary deployment stage, which can realize the autonomous step-by-step deployment of the flexible solar cell wing after entering orbit, and at the same time autonomously judge the fault mode and stop the deployment process, thereby protecting the flexible solar cell wing and the spacecraft.

[0004] The technical solution adopted in this invention is: a method for autonomous step-by-step deployment control of a flexible solar cell wing that deploys in two stages into orbit, comprising:

[0005] One unfolding process includes:

[0006] Power is applied to the clamping release device, and after the clamping release device is detonated, the flexible solar panel wing unlocks and separates from the cabin.

[0007] After the compression release device is detonated, there is a delay of T seconds. The lifting mechanism motor then starts working and the lifting mechanism rotates to 90° and locks in place. T is a set value.

[0008] After the lifting mechanism is deployed to the position, after a delay of T seconds, the motors of the two sets of lower housing deployment and locking mechanisms work simultaneously, driving the upper and lower housings of the flexible solar array on both sides of the flexible solar cell wing to deploy 90° and lock. The four sets of upper housing deployment and locking mechanisms follow suit, deploying 90° and locking.

[0009] After both sets of lower housing deployment and locking mechanisms have deployed and locked into place, after a delay of T seconds, the motors of both sets of constraint release mechanisms simultaneously unlock and lock into place the upper and lower housings of the flexible solar array on both sides of the flexible solar cell wing.

[0010] After both sets of constraint release mechanisms are unlocked in place at once, after a delay of T seconds, the extension mechanism motor unfolds at once, and the extension arm of the extension mechanism drives the upper box of the flexible solar cell array on both sides to unfold until the solar cell array of the first unfolded part is fully unfolded. The tensioning mechanism applies pre-tightening force to tighten the solar cell array.

[0011] After the spacecraft completes its orbit change and docking maneuvers, the flexible solar panels deploy a second time, including:

[0012] The control extension mechanism retracts, pulling back the tensioning phase of the solar panel arrays on both sides, thus unloading the tension force of the solar panel arrays.

[0013] After the extension mechanism is retracted, after a delay of T seconds, the two sets of constraint release mechanism motors simultaneously unlock the secondary unlocking devices on both sides, and release the constraint between the solar panel array and the lower box of the secondary unfolded part.

[0014] After both sets of constraint release mechanisms are unlocked twice, there is a delay of T seconds. The extension mechanism motor then unfolds for the second time. The extension arm of the extension mechanism drives the upper box of the flexible solar cell array on both sides to unfold until the entire solar cell array is fully unfolded. The tensioning mechanism applies a pre-tightening force to tighten the solar cell array.

[0015] Furthermore, based on the installation location of the compression release device, the compression release devices are numbered and divided into three batches according to the number. The three batches of compression release devices are detonated in sequence; after each batch is detonated, there is an interval of T seconds before the next batch is detonated.

[0016] Furthermore, the lifting mechanism is equipped with two lifting mechanism locking micro switches, a thermistor, and an angle sensor for monitoring and autonomous judgment during the lifting mechanism's unfolding process. The thermistor is used to monitor the motor temperature, and the angle sensor is used to monitor the lifting angle.

[0017] The control parameters of the lifting mechanism during the program unfolding process include: lifting mechanism action time t1, lifting mechanism motor current I1, and lifting mechanism motor current limit value I. 限1 Overcurrent protection time t of the lifting mechanism motor 延1 The lifting mechanism's working timeout preset time t 预1 ;

[0018] The lifting mechanism deployment process includes:

[0019] Before powering on the lifting mechanism motor, it is determined whether the two lifting mechanism locking microswitches are in the triggered state: if either lifting mechanism locking microswitch is triggered, a short circuit fault of the lifting mechanism microswitch is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if neither lifting mechanism locking microswitch is triggered, the lifting mechanism action time t1 is set to 0s, the lifting mechanism motor is powered on at t1=0s, and the lifting mechanism motor accelerates to the set speed a within the set time period under the rated torque load.

[0020] Control the lifting mechanism motor to run at a set speed 'a' at a constant speed, and detect the lifting mechanism motor current I1: If I1 ≥ I 限1 And I1 exceeds I 限1 The duration Δt1>t 延1 If the current exceeds the limit, the lifting mechanism motor will immediately stop, report an overcurrent fault, and the autonomous deployment process of the flexible solar cell wing will be aborted; otherwise, the lifting mechanism motor will run at the set speed 'a' until any lifting mechanism locking microswitch is triggered, at which point the lifting mechanism motor will immediately stop and the lifting mechanism deployment will be completed; if none of the lifting mechanism locking microswitches are triggered, then it is determined whether t1 is greater than t. 预1 If t1 > t 预1 If t1 < t2, the lifting mechanism motor stops, a timeout fault mode is reported, and the autonomous deployment process of the flexible solar cell wings is terminated; 预1 If the motor continues to run at the set speed a, the motor current I1 of the lifting mechanism will be detected again.

[0021] Furthermore, the two sets of lower housing unfolding and locking mechanisms operate independently; each set of lower housing unfolding and locking mechanisms is equipped with two lower housing unfolding-to-position micro switches, two lower housing locking-to-position micro switches, a thermistor, and an angle sensor for monitoring and autonomously judging the unfolding process of the lower housing unfolding and locking mechanism. The thermistor is used to monitor the motor temperature, and the angle sensor is used to monitor the unfolding angle of the lower housing unfolding and locking mechanism; each set of lower housing unfolding and locking mechanisms is equipped with two sets of upper housing unfolding and locking mechanisms on the same side, and each set of upper housing unfolding and locking mechanisms is equipped with one upper housing unfolding-to-position micro switch;

[0022] The control parameters of the lower housing deployment and locking mechanism during the program deployment process include: the lower housing deployment and locking mechanism action time t2, the lower housing deployment and locking mechanism motor current I2, and the lower housing deployment and locking mechanism motor current limit value I. 限2 The lower housing unfolding and locking mechanism motor overcurrent protection time t 延2 The lower housing unfolding and locking mechanism has a preset timeout period t. 预2 ;

[0023] The unfolding process of the lower housing unfolding and locking mechanism includes:

[0024] Before powering on the motor of the lower housing deployment and locking mechanism, it is determined whether the two lower housing deployment-in-position microswitches and the two lower housing locking-in-position microswitches are in the triggered state. If any one of the four microswitches is triggered, a short circuit fault is reported to the microswitches of the mechanism, and the autonomous deployment process of the flexible solar cell wings is terminated. If none of the four microswitches are triggered, the working time t2 of the lower housing deployment and locking mechanism is set to 0s. The motor of the lower housing deployment and locking mechanism is powered on at t2 = 0s. Under the rated torque load, the motor of the lower housing deployment and locking mechanism is directly started and accelerated to the set speed a.

[0025] The lower housing unfolding and locking mechanism motor operates at a set speed 'a'. The current I2 of the lower housing unfolding and locking mechanism motor is detected. If I2 ≥ I... 限2 And I2 exceeds I 限2 The duration Δt2>t 延2 If the lower housing unfolding and locking mechanism motor stops immediately, the triggering status of the two lower housing locking microswitches is determined: if either lower housing locking microswitch is triggered, the triggering status of the two lower housing unfolding and locking microswitches and the two upper housing unfolding and locking microswitches is determined.

[0026] If any one of the two lower housing deployment microswitches or the two upper housing deployment microswitches is triggered, the lower housing deployment locking mechanism will complete the deployment according to the program; if neither of the two lower housing deployment microswitches nor the two upper housing deployment microswitches is triggered, the mechanism will report an abnormal fault mode of the microswitches, and the autonomous deployment process of the flexible solar cell wings will be terminated.

[0027] If neither of the two lower housing locking microswitches is triggered, the abnormal fault mode of the microswitch in the reporting mechanism is reported, and the autonomous deployment process of the flexible solar cell wing is terminated.

[0028] If I2 限2 Or I2 exceeds I 限2 But the duration Δt2≤t 延2 Then determine whether t2 is greater than the preset timeout t of the lower box unfolding and locking mechanism. 预2 If t2 > t 预2 If the lower housing deployment locking mechanism motor stops, a timeout fault is reported, and the autonomous deployment process of the flexible solar cell wings is terminated; if t2≤t 预2 If the lower housing unfolding and locking mechanism motor continues to run at the set speed a, the current I2 of the lower housing unfolding and locking mechanism motor will be detected again.

[0029] ​Furthermore, the two sets of constraint release mechanisms operate independently. Each set of constraint release mechanisms is equipped with two micro switches for one-time constraint release and two micro switches for two-time constraint release and unlocking, one thermistor, and a Hall sensor built into the motor, which are used to monitor and autonomously determine the unlocking process of the constraint release mechanism; the thermistor is used to monitor the motor temperature, and the Hall sensor built into the motor is used to monitor the number of motor rotations n3.

[0030] The control parameters of the constraint release mechanism during the program unlocking process include: constraint release mechanism action time t3, constraint release mechanism motor current I3, and constraint release mechanism motor current limit value I. 限3 Overcurrent protection time t of the constraint release mechanism motor 延3 The constraint release mechanism's unlocking operation timeout is a preset time t. 一次预 The timeout period t for the secondary unlocking operation of the restraint release mechanism 二次预 The restraint release mechanism unlocks in one go, with a preset number of turns (n). 预3 The motor speed V3 and the required speed V during the unlocking process 展3 ;

[0031] The unlocking process of the constraint release mechanism includes:

[0032] Before energizing the constraint release mechanism motor, it is determined whether the microswitches for the two constraint release mechanisms are in the triggered state. If either microswitch is triggered, a short circuit fault is reported, and the autonomous deployment process of the flexible solar cell wings is aborted. If neither is triggered, the constraint release mechanism's working time t3 is set to 0s, and the constraint release mechanism motor's rotation number n3 is set to 0. The constraint release mechanism motor is energized at t3 = 0s, and after starting, it accelerates directly to V3 = V 展3 ;

[0033] The motor of the constraint release mechanism operates at V3 = V 展3 Running at ±10% speed, the motor current I3 of the constraint release mechanism is detected: if I3 ≥ I 限3 And I3≥I 限3 The duration Δt3>t 延3 If the constraint release mechanism motor stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, the triggering status of the microswitches that have unlocked the two constraint release mechanisms in one go is determined, and the number of rotations n3 of the constraint release mechanism motor is detected.

[0034] If any constraint is released once, the microswitch is triggered when the unlock is complete, or n3 ≥ n 预3 If the constraint release mechanism motor is immediately de-energized and stops rotating, the constraint release mechanism will unlock in one operation.

[0035] Otherwise, determine whether the action time t3 of the constraint release mechanism is greater than t. 一次预 If t3 > t 一次预 If the constraint release mechanism motor stops, a timeout fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if t3≤t 一次预 Then the constraint release mechanism motor continues to operate at V3 = V 展3 Run at ±10% speed and retest the motor current I3 of the constraint release mechanism.

[0036] Furthermore, the secondary unlocking process of the constraint release mechanism includes:

[0037] Before energizing the constraint release mechanism motor, it is determined whether the two constraint release secondary unlocking microswitches are in the triggered state. If either microswitch is triggered, a short circuit fault is reported to the mechanism microswitch, and the autonomous deployment process of the flexible solar cell wing is aborted. If neither is triggered, the constraint release mechanism working time t3 is set to 0s and the constraint release mechanism motor rotation number n3 is set to 0. The constraint release mechanism motor starts to be energized at t3 = 0s, and after starting, it directly accelerates to V3 = V 展3 ;

[0038] The motor of the constraint release mechanism operates at V3 = V 展3 Running at ±10% speed, the motor current I3 of the constraint release mechanism is detected: if I3 ≥ I 限3 And I3≥I 限3 The duration Δt3>t 延3 If the constraint release mechanism motor stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, the triggering status of the two constraint release secondary unlocking microswitches is determined, and the number of rotations n3 of the constraint release mechanism motor is detected.

[0039] If any constraint release mechanism is activated by the micro switch, the motor of the constraint release mechanism will immediately be de-energized and stop rotating, and the second unlocking of the constraint release mechanism will be completed.

[0040] If neither of the two constraint release microswitches is triggered when the constraint release mechanism is fully unlocked, then determine whether the constraint release mechanism's action time t3 is greater than t. 二次预 If t3 > t 二次预 If the constraint release mechanism motor stops, a timeout fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if t3≤t 二次预 Then the constraint release mechanism motor continues to operate at V3 = V 展3 Run at ±10% speed and retest the motor current I3 of the constraint release mechanism.

[0041] Furthermore, the extension mechanism is equipped with two micro switches for one-time extension and two micro switches for two-time extension, a thermistor, and a motor-integrated rotary transformer for monitoring and autonomous judgment during the extension process; the thermistor is used to monitor the motor temperature.

[0042] The control parameters of the extension mechanism during the first deployment, partial retraction, and second deployment processes include: extension mechanism action time t4, extension mechanism motor current I4, and extension mechanism motor current limit value I. 限4 Overcurrent protection time t of the extension mechanism motor 延4 The extension mechanism takes a preset time (t) to complete its deployment. 一次预2 The extension mechanism retraction operation timeout preset time t 部收预 The extension mechanism's secondary deployment operation timeout preset time t 二次预2 Number of rotations n4 of the motor in the extension mechanism; motor speed V4 in the extension mechanism; number of rotations n of the motor in one unfolding stage of the extension mechanism. 一次展 The number of motor rotations (n) during the secondary unfolding stage of the extension mechanism 二次展 During the unfolding phase of the extension mechanism, the motor speed V 展4 The motor speed V during the tensioning stage of the extension mechanism 张4 The extension mechanism unfolds to its final position in one go, with a preset number of rotations (n). 一次预 The number of rotations (n) of the motor in the extension mechanism's retraction section. 部分收 The number of motor rotations (n) for the extension mechanism to reach its secondary deployment position. 二次预 .

[0043] Furthermore, the deployment process of the extension mechanism includes:

[0044] Before powering on the extension mechanism motor, it is determined whether the microswitches of the two extension mechanisms are in the triggered state when they are fully deployed in one go. If either one is triggered, a short circuit fault is reported for the microswitch, and the autonomous deployment process of the flexible solar cell wings is terminated. If neither is triggered, the working time t4 of the extension mechanism is set to 0 seconds, the number of rotations n4 of the extension mechanism motor is set to 0, and the extension mechanism motor is powered on at t4 = 0 seconds. After the extension mechanism motor starts, its speed accelerates to V4 = V within the set time period. 展4 It enters the first unfolding stage of the stretching mechanism;

[0045] During the first deployment phase of the extension mechanism, the motor of the extension mechanism is controlled at V4 = V 展4 During ±5% operation, the number of rotations n4 of the extension mechanism motor is determined:

[0046] If n4≥n 一次展 Then, the extension mechanism enters its first unfolding and tensioning stage. After speed change, the extension mechanism motor's speed is reduced to V4 = V. 张4The motor controlling the extension mechanism operates at V4 = V 张4 During ±5% operation, determine the triggering state of the microswitch and the magnitude of the number of motor rotations n4 when the two extension mechanisms are fully extended in one go:

[0047] If any extension mechanism extends to its final position in one go, the microswitch is triggered or n4≥n 一次预 If the current is not found, the power will be immediately cut off and the extension mechanism will complete its deployment in one go; otherwise, the motor current I4 of the extension mechanism will be checked.

[0048] If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the current exceeds the limit, the extension mechanism motor will immediately stop, a fault report indicating an overcurrent problem will be sent, and the autonomous deployment process of the flexible solar cell wing will be terminated; otherwise, it will be determined whether the extension mechanism's action time t4 is greater than t. 一次预2 If t4 > t 一次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 一次预2 Then the motor controlling the extension mechanism continues to operate at V4 = V 张4 Running at ±5% speed, the triggering state of the micro switch and the number of motor rotations n4 are re-evaluated for the two extension mechanisms to be fully extended in one go.

[0049] If n4<n 一次展 Then, the motor current I4 of the extension mechanism is detected.

[0050] If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the current exceeds the limit, the extension mechanism motor will immediately stop, a fault report indicating an overcurrent problem will be sent, and the autonomous deployment process of the flexible solar cell wing will be terminated; otherwise, it will be determined whether the extension mechanism's action time t4 is greater than t. 一次预2 If t4 > t 一次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 一次预2 Then the motor controlling the extension mechanism continues to operate at V4 = V 展4 Run at a speed of ±5%, and re-evaluate the number of motor rotations n4.

[0051] Furthermore, the partial retraction process of the extension mechanism includes:

[0052] Before reversing the power supply to the extension mechanism motor, set the extension mechanism working time t4 to 0s and the extension mechanism motor rotation number n4 = n. 部分收 The extension mechanism motor starts to be energized in reverse at t4 = 0s, and the number of rotations n4 of the extension mechanism motor gradually decreases when it is energized in reverse.

[0053] After the extension mechanism motor starts, its speed accelerates to V4 = V within a set time period. 张4 ;

[0054] Control the extension mechanism motor speed to V4 = V 张4 ±5% operation, detect the number of rotations n4 of the extension mechanism motor:

[0055] If the number of rotations n4 of the extension mechanism motor is 0, the extension mechanism motor will be immediately de-energized and stop rotating, and the extension mechanism will complete the partial retraction according to the program.

[0056] Otherwise, check the motor current I4 of the extension mechanism:

[0057] If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the current exceeds the limit, the extension mechanism motor will immediately stop, a fault report indicating an overcurrent problem will be sent, and the autonomous deployment process of the flexible solar cell wing will be terminated; otherwise, it will be determined whether the extension mechanism's action time t4 is greater than t. 部分收 If t4 > t 部分收 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 部分收 Then the motor controlling the extension mechanism continues to operate at V4 = V 张4 Running at a speed of ±5%, the value of the number of rotations n4 of the extension mechanism motor is re-evaluated.

[0058] Furthermore, the secondary unfolding process of the extension mechanism includes:

[0059] Before powering on the extension mechanism motor, it is determined whether the microswitches of the two extension mechanisms are in the triggered state. If either is triggered, a short circuit fault is reported for the microswitch, and the autonomous deployment process of the flexible solar cell wings is terminated. If neither is triggered, the working time t4 of the extension mechanism is set to 0 seconds, and the number of rotations n4 of the extension mechanism motor is set to 0. The extension mechanism motor is powered on at t4 = 0 seconds. After starting, the extension mechanism motor accelerates to V4 = V within the set time period. 展4 It enters the second unfolding stage of the extension mechanism;

[0060] During the secondary deployment phase of the extension mechanism, the motor of the extension mechanism is controlled to operate at V4 = V 展4 During ±5% operation, the number of rotations n4 of the extension mechanism motor is determined:

[0061] If n4≥n 二次展 Then, the extension mechanism enters its second unfolding and tensioning stage. After speed change, the extension mechanism motor's speed is reduced to V4 = V. 张4 The motor controlling the extension mechanism operates at V4 = V 张4During ±5% operation, determine the triggering state of the microswitches and the magnitude of the motor rotation number n4 of the two extension mechanisms after secondary deployment:

[0062] If any extension mechanism is deployed to its second position, the microswitch is triggered or n4≥n 二次预 If the power is off and the mechanism stops immediately, the extension mechanism will complete its second deployment; otherwise, the motor current I4 of the extension mechanism will be checked.

[0063] If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the current exceeds the limit, the extension mechanism motor will immediately stop, a fault report indicating an overcurrent problem will be sent, and the autonomous deployment process of the flexible solar cell wing will be terminated; otherwise, it will be determined whether the extension mechanism's action time t4 is greater than t. 二次预2 If t4 > t 二次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 二次预2 Then the motor controlling the extension mechanism continues to operate at V4 = V 张4 Running at ±5% speed, the triggering state of the micro switch of the two extension mechanisms and the size of the number of motor rotations n4 are re-evaluated.

[0064] If n4<n 二次展 Then, the motor current I4 of the extension mechanism is detected.

[0065] If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the current exceeds the limit, the extension mechanism motor will immediately stop, a fault report indicating an overcurrent problem will be sent, and the autonomous deployment process of the flexible solar cell wing will be terminated; otherwise, it will be determined whether the extension mechanism's action time t4 is greater than t. 二次预2 If t4 > t 二次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 二次预2 Then the motor controlling the extension mechanism continues to operate at V4 = V 展4 Run at a speed of ±5%, and re-evaluate the number of motor rotations n4.

[0066] The advantages of this invention compared to the prior art are:

[0067] 1. The flexible solar cell wing deployment control method for secondary deployment provided by the present invention is a step-by-step deployment method in which the flexible solar cell wing is fully autonomously controlled by the spacecraft and does not require ground intervention under normal circumstances. It can autonomously judge and stop the deployment process in a timely manner for faults such as short circuit faults of mechanism signals, overcurrent faults of mechanism, and overtime faults of mechanism operation during the deployment process of flexible solar cell wing, so as to ensure the safety of flexible solar cell wing.

[0068] 2. The flexible solar cell wing deployment control method for secondary deployment provided by the present invention can monitor the deployment position, motor speed, and deployment status of each mechanism during the deployment process of the flexible solar cell wing, and provide timely feedback on the status of the flexible solar cell wing.

[0069] 3. The flexible solar cell wing deployment control method for secondary deployment provided by the present invention has redundant backup measures for the deployment positioning criteria of each mechanism during the deployment process of the flexible solar cell wing, which improves the deployment reliability of the flexible solar cell wing.

[0070] 4. The flexible solar cell wing orbit deployment control method for secondary deployment provided by the present invention uses a clamping and release device that is detonated in three batches. The clamping and release devices of each batch are distributed according to the symmetry plane of the flexible solar cell wing or the diagonal distribution of the mechanism, which can minimize the asymmetrical impact force of pyrotechnic detonation on the flexible solar cell wing or spacecraft.

[0071] 5. The flexible solar cell wing deployment control method for secondary deployment provided by the present invention consists of 5 steps for primary deployment and 3 steps for secondary deployment. On the one hand, it can reserve time for the ground to interpret the deployment signal and related monitoring parameters of the previous step. On the other hand, it can wait for the flexible solar cell wing to come to a stop after the previous step is completed before starting the next step.

[0072] 6. The flexible solar cell wing deployment control method for secondary deployment provided by this invention adopts variable speed control for the deployment of the extension mechanism during the deployment process of the flexible solar cell wing. High-speed deployment is used when the mechanism load is low during the deployment stage, and low-speed deployment is used when the mechanism load is high during the tensioning stage, which ensures the stability of the flexible solar cell wing deployment and reduces the deployment time of the flexible solar cell wing.

[0073] 7. The flexible solar cell wing deployment control method for secondary deployment provided by this invention has an independent deployment sequence for each active mechanism, which are independent and uncoupled from each other. This method can ensure the reliability of the flexible solar cell wing deployment and facilitate the implementation of component-level tests and system-level step-by-step deployment tests on the ground.

[0074] 8. The flexible solar cell wing deployment control method for secondary deployment provided by the present invention can not only meet the fundamental frequency requirements for flexible solar cell wing deployment during the initial orbit change and docking attitude control of the spacecraft, but also meet the requirement that the solar cell wing has a large deployment area to provide sufficient energy after the spacecraft has completed orbit change and docking. Attached Figure Description

[0075] Figure 1 This is a diagram of a flexible solar cell wing that deploys in two stages.

[0076] Figure 2a This is the main flowchart of the autonomous one-time deployment of the flexible solar cell wing into orbit, which is involved in this invention;

[0077] Figure 2b This is the main flowchart of the autonomous secondary deployment of the flexible solar cell wing into orbit, which is involved in this invention.

[0078] Figure 3a This is a diagram showing the numbering of the compression release device of the present invention;

[0079] Figure 3b This is a sequence diagram of the batch detonation of the flexible solar cell wing clamping and release device;

[0080] Figure 3c This is a cross-sectional view of the compression release device before detonation;

[0081] Figure 3d This is a cross-sectional view of the state after the compression release device is detonated.

[0082] Figure 4a This is a flowchart illustrating the deployment process of the flexible solar cell wing lifting mechanism of the present invention.

[0083] Figure 4b This is a schematic diagram of the flexible solar cell wing lifting mechanism of the present invention in the deployed and locked position.

[0084] Figure 4c This is a schematic diagram showing the arrangement of the micro switch for locking the flexible solar cell wing lifting mechanism into position according to the present invention;

[0085] Figure 4d This is a schematic diagram of the controlled object and monitoring sensors during the programmed deployment process of the flexible solar cell wing lifting mechanism of the present invention.

[0086] Figure 5a This is a flowchart illustrating the deployment and locking mechanism of the flexible solar cell underwing housing according to the present invention.

[0087] Figure 5b This is a schematic diagram of the deployment and locking mechanism of the lower housing on both sides of the flexible solar cell wing of the present invention in the deployed and locked state.

[0088] Figure 5c This is a schematic diagram of the arrangement of microswitches for locking the lower housing deployment locking mechanism on one side of the flexible solar cell wing and locking the two sets of upper housing deployment locking mechanisms in place.

[0089] Figure 5d This is a schematic diagram of the flexible solar cell wing-mounted housing deployment and locking mechanism of the present invention, which locks the controlled object and monitoring sensors during the programmed deployment process.

[0090] Figure 6aThis is a flowchart of the flexible solar cell wing constraint release mechanism of the present invention, showing the unlocking process in one step.

[0091] Figure 6b This is a schematic diagram of the first unlocking state of the constraint release mechanism on both sides of the flexible solar cell wing of the present invention;

[0092] Figure 6c This is a schematic diagram showing the arrangement of the micro switch for the first unlocking and the micro switch for the second unlocking of the constraint release mechanism on one side of the flexible solar cell wing according to the present invention.

[0093] Figure 6d This is a schematic diagram of the controlled object and monitoring sensors during the locked-up, programmed deployment process of the flexible solar cell wing constraint release mechanism of the present invention.

[0094] Figure 7a This is a flowchart of the flexible solar cell wing extension mechanism of the present invention unfolding in one step according to a program;

[0095] Figure 7b This is a schematic diagram showing the flexible solar cell wing extension mechanism of the present invention in one-time deployment state and the lengths of the deployment and tensioning stages.

[0096] Figure 7c This is a schematic diagram of the controlled object and monitoring sensors during the programmed deployment process of the flexible solar cell wing extension mechanism of the present invention;

[0097] Figure 8 This is a flowchart of the extension mechanism of the present invention retracting in sequence;

[0098] Figure 9a This is a flowchart of the flexible solar cell wing constraint release mechanism of the present invention for secondary unlocking according to a procedure;

[0099] Figure 9b This is a schematic diagram showing the connection relationship between the secondary unlocking device and the external flexible solar array mechanism components in the first deployment state of the flexible solar array.

[0100] Figure 9c This is a state diagram of the secondary unlocking device after the flexible solar panel array limit constraints of the secondary deployment part of the flexible solar cell array are released.

[0101] Figure 10a This is a flowchart of the flexible solar cell wing extension mechanism of the present invention, showing the secondary deployment process.

[0102] Figure 10b This is a schematic diagram showing the second deployment state, deployment stage, and tensioning stage length of the flexible solar cell wing extension mechanism of the present invention. Detailed Implementation

[0103] The present invention will be described in conjunction with the accompanying drawings.

[0104] like Figure 1 As shown, the present invention relates to a large-area flexible solar cell wing that can be deployed in stages (disclosed in the invention application with application number 2022109076231), comprising 17 clamping release devices 5, a lifting mechanism 1, an extension mechanism 2, a flexible solar cell array, an upper housing deployment locking mechanism 6, and a lower housing deployment locking mechanism 7; the flexible solar cell array includes: an upper housing 31, a lower housing 32, a constraint release mechanism 33, a tensioning mechanism 34, a secondary unlocking device 35, a guiding mechanism, an upper solar panel, and a lower solar panel;

[0105] Among them, there are 6 active mechanisms, including lifting mechanism 1, 2 sets of lower box body unfolding and locking mechanisms 7, 2 sets of constraint release mechanisms 33, and extension mechanism 2; 4 sets of tensioning mechanisms 34 are passive mechanisms; and 4 sets of upper box body unfolding and locking mechanisms 6 are follow-up mechanisms.

[0106] Figure 2a This invention relates to the main flowchart of the autonomous one-time deployment of a flexible solar cell wing for orbit insertion, wherein two sets of lower housing deployment locking mechanisms 7 operate simultaneously, and the subsequent 10-second delay timer can only begin after both are fully deployed; two sets of constraint release mechanisms 33 operate simultaneously, and the subsequent 10-second delay timer can only begin after both are fully unlocked in one go.

[0107] Figure 2b This is the main flowchart of the autonomous secondary deployment of the flexible solar cell wing into orbit. The two sets of constraint release mechanisms 33 operate simultaneously, and the subsequent 10-second delay timer can only begin after both are fully unlocked.

[0108] like Figure 3a , Figure 3b , Figure 3c , Figure 3d As shown, the 17 clamping release devices 5 of the flexible solar cell wing of the present invention are detonated in three batches. The clamping release devices 5 detonated in each batch are distributed according to the symmetry plane of the solar cell wing or the diagonal of the mechanism, which can minimize the asymmetrical impact force of the pyrotechnic detonation on the flexible solar cell wing or spacecraft. Before the pyrotechnic separation nut 51 in the clamping release device 5 detonates, the solar cell wing clamping rod 52 is threadedly connected to the pyrotechnic separation nut 51. After the pyrotechnic separation nut 51 detonates, the thread of the pyrotechnic separation nut 51 opens, the flexible solar cell wing clamping rod 52 is pulled out from the pyrotechnic separation nut 51, and the flexible solar cell wing completes the unlocking and separation from the solar cell wing clamping bracket 8.

[0109] like Figure 4a , Figure 4b , Figure 4c , Figure 4dAs shown, the solar cell fin lifting mechanism 1 of this invention unfolds according to a program. Due to the large load inertia of the solar cell fin lifting and unfolding, the lifting mechanism motor accelerates and starts in 5-7 seconds. The lifting mechanism 1 includes: a fixed joint 11, a rotating joint 12, a lifting mechanism drive assembly 13 (i.e., the lifting mechanism motor), and a locking assembly 14. The lifting mechanism motor uses open-loop speed control; the motor speed shown in the figure is for reference only. The locking assembly 14 is equipped with one lifting mechanism locking microswitch 15, and the two lifting mechanism locking microswitches 15 use a 2-out-of-1 triggering method to determine whether the lifting mechanism is fully engaged and locked. During the unfolding process, the lifting mechanism transmission chain is protected against motor overcurrent. To prevent motor overheating, the lifting mechanism 1 employs a timeout protection mechanism.

[0110] like Figure 5a , Figure 5b , Figure 5c , Figure 5d As shown, the solar cell wing lower housing deployment and locking mechanism of this invention deploys according to a program. Since the deployment load inertia of the lower housing deployment and locking mechanism of the solar cell wing is relatively small, the lower housing deployment and locking mechanism motor 73 uses direct start. The motor uses open-loop speed control; the motor speed in the figure is only a reference value. Based on the locking characteristics of the lower housing deployment and locking mechanism 7, the motor needs to output over-limit current torque to provide the mechanism's locking stiffness. Therefore, the lower housing deployment and locking mechanism uses an over-limit current method to control the motor to stop. Two sets of upper housing deployment and locking mechanisms 6 on the same side of the lower housing deployment and locking mechanism 7 are follow-up deployment mechanisms, having the same deployment angle as the lower housing deployment and locking mechanism 7. The lower housing deployment and locking mechanism is equipped with two lower housing deployment-in-position microswitches 71 and two lower housing locking-in-position microswitches 72. A 2-out-of-1 triggering method is used to determine whether the lower housing deployment and locking mechanism 7 is locked in place. The two lower housing deployment-in-position microswitches 71 and the two upper housing deployment-in-position microswitches 61 on the same side use a 4-out-of-1 triggering method to determine whether the lower housing deployment and locking mechanism 7 is deployed in place. To prevent the motor from overheating during the deployment process, the mechanism employs a timeout-based shutdown protection.

[0111] like Figure 6a , Figure 6b , Figure 6c , Figure 6d As shown, the solar cell wing constraint release mechanism 33 of this invention unlocks in one sequence according to the program. Since the load inertia for unlocking the solar cell wing constraint release is relatively small, the constraint release mechanism motor 332 adopts direct start. The motor uses dual closed-loop control of speed and current, requiring the motor speed to be controlled at the required value V. 展 Within ±10%. The single-set constraint release mechanism 33 employs two constraint release microswitches 332 that unlock to the final position in one step, along with the motor rotation number n3 and the preset motor rotation number n. 预3 Comparison (n3≥n)预3 The 3-out-of-1 trigger method determines whether the mechanism unlocks completely in one operation. During the unlocking process, the motor overcurrent protection of the transmission chain is used to stop the motor. To prevent the motor from overheating, the mechanism uses a timeout protection to stop the motor.

[0112] like Figure 7a , Figure 7b , Figure 7c As shown, the extension mechanism 2 includes: an extension arm 21 with a triangular cross-section, a storage box 22, an extension mechanism motor 23, a micro switch 24 for the first deployment of the extension mechanism, and a micro switch 25 for the second deployment of the extension mechanism. The solar cell wing extension mechanism 2 of this invention deploys in one sequence according to a program. Because the motor speed of the extension mechanism motor 23 is very high during the deployment phase, the motor accelerates to start in 5-7 seconds. The motor 23 is controlled using a dual closed-loop system of speed and current, requiring the motor speed to be controlled at a required value V. 展 Within ±5%. Based on the conversion relationship between the number of motor rotations of the extension mechanism and the unfolded length, the number of motor rotations n corresponding to the speed change point of the extension mechanism 2 entering the tensioning stage can be calculated. 一次展 After the extension mechanism 2 enters the tensioning stage, the tensioning mechanism 34 applies an axial load force to the extension mechanism 2, and the motor uses a 5-second speed change to a low speed. The extension mechanism 2 uses two extension mechanisms to unfold into place at once, a micro switch 24, and the number of motor rotations n4 and the preset number of motor rotations n. 一次预4 Comparison (n4≥n) 一次预4 The mechanism is determined to be fully deployed in one go using a 3-out-of-1 trigger method. During the deployment of the extension mechanism 2, the motor transmission chain is protected against overcurrent and stops. To prevent motor overheating, the mechanism is protected against timeout and stops.

[0113] like Figure 8 The diagram shows the retraction process of the extension mechanism of the present invention. The solar cell fin extension mechanism 2 of the present invention retracts according to a programmed sequence, requiring the motor speed to be controlled at a required value V. 张4 Within ±5%. The extension mechanism 2 uses a trigger method that compares the number of motor rotations n4 with the preset number of motor rotations 0 (n4=0) to determine if the mechanism has partially retracted according to the program. During the partially retracting process of the extension mechanism 2, the transmission chain is protected against motor overcurrent. To prevent motor overheating, the mechanism employs a timeout protection mechanism.

[0114] like Figure 9a , Figure 9b , Figure 9c As shown, the solar cell wing constraint release mechanism 33 of this invention unlocks twice according to a program. Because the load inertia for unlocking the solar cell wing constraint release is small, the constraint release mechanism motor 332 uses direct start. The motor is controlled using a dual closed-loop system of speed and current, requiring the motor speed to be controlled at the required value V. 展3Within ±10%. The single-set constraint release mechanism 33 employs two constraint release secondary unlocking microswitches 333, using a 2-out-of-1 trigger method to determine if the mechanism has completed secondary unlocking. During the secondary unlocking process, the mechanism's transmission chain is protected against motor overcurrent. To prevent motor overheating, the mechanism employs a timeout protection mechanism.

[0115] like Figure 10a , Figure 10b As shown, the solar cell fin extension mechanism 2 of this invention unfolds in two stages according to a program. Because the motor speed of the extension mechanism motor 23 is very high during the unfolding phase, the motor accelerates to start in 5-7 seconds. The motor 23 uses a dual closed-loop control system for both speed and current, requiring the motor speed to be controlled at a required value V. 展4 Within ±5%. Based on the conversion relationship between the number of motor rotations of the extension mechanism and the unfolded length, the number of motor rotations n corresponding to the speed change point of the extension mechanism 2 entering the tensioning stage can be calculated. 二次展 After the extension mechanism 2 enters the tensioning stage, the tensioning mechanism 34 applies an axial load force to the extension mechanism 2, and the motor uses a 5-second speed change to a low speed. The extension mechanism 2 uses two extension mechanism secondary unfolding microswitches 25 and the number of motor rotations n4 and the preset number of motor rotations n. 二次预 Comparison (n4≥n) 二次预 The mechanism's secondary deployment is determined using a 3-out-of-1 trigger method. During the secondary deployment of extension mechanism 2, the transmission chain of the mechanism is protected against motor overcurrent protection. To prevent motor overheating, the mechanism employs a timeout protection mechanism.

[0116] like Figure 2a As shown, a method for autonomous step-by-step deployment control of a flexible solar cell wing for orbit insertion with secondary deployment includes the following primary deployment steps:

[0117] Step 1: The clamping release device 5 is energized. After the clamping release device 5 is detonated, the flexible solar cell wing clamping release device is unlocked and separated from the cabin.

[0118] Step 2: After the pressing and releasing device 5 is completed, there is a 10-second delay. The lifting mechanism motor 13 starts working, and the lifting mechanism 1 rotates to 90° and locks in place.

[0119] Step 3: After the lifting mechanism 1 is fully deployed, there is a 10-second delay. The motors 73 of the two lower housing deployment and locking mechanisms work simultaneously, driving the upper housing 31 and lower housing 32 of the solar array on both sides of the flexible solar cell wing to deploy 90° and lock. The four upper housing deployment and locking mechanisms 6 follow suit, deploying 90° and locking.

[0120] Step 4: After both sets of lower housing deployment and locking mechanisms 7 have deployed and locked into place, there is a 10-second delay. At the same time, the motors 331 of the two sets of constraint release mechanisms unlock and work to unlock the upper housing 31 and lower housing 32 of the solar array on both sides of the flexible solar cell wing.

[0121] Step 5: After both sets of constraint release mechanisms 33 are unlocked in place at once, there is a 10-second delay. The extension mechanism motor 23 then unfolds at once. The extension mechanism extension arm 21 drives the upper box 31 of the solar cell array on both sides to unfold until the solar cell array of the first unfolded part is fully unfolded. The tensioning mechanism 34 applies a pre-tightening force to tighten the solar cell array.

[0122] like Figure 3a As shown, the 17 compression release devices on the solar cell fins detonated in three batches at 5 minutes each, numbered ⑥. The clamping and releasing devices are symmetrically arranged on both sides of the extension mechanism 2 (near the top of the extension mechanism), and the clamping and releasing devices numbered ② and ③ are symmetrically arranged on both sides of the middle part of the extension mechanism 2. The clamping and releasing devices numbered ⑦ are symmetrically arranged on both sides of the extension mechanism 2 (the other end away from the top of the extension mechanism), and the clamping and releasing device numbered ① is arranged on the top of the extension mechanism 2; the device numbered ⑦ is symmetrically arranged on both sides of the extension mechanism 2 (the other end away from the top of the extension mechanism). The compression and release devices are arranged at both ends of the lower housing 32 of a flexible solar array, numbered ⑩ and ⑤. The compression and release devices are sequentially arranged on the upper housing 31 of the aforementioned flexible solar cell array; numbered ⑨, The compression and release devices are arranged at both ends of the lower housing 32 of another flexible solar array, numbered ⑧ and ④. The compression and release devices are sequentially arranged on the upper housing 31 of the aforementioned flexible solar cell array; the first batch of compression and release devices 5 are numbered ①, ②, ③, ④, and ⑤, and the second batch is numbered ⑥, ⑦, ⑧, ⑨, and ⑩. The compression release device 5, the third batch of detonation number is 5. The compression release device.

[0123] like Figure 4a As shown, the lifting mechanism 1 can autonomously deploy according to a time sequence and diagnose faults. The lifting mechanism 1 is equipped with two microswitches 15 for locking into position, one thermistor, and one angle sensor for monitoring and autonomously diagnosing the deployment process. The thermistor monitors the motor temperature, and the angle sensor monitors the lifting angle. The control parameters for the programmed deployment process of the lifting mechanism include: lifting mechanism action time t1, lifting mechanism motor current I1, and lifting mechanism motor current limit value I. 限1 Overcurrent protection time t of the lifting mechanism motor 延1 The lifting mechanism's working timeout preset time t 预1The microswitch trigger signal. During the operation of the lifting mechanism, current limiting protection is provided for the motor current. The lifting mechanism unfolds according to the following steps:

[0124] (1) Before powering on the lifting mechanism motor, determine whether the two lifting mechanism locking micro switches 15 are in the triggered state: if either lifting mechanism locking micro switch 15 is triggered, report a short circuit fault of the lifting mechanism micro switch and the flexible solar cell wing autonomous deployment process is terminated; if neither lifting mechanism locking micro switch 15 is triggered, set the lifting mechanism action time t1 to 0s, the lifting mechanism motor starts to be powered on when t1=0s, and the lifting mechanism motor accelerates to 1000rpm within 5~7s under rated torque load;

[0125] (2) Control the lifting mechanism motor to run at a constant speed of 1000 rpm, and detect the lifting mechanism motor current I1: If I1 ≥ I 限1 And I1 exceeds I 限1 The duration Δt1>t 延1 If the current exceeds the limit, the lifting mechanism motor will immediately stop, report an overcurrent fault, and the autonomous deployment process of the flexible solar cell wing will be aborted; otherwise, the lifting mechanism motor will run at 1000 rpm until any lifting mechanism locking microswitch 15 is triggered, at which point the lifting mechanism motor will immediately stop and the lifting mechanism 1 will be deployed; if none of the lifting mechanism locking microswitches 15 are triggered, then it is determined whether t1 is greater than t. 预1 If t1 > t 预1 If t1 < t2, the lifting mechanism motor stops, a timeout fault mode is reported, and the autonomous deployment process of the flexible solar cell wings is terminated; 预1 If the motor continues to run at a constant speed of 1000 rpm, the motor current I1 of the lifting mechanism will be detected again.

[0126] like Figure 5a As shown, the lower housing unfolding and locking mechanism 7 can autonomously unfold according to a time sequence and perform fault judgment. The two sets of lower housing unfolding and locking mechanisms operate independently without coupling. Each set of lower housing unfolding and locking mechanisms is equipped with two lower housing unfolding position microswitches 71, two lower housing locking position microswitches 72, one thermistor, and one angle sensor for monitoring and autonomous judgment during the unfolding process. On the same side of each set of lower housing unfolding and locking mechanisms, there are two sets of upper housing unfolding and locking mechanisms, each equipped with one upper housing unfolding position microswitch. The thermistor is used to monitor the motor temperature, and the angle sensor is used to monitor the unfolding angle of the lower housing unfolding and locking mechanism. The control parameters for the lower housing unfolding and locking mechanism's programmed unfolding process include: the lower housing unfolding and locking mechanism's action time t2, the lower housing unfolding and locking mechanism's motor current I2, and the lower housing unfolding and locking mechanism's motor current limit value I. 限2The lower housing unfolding and locking mechanism motor overcurrent protection time t 延2 The lower housing unfolding and locking mechanism has a preset timeout period t. 预2 The microswitch trigger signal (including the upper box deployment locking mechanism's corresponding upper box deployment positioning microswitch on the same side as the lower box deployment locking mechanism). The lower box deployment locking mechanism unfolds according to the following procedure:

[0127] (1) Before the lower housing unfolding and locking mechanism motor 73 is powered on, it is determined whether the two lower housing unfolding position micro switches 71 and the two lower housing locking position micro switches 72 are in the triggered state. If any of the four micro switches is triggered, a short circuit fault of the micro switch of the transmission mechanism is reported, and the autonomous unfolding process of the flexible solar cell wing is stopped. If none of the four micro switches are triggered, the working time t2 of the lower housing unfolding and locking mechanism is set to 0s. The lower housing unfolding and locking mechanism motor 73 is powered on when t2 = 0s. Under the rated torque load, the lower housing unfolding and locking mechanism motor 73 is directly started and accelerated to 1000rpm.

[0128] (2) The lower housing unfolding and locking mechanism motor 73 operates at 1000 rpm. The current I2 of the lower housing unfolding and locking mechanism motor is detected. If I2 ≥ I 限2 And I2 exceeds I 限2 The duration Δt2>t 延2 If the lower housing unfolding and locking mechanism motor 73 stops immediately, the triggering status of the two lower housing locking microswitches 72 is determined: if either lower housing locking microswitch 72 is triggered, the triggering status of the two lower housing unfolding microswitches 71 and the two upper housing unfolding microswitches 61 is determined.

[0129] If any one of the two lower housing deployment microswitches 71 and the two upper housing deployment microswitches 61 is triggered, the lower housing deployment locking mechanism 7 will complete the deployment according to the program; if neither of the two lower housing deployment microswitches 71 nor the two upper housing deployment microswitches 61 is triggered, the mechanism will report an abnormal fault mode of the microswitches, and the autonomous deployment process of the flexible solar cell wings will be terminated.

[0130] If neither of the two lower housing locking microswitches 72 is triggered, the abnormal fault mode of the microswitch in the reporting mechanism is reported, and the autonomous deployment process of the flexible solar cell wing is terminated.

[0131] If I2 限2 Or I2 exceeds I 限2 But the duration Δt2≤t 延2 Then determine whether t2 is greater than the preset timeout t of the lower box unfolding and locking mechanism. 预2 If t2 > t​预2 If the lower housing deployment locking mechanism motor 73 stops, a timeout fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if t2≤t 预2 If the lower housing unfolding and locking mechanism motor 73 continues to run at the set speed a, the current I2 of the lower housing unfolding and locking mechanism motor will be detected again.

[0132] like Figure 6a As shown, the constraint release mechanism 33 can autonomously unlock and diagnose faults according to a time sequence. The two constraint release mechanisms 33 operate independently without coupling. Each constraint release mechanism 33 is equipped with two microswitches 332 for initial unlocking, two microswitches 333 for secondary unlocking, one thermistor, and a Hall sensor integrated into the motor for monitoring and autonomous judgment during the unlocking process. The thermistor monitors the motor temperature, and the Hall sensor monitors the number of motor rotations n3. The control parameters for the constraint release mechanism's programmed unlocking process include: constraint release mechanism action time t3, constraint release mechanism motor current I3, and constraint release mechanism motor current limit value I. 限3 Overcurrent protection time t of the constraint release mechanism motor 延3 The constraint release mechanism's unlocking operation timeout is a preset time t. 一次预 The timeout period t for the secondary unlocking operation of the restraint release mechanism 二次预 The restraint release mechanism unlocks in one go, with a preset number of turns (n). 预3 The motor speed V3 and the required speed V during the unlocking process 展3 The microswitch trigger signal. The constraint release mechanism unlocks in one step according to the procedure as follows:

[0133] (1) Before the constraint release mechanism motor 331 is powered on, it is determined whether the microswitches 332 of the two constraint release mechanisms are in the triggered state. If either microswitch is triggered, a short circuit fault of the microswitch of the mechanism is reported, and the autonomous deployment process of the flexible solar cell wing is terminated. If neither is triggered, the working time t3 of the constraint release mechanism is set to 0s and the number of rotations n3 of the constraint release mechanism motor is set to 0. The constraint release mechanism motor 331 is powered on at t3 = 0s. After the constraint release mechanism motor 331 starts, it accelerates directly to V3 = V 展3 ;

[0134] (2) The constraint release mechanism motor 331 operates at V3 = V 展3 Running at ±10% speed, the motor current I3 of the constraint release mechanism is detected: if I3 ≥ I 限3 And I3≥I 限3 The duration Δt3>t 延3If the constraint release mechanism motor 331 stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, the triggering state of the micro switch 332 that unlocks the two constraints at once is determined, and the number of rotations n3 of the constraint release mechanism motor is detected.

[0135] If any constraint is released once and the microswitch 332 is triggered when the unlock is complete, or if n3 ≥ n 预3 If the constraint release mechanism motor 331 is immediately de-energized and stops rotating, the constraint release mechanism 33 will unlock in one go;

[0136] Otherwise, determine whether the action time t3 of the constraint release mechanism is greater than t. 一次预 If t3 > t 一次预 If the constraint release mechanism motor stops, a timeout fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if t3≤t 一次预 Then the constraint release mechanism motor 331 continues to operate at V3 = V 展3 Run at ±10% speed and retest the motor current I3 of the constraint release mechanism.

[0137] like Figure 7a As shown, the extension mechanism 2 can autonomously unfold in sequence and diagnose faults. The extension mechanism 2 is equipped with two microswitches 24 for the first unfolding phase, two microswitches 25 for the second unfolding phase, one thermistor, and a motor-integrated rotary transformer for monitoring and autonomously diagnosing the unfolding process. The thermistor is used to monitor the motor temperature. The control parameters for the extension mechanism's programmed first unfolding / partial retraction / secondary unfolding process include: extension mechanism action time t4, extension mechanism motor current I4, and extension mechanism motor current limit value I. 限4 Overcurrent protection time t of the extension mechanism motor 延4 The extension mechanism takes a preset time (t) to complete its deployment. 一次预2 The extension mechanism retraction operation timeout preset time t 部收预 The extension mechanism's secondary deployment operation timeout preset time t 二次预2 Number of rotations n4 of the motor in the extension mechanism; motor speed V4 in the extension mechanism; number of rotations n of the motor in one unfolding stage of the extension mechanism. 一次展 The number of motor rotations (n) during the secondary unfolding stage of the extension mechanism 二次展 During the unfolding phase of the extension mechanism, the motor speed V 展4 The motor speed V during the tensioning stage of the extension mechanism 张4 The extension mechanism unfolds to its final position in one go, with a preset number of rotations (n). 一次预 The number of rotations (n) of the motor in the extension mechanism's retraction section. 部分收 The number of motor rotations (n) for the extension mechanism to reach its secondary deployment position. 二次预The microswitch trigger signal. The extension mechanism 2 unfolds in the following steps according to the program:

[0138] (1) Before powering on the extension mechanism motor 23, it is determined whether the microswitches 24 of the two extension mechanisms are in the triggered state when they are fully deployed in one go. If either one is triggered, a short circuit fault is reported to the microswitch of the mechanism, and the autonomous deployment process of the flexible solar cell wings is terminated. If neither is triggered, the working time t4 of the extension mechanism is set to 0s, the number of rotations n4 of the extension mechanism motor is set to 0, and the extension mechanism motor 23 is powered on when t4 = 0s. After the extension mechanism motor 23 starts, the speed of the extension mechanism motor 23 accelerates to V4 = V within 5 to 7s. 展4 It enters the first unfolding stage of the stretching mechanism;

[0139] (2) During the first unfolding phase of the extension mechanism, control the extension mechanism motor 23 to V4 = V 展4 During ±5% operation, the number of rotations n4 of the extension mechanism motor is determined:

[0140] If n4≥n 一次展 Then, the extension mechanism enters its first unfolding and tensioning phase. After 5 seconds of speed change, the speed of the extension mechanism motor 23 decreases to V4 = V. 张4 ; Control the extension mechanism motor 23 with V4 = V 张4 During ±5% operation, determine the trigger state of the micro switch 24 and the magnitude of the number of motor rotations n4 when the two extension mechanisms are fully extended in one go:

[0141] If any extension mechanism extends to its full position in one go, micro switch 24 is triggered or n4≥n 一次预 If the current is not found, the power will be immediately cut off and the extension mechanism 2 will complete its deployment in one go; otherwise, the current I4 of the extension mechanism motor will be checked.

[0142] If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the extension mechanism motor 23 stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t 一次预2 If t4 > t 一次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 一次预2 Then the extension mechanism motor 23 continues to operate at V4 = V 张4 Running at ±5% speed, the triggering state of the micro switch 24 and the number of motor rotations n4 are re-evaluated to determine the position of the two extension mechanisms once they are fully extended.

[0143] If n4<n 一次展 Then, the motor current I4 of the extension mechanism is detected.

[0144] If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the extension mechanism motor 23 stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t 一次预2 If t4 > t 一次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 一次预2 Then the extension mechanism motor 23 continues to operate at V4 = V 展4 Run at a speed of ±5%, and re-evaluate the number of motor rotations n4.

[0145] like Figure 2b As shown, a method for autonomous step-by-step deployment control of a flexible solar cell wing for orbit insertion with secondary deployment includes the following secondary deployment steps:

[0146] Step 6: The two parts of the extension mechanism are retracted, the tensioning stage of the solar panel array on both sides is retracted, and the tensioning force of the solar panel array is unloaded;

[0147] Step 7: After the extension mechanism 2 parts are retracted, there is a 10-second delay. The two sets of constraint release mechanism motors 331 simultaneously unlock the second time, unlocking the secondary unlocking devices 35 on both sides, and releasing the constraint between the solar panel array and the lower box 32 of the secondary unfolded part.

[0148] Step 8: After both sets of constraint release mechanisms 33 are unlocked for the second time, there is a 10-second delay. The extension mechanism motor 23 then unfolds for the second time. The extension mechanism extension arm 21 drives the upper box 31 of the solar cell array on both sides to unfold until the entire solar cell array is fully unfolded. The tensioning mechanism 34 applies a pre-tightening force to tighten the solar cell array.

[0149] The extension mechanism 2 is capable of autonomously retracting parts according to a set time sequence and diagnosing malfunctions. The retraction steps of the extension mechanism according to the set sequence are as follows:

[0150] (1) Before reversing the power supply to the motor 23 of the extension mechanism, set the working time t4 of the extension mechanism to 0s and the number of rotations of the extension mechanism motor n4 = n 部分收 The extension mechanism motor 23 starts to be energized in reverse at t4 = 0s, and the number of rotations n4 of the extension mechanism motor 23 gradually decreases when it is energized in reverse.

[0151] After the extension mechanism motor 23 starts, its speed accelerates to V4 = V within 5 to 7 seconds. 张4 ;

[0152] The motor 23 of the control extension mechanism changes speed to V4 = V within 5 seconds. 张4±5% operation, detect the number of rotations n4 of the extension mechanism motor:

[0153] If the number of rotations n4 of the extension mechanism motor is 0, then the extension mechanism motor 23 will immediately be de-energized and stop rotating, and the extension mechanism will complete the partial retraction according to the program.

[0154] Otherwise, check the motor current I4 of the extension mechanism:

[0155] If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the extension mechanism motor 23 stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t 部分收 If t4 > t 部分收 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 部分收 Then the extension mechanism motor (23) continues to operate at V4 = V 张4 Running at a speed of ±5%, the value of the number of rotations n4 of the extension mechanism motor is re-evaluated.

[0156] like Figure 9a As shown, the constraint release mechanism 33 can autonomously perform secondary unlocking and fault diagnosis according to the time sequence. The secondary unlocking steps of the constraint release mechanism according to the procedure are as follows:

[0157] (1) Before powering on the constraint release mechanism motor 331, it is determined whether the two constraint release secondary unlocking microswitches 333 are in the triggered state. If either microswitch is triggered, a short circuit fault of the microswitch in the mechanism is reported, and the autonomous deployment process of the flexible solar cell wing is terminated. If neither is triggered, the working time t3 of the constraint release mechanism is set to 0s, the number of rotations n3 of the constraint release mechanism motor is set to 0, and the constraint release mechanism motor 331 is powered on at t3 = 0s. After starting, the constraint release mechanism motor 331 accelerates directly to V3 = V 展3 ;

[0158] (2) The constraint release mechanism motor 331 operates at V3 = V 展3 Running at ±10% speed, the motor current I3 of the constraint release mechanism is detected: if I3 ≥ I 限3 And I3≥I 限3 The duration Δt3>t 延3 If the constraint release mechanism motor 331 stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, the triggering status of the two constraint release secondary unlocking microswitches 333 is determined and the number of rotations n3 of the constraint release mechanism motor is detected.

[0159] If the micro switch 333 is triggered when any constraint release mechanism is in the secondary unlocking position, the constraint release mechanism motor 331 will immediately be de-energized and stop rotating, and the secondary unlocking of the constraint release mechanism 33 will be completed.

[0160] If neither of the two constraint release mechanisms' secondary unlocking positions is triggered, then determine whether the constraint release mechanism's action time t3 is greater than t. 二次预 If t3 > t 二次预 If the constraint release mechanism motor stops, a timeout fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if t3≤t 二次预 Then the constraint release mechanism motor 331 continues to operate at V3 = V 展3 Run at ±10% speed and retest the motor current I3 of the constraint release mechanism.

[0161] like Figure 10a As shown, the extension mechanism 2 can autonomously re-deploy according to the time sequence and diagnose faults. The re-deployment steps of the extension mechanism according to the program are as follows:

[0162] (1) Before powering on the extension mechanism motor 23, it is determined whether the two extension mechanism microswitches 25 are in the triggered state. If either one is triggered, a short circuit fault is reported to the microswitch of the mechanism, and the autonomous deployment process of the flexible solar cell wing is terminated. If neither is triggered, the working time t4 of the extension mechanism is set to 0s, the number of rotations n4 of the extension mechanism motor is set to 0, and the extension mechanism motor 23 is powered on at t4 = 0s. After the extension mechanism motor 23 starts, the speed of the extension mechanism motor 23 accelerates to V4 = V within 5 to 7s. 展4 It enters the second unfolding stage of the extension mechanism;

[0163] (2) During the secondary unfolding stage of the extension mechanism, control the extension mechanism motor 23 to V4 = V 展4 During ±5% operation, the number of rotations n4 of the extension mechanism motor is determined:

[0164] If n4≥n 二次展 Then, the extension mechanism enters the second unfolding and tensioning stage. After 5 seconds of speed change, the speed of the extension mechanism motor 23 decreases to V4 = V. 张4 ; Control the extension mechanism motor 23 with V4 = V 张4 During ±5% operation, determine the triggering state of the micro switch 25 and the magnitude of the motor rotation number n4 when the two extension mechanisms are in their secondary deployment position:

[0165] If any extension mechanism is deployed to its second position, microswitch 25 is triggered or n4≥n 二次预 If the power is off and the mechanism stops immediately, the extension mechanism 2 will complete its secondary deployment; otherwise, the motor current I4 of the extension mechanism will be checked.

[0166] If I4≥I 限4 And I4 exceeds I限4 The duration Δt4>t 延4 If the extension mechanism motor 23 stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t 二次预2 If t4 > t 二次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 二次预2 Then the extension mechanism motor 23 continues to operate at V4 = V 张4 Running at ±5% speed, the triggering state of the micro switch 25 and the number of motor rotations n4 are re-evaluated to determine the second deployment position of the two extension mechanisms.

[0167] If n4<n 二次展 Then, the motor current I4 of the extension mechanism is detected.

[0168] If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the extension mechanism motor 23 stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t 二次预2 If t4 > t 二次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 二次预2 Then the extension mechanism motor 23 continues to operate at V4 = V 展4 Run at a speed of ±5%, and re-evaluate the number of motor rotations n4.

[0169] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for autonomous step-by-step deployment control of a flexible solar array capable of secondary deployment into orbit, used to control the deployment of a large-area flexible solar array capable of step-by-step secondary deployment, characterized in that... include: The large-area flexible solar cell wing that can be deployed in two stages includes: a lifting mechanism, an extension mechanism, a two-stage flexible solar cell array, a pressing and releasing device, and a housing deployment and locking mechanism; wherein, the two-stage flexible solar cell array includes: two-stage flexible solar cell array A and two-stage flexible solar cell array B. The secondary flexible solar cell array A and the secondary flexible solar cell array B are respectively located at the top ends of the extension mechanism, and the connection points between the secondary flexible solar cell array A and the extension mechanism are respectively provided with a box-type deployment locking mechanism; the top of the lifting mechanism is connected to the bottom of the extension mechanism; multiple pressing points are respectively provided on the extension mechanism and the secondary flexible solar cell array, and each pressing release device is respectively located at the corresponding pressing point position; The structures of the two-stage flexible solar cell array A and the two-stage flexible solar cell array B are the same, including: a lower box, an upper box, a constraint release mechanism, an upper solar panel, a lower solar panel, an isolation plate, a tensioning mechanism, and a guiding mechanism; The upper housing, upper battery panel, lower battery panel, and lower housing are arranged sequentially from top to bottom; An isolation plate is provided between the upper and lower solar panels; the isolation plate is used to realize the step-by-step secondary deployment of the flexible solar cell array during the deployment process. One end of the restraint release mechanism is connected to the upper housing, and the other end is connected to the lower housing; The guide mechanism is located on the lower housing; The tensioning mechanism is located on the upper housing; The housing deployment and locking mechanism includes an upper housing deployment and locking mechanism and a lower housing deployment and locking mechanism. Two sets of upper housing deployment and locking mechanisms are respectively connected to the extension arm of the extension mechanism and the upper housing of the secondary flexible solar array. Two sets of lower housing deployment and locking mechanisms are respectively connected to the storage tube of the extension mechanism and the lower housing of the secondary flexible solar array. The rotation axis of the housing deployment and locking mechanism is coaxially arranged with the rotation axis of the corresponding upper housing deployment and locking mechanism. When the lower housing deployment and locking mechanism is deployed, the upper housing deployment and locking mechanism follows suit and locks. Each set of lower box opening and locking mechanism (7) is equipped with two sets of upper box opening and locking mechanisms (6) on the same side, and each set of upper box opening and locking mechanism (6) is equipped with a micro switch (61) for the upper box to be opened in place; One unfolding process includes: Power is supplied to the clamping release device (5), and after the clamping release device (5) is detonated, the flexible solar cell wing is unlocked and separated from the cabin. After the compression release device (5) is detonated, after a delay of T seconds, the lifting mechanism motor (13) starts working, and the lifting mechanism (1) rotates to 90° and locks in place; T is the set value; After the lifting mechanism (1) is deployed to the position, after a delay of T seconds, the two sets of lower box deployment and locking mechanism motors (73) work simultaneously, driving the upper box (31) and lower box (32) of the flexible solar cell array on both sides of the flexible solar cell wing to deploy 90° and lock. The four sets of upper box deployment and locking mechanisms (6) follow suit, deploying 90° and locking. After both sets of lower housing deployment and locking mechanisms (7) are deployed and locked in place, after a delay of T seconds, the motors (331) of the two sets of constraint release mechanisms simultaneously unlock and work at once to unlock the upper housing (31) and lower housing (32) of the flexible solar cell array on both sides of the flexible solar cell wing into place. After both sets of constraint release mechanisms (33) are unlocked in place at once, after a delay of T seconds, the extension mechanism motor (23) unfolds at once, and the extension arm (21) of the extension mechanism drives the upper box (31) of the flexible solar cell array on both sides to unfold until the solar cell array of the unfolded part is fully unfolded. The tensioning mechanism (34) applies a pre-tightening force to tighten the solar cell array. After the spacecraft completes its orbit change and docking maneuvers, the flexible solar panels deploy a second time, including: The control extension mechanism (2) is partially retracted, and the tensioning stage of the solar panel arrays on both sides is retracted to unload the tensioning force of the solar panel arrays; After the extension mechanism (2) is partially retracted, after a delay of T seconds, the two sets of constraint release mechanism motors (331) simultaneously unlock the secondary unlocking devices (35) on both sides, and release the constraint between the solar panel array and the lower box (32) of the secondary unfolded part. After both sets of constraint release mechanisms (33) are unlocked in place for the second time, after a delay of T seconds, the extension mechanism motor (23) unfolds for the second time, and the extension arm (21) of the extension mechanism drives the upper box (31) of the flexible solar cell array on both sides to unfold until the entire solar cell array is fully unfolded. The tensioning mechanism (34) applies a pre-tightening force to tighten the solar cell array. According to the installation position of the compression release device (5), the compression release device (5) is numbered and divided into three batches according to the number. The three batches of compression release devices (5) are detonated in sequence. After each batch is detonated, the next batch is detonated after a T-second interval. The lifting mechanism (1) is equipped with two lifting mechanism locking micro switches (15), a thermistor and an angle sensor for monitoring and autonomous judgment of the lifting mechanism unfolding process. The thermistor is used to monitor the motor temperature and the angle sensor is used to monitor the lifting angle. The control parameters of the lifting mechanism (1) during the program unfolding process include: lifting mechanism action time t1, lifting mechanism motor current I1, and lifting mechanism motor current limit value I. 限1 Overcurrent protection time t of the lifting mechanism motor 延1 The lifting mechanism's working timeout preset time t 预1 ; The deployment process of the lifting mechanism (1) includes: Before powering on the lifting mechanism motor, it is determined whether the two lifting mechanism locking micro switches (15) are in the triggered state: if either lifting mechanism locking micro switch (15) is triggered, a short circuit fault of the lifting mechanism micro switch is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if neither lifting mechanism locking micro switch (15) is triggered, the lifting mechanism action time t1 is set to 0s, the lifting mechanism motor is powered on at t1 = 0s, and the lifting mechanism motor accelerates to the set speed a within the set time period under the rated torque load; Control the lifting mechanism motor to run at a set speed 'a' at a constant speed, and detect the lifting mechanism motor current I1: If I1 ≥ I 限1 And I1 exceeds I 限1 The duration Δt1>t 延1 If the lifting mechanism motor stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, the lifting mechanism motor runs at the set speed a until any lifting mechanism locking microswitch (15) is triggered, then the lifting mechanism motor is immediately de-energized and stops, and the lifting mechanism (1) is deployed; if none of the lifting mechanism locking microswitch (15) is triggered, then it is determined whether t1 is greater than t. 预1 If t1 > t 预1 If t1 < t2, the lifting mechanism motor stops, a timeout fault mode is reported, and the autonomous deployment process of the flexible solar cell wings is terminated; 预1 If the motor continues to run at the set speed a, the motor current I1 of the lifting mechanism will be detected again.

2. The method for autonomous step-by-step deployment control of a flexible solar cell wing into orbit according to claim 1, characterized in that: The two sets of lower box unfolding and locking mechanisms (7) operate independently; each set of lower box unfolding and locking mechanisms is equipped with two lower box unfolding position micro switches (71), two lower box locking position micro switches (72), a thermistor and an angle sensor, which are used to monitor and autonomously judge the unfolding process of the lower box unfolding and locking mechanism. The thermistor is used to monitor the motor temperature, and the angle sensor is used to monitor the unfolding angle of the lower box unfolding and locking mechanism. The control parameters of the lower housing unfolding and locking mechanism (7) during the program unfolding process include: the action time t2 of the lower housing unfolding and locking mechanism, the motor current I2 of the lower housing unfolding and locking mechanism, and the motor current limit value I of the lower housing unfolding and locking mechanism. 限2 The lower housing unfolding and locking mechanism motor overcurrent protection time t 延2 The lower housing unfolding and locking mechanism has a preset timeout period t. 预2 ; The unfolding process of the lower housing unfolding and locking mechanism (7) includes: Before the lower housing unfolding and locking mechanism motor (73) is powered on, it is determined whether the two lower housing unfolding position micro switches (71) and the two lower housing locking position micro switches (72) are in the triggered state. If any of the four micro switches is triggered, a short circuit fault of the micro switch of the transmission mechanism is reported, and the autonomous unfolding process of the flexible solar cell wings is stopped. If none of the four micro switches are triggered, the working time t2 of the lower housing unfolding and locking mechanism is set to 0s. The lower housing unfolding and locking mechanism motor (73) is powered on at t2=0s. Under the rated torque load, the lower housing unfolding and locking mechanism motor (73) is directly started and accelerated to the set speed a. The lower housing unfolding and locking mechanism motor (73) operates at a set speed a, and the current I2 of the lower housing unfolding and locking mechanism motor is detected. If I2 ≥ I 限2 And I2 exceeds I 限2 The duration Δt2>t 延2 If the lower box unfolding locking mechanism motor (73) stops immediately, the triggering status of the two lower box locking micro switches (72) is judged: if any lower box locking micro switch (72) is triggered, the triggering status of the two lower box unfolding micro switches (71) and the two upper box unfolding micro switches (61) is judged. If any one of the two lower housing deployment microswitches (71) and the two upper housing deployment microswitches (61) is triggered, the lower housing deployment locking mechanism (7) will complete the deployment according to the program; if neither of the two lower housing deployment microswitches (71) nor the two upper housing deployment microswitches (61) is triggered, the reporting mechanism will report the abnormal fault mode of the microswitches, and the autonomous deployment process of the flexible solar cell wings will be terminated. If neither of the two lower housing locking micro switches (72) is triggered, the abnormal fault mode of the micro switch of the reporting mechanism is reported, and the autonomous deployment process of the flexible solar cell wing is terminated. If I2 限2 Or I2 exceeds I 限2 But the duration Δt2≤t 延2 Then determine whether t2 is greater than the preset timeout t of the lower box unfolding and locking mechanism. 预2 If t2 > t 预2 If the lower housing unfolding and locking mechanism motor (73) stops, a timeout fault is reported, and the autonomous unfolding process of the flexible solar cell wing is terminated; if t2≤t 预2 If the lower box unfolding and locking mechanism motor (73) continues to run at the set speed a, the current I2 of the lower box unfolding and locking mechanism motor will be detected again.​ 3. The method for autonomous step-by-step deployment control of a flexible solar cell wing into orbit according to claim 1, characterized in that: The two sets of constraint release mechanisms (33) operate independently. Each set of constraint release mechanisms (33) is equipped with two constraint release one-time unlocking micro switches (332), two constraint release two-time unlocking micro switches (333), one thermistor, and a motor-mounted Hall sensor for monitoring and autonomous judgment of the constraint release mechanism unlocking process; the thermistor is used to monitor the motor temperature, and the motor-mounted Hall sensor is used to monitor the number of motor rotations n3; The control parameters of the constraint release mechanism (33) during the program unlocking process include: constraint release mechanism action time t3, constraint release mechanism motor current I3, and constraint release mechanism motor current limit value I. 限3 Overcurrent protection time t of the constraint release mechanism motor 延3 The constraint release mechanism's unlocking operation timeout is a preset time t. 一次预 The timeout period t for the secondary unlocking operation of the restraint release mechanism 二次预 The restraint release mechanism unlocks in one go, with a preset number of turns (n). 预3 The motor speed V3 and the required speed V during the unlocking process 展3 ; The unlocking process of the constraint release mechanism (33) includes: Before the constraint release mechanism motor (331) is powered on, it is determined whether the two constraint release microswitches (332) are in the triggered state. If either microswitch is triggered, a short circuit fault of the microswitch is reported, and the autonomous deployment process of the flexible solar cell wing is terminated. If neither is triggered, the working time t3 of the constraint release mechanism is set to 0s and the number of rotations n3 of the constraint release mechanism motor is set to 0. The constraint release mechanism motor (331) is powered on at t3 = 0s. After the constraint release mechanism motor (331) starts, it accelerates directly to V3 = V 展3 ; The constraint release mechanism motor (331) operates at V3 = V 展3 Running at ±10% speed, the motor current I3 of the constraint release mechanism is detected: if I3 ≥ I 限3 And I3≥I 限3 The duration Δt3>t 延3 If the constraint release mechanism motor (331) stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, the triggering state of the micro switch (332) that unlocks the two constraint release mechanisms at once is determined, and the number of rotations n3 of the constraint release mechanism motor is detected. If any constraint is released once and the micro switch (332) is triggered or n3≥n 预3 If the constraint release mechanism motor (331) is immediately de-energized and stops rotating, the constraint release mechanism (33) will be unlocked in one go; Otherwise, determine whether the action time t3 of the constraint release mechanism is greater than t. 一次预 If t3 > t 一次预 If the constraint release mechanism motor stops, a timeout fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if t3≤t 一次预 Then the constraint release mechanism motor (331) continues to operate at V3 = V 展3 Run at ±10% speed and retest the motor current I3 of the constraint release mechanism.

4. The method for autonomous step-by-step deployment control of a flexible solar cell wing into orbit according to claim 3, characterized in that: The secondary unlocking process of the constraint release mechanism (33) includes: Before the constraint release mechanism motor (331) is powered on, it is determined whether the two constraint release secondary unlocking microswitches (333) are in the triggered state. If either microswitch is triggered, a short circuit fault of the microswitch is reported, and the autonomous deployment process of the flexible solar cell wing is terminated. If neither is triggered, the constraint release mechanism working time t3 is set to 0s and the constraint release mechanism motor rotation number n3 is set to 0. The constraint release mechanism motor (331) is powered on at t3 = 0s. After the constraint release mechanism motor (331) starts, it accelerates directly to V3 = V 展3 ; The constraint release mechanism motor (331) operates at V3 = V 展3 Running at ±10% speed, the motor current I3 of the constraint release mechanism is detected: if I3 ≥ I 限3 And I3≥I 限3 The duration Δt3>t 延3 If the constraint release mechanism motor (331) stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, the triggering status of the two constraint release secondary unlocking microswitches (333) is determined and the number of rotations n3 of the constraint release mechanism motor is detected: If any constraint release mechanism is activated by the micro switch (333) to the secondary unlock position, the constraint release mechanism motor (331) will immediately stop and the constraint release mechanism (33) will be unlocked. If neither of the two constraint release microswitches (333) is triggered when the constraint release mechanism reaches the second unlock position, then determine whether the constraint release mechanism's action time t3 is greater than t. 二次预 If t3 > t 二次预 If the constraint release mechanism motor stops, a timeout fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; if t3≤t 二次预 Then the constraint release mechanism motor (331) continues to operate at V3 = V 展3 Run at ±10% speed and retest the motor current I3 of the constraint release mechanism.

5. The method for autonomous step-by-step deployment control of a flexible solar cell wing into orbit according to claim 1, characterized in that: The extension mechanism (2) is equipped with two micro switches (24) for one-time extension and two micro switches (25) for two-time extension, a thermistor, and a motor-mounted rotary transformer for monitoring and autonomous judgment during the extension process; the thermistor is used to monitor the motor temperature. The control parameters of the extension mechanism during the first deployment, partial retraction, and second deployment processes include: extension mechanism action time t4, extension mechanism motor current I4, and extension mechanism motor current limit value I. 限4 Overcurrent protection time t of the extension mechanism motor 延4 The extension mechanism takes a preset time (t) to complete its deployment. 一次预 2. The retraction mechanism's operation timeout is preset to t. 部收预 The extension mechanism's secondary deployment operation timeout preset time t 二次预2 Number of rotations n4 of the motor in the extension mechanism; motor speed V4 in the extension mechanism; number of rotations n of the motor in one unfolding stage of the extension mechanism. 一次展 The number of motor rotations (n) during the secondary unfolding stage of the extension mechanism 二次展 During the unfolding phase of the extension mechanism, the motor speed V 展4 The motor speed V during the tensioning stage of the extension mechanism 张4 The extension mechanism unfolds to its final position in one go, with a preset number of rotations (n). 一次预 The number of rotations (n) of the motor in the extension mechanism's retraction section. 部分收 The number of motor rotations (n) for the extension mechanism to reach its secondary deployment position. 二次预 .

6. The method for autonomous step-by-step deployment control of a flexible solar cell wing into orbit according to claim 5, characterized in that: The extension mechanism (2) unfolds in one operation, including: Before powering on the extension mechanism motor (23), it is determined whether the microswitches (24) of the two extension mechanisms are in the triggered state when they are fully deployed in one go. If either one is triggered, a short circuit fault of the mechanism microswitch is reported, and the autonomous deployment process of the flexible solar cell wings is terminated. If neither is triggered, the working time t4 of the extension mechanism is set to 0s, the number of rotations n4 of the extension mechanism motor is set to 0, and the extension mechanism motor (23) is powered on at t4 = 0s. After the extension mechanism motor (23) starts, its speed accelerates to V4 = V within the set time period. 展 4. Enter the first unfolding stage of the stretching mechanism; During the first deployment phase of the extension mechanism, the extension mechanism motor (23) is controlled to operate at V4 = V 展4 During ±5% operation, the number of rotations n4 of the extension mechanism motor is determined: If n4≥n 一次展 Then, the extension mechanism enters the first unfolding and tensioning stage. After speed change, the speed of the extension mechanism motor (23) is reduced to V4 = V. 张4 ; Control the extension mechanism motor (23) with V4 = V 张4 During ±5% operation, determine the triggering state of the micro switch (24) and the magnitude of the number of motor rotations n4 when the two extension mechanisms are fully extended in one go: If any extension mechanism extends to its final position in one go, the micro switch (24) is triggered or n4 ≥ n 一次预 If the power is cut off immediately and the extension mechanism (2) is fully extended in one operation; otherwise, the motor current I4 of the extension mechanism is checked. If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the extension mechanism motor (23) stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t. 一次预2 If t4 > t 一次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 一次预2 Then the extension mechanism motor (23) continues to operate at V4 = V 张4 Running at ±5% speed, the triggering state of the micro switch (24) of the two extension mechanisms and the size of the number of motor rotations n4 are re-evaluated; If n4<n 一次展 Then, the motor current I4 of the extension mechanism is detected. If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the extension mechanism motor (23) stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t. 一次预2 If t4 > t 一次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 一次预2 Then the extension mechanism motor (23) continues to operate at V4 = V 展4 Run at a speed of ±5%, and re-evaluate the number of motor rotations n4.

7. The method for autonomous step-by-step deployment control of a flexible solar cell wing into orbit according to claim 5, characterized in that: The partial retraction process of the extension mechanism (2) includes: Before reversing the power supply to the extension mechanism motor (23), set the extension mechanism working time t4 to 0s and the extension mechanism motor rotation number n4 = n 部分收 The extension mechanism motor (23) starts to be energized in reverse at t4=0s. When the extension mechanism motor (23) is energized in reverse, the number of rotations n4 gradually decreases. After the extension mechanism motor (23) starts, its speed accelerates to V4 = V within a set time period. 张4 ; Control the extension mechanism motor (23) to change speed to V4 = V 张4 ±5% operation, detect the number of rotations n4 of the extension mechanism motor: If the number of rotations of the extension mechanism motor n4 = 0, then the extension mechanism motor (23) will immediately be de-energized and stop rotating, and the extension mechanism will complete the partial retraction according to the program. Otherwise, check the motor current I4 of the extension mechanism: If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the extension mechanism motor (23) stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t. 部分收 If t4 > t 部分收 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 部分收 Then the extension mechanism motor (23) continues to operate at V4 = V 张4 Running at a speed of ±5%, the value of the number of rotations n4 of the extension mechanism motor is re-evaluated.

8. The method for autonomous step-by-step deployment control of a flexible solar cell wing into orbit according to claim 5, characterized in that: The secondary unfolding process of the extension mechanism (2) includes: Before powering on the extension mechanism motor (23), it is determined whether the two extension mechanism secondary deployment microswitches (25) are in the triggered state. If either one is triggered, a short circuit fault of the mechanism microswitch is reported, and the autonomous deployment process of the flexible solar cell wing is terminated. If neither is triggered, the working time t4 of the extension mechanism is set to 0s, the number of rotations n4 of the extension mechanism motor is set to 0, and the extension mechanism motor (23) is powered on at t4 = 0s. After the extension mechanism motor (23) starts, its speed accelerates to V4 = V within the set time period. 展4 It enters the second unfolding stage of the extension mechanism; During the secondary unfolding phase of the extension mechanism, the motor (23) of the extension mechanism is controlled to operate at V4 = V 展4 During ±5% operation, the number of rotations n4 of the extension mechanism motor is determined: If n4≥n 二次展 Then, the extension mechanism enters the second unfolding and tensioning stage. After speed change, the speed of the extension mechanism motor (23) is reduced to V4 = V. 张4 ; Control the extension mechanism motor (23) with V4 = V 张4 During ±5% operation, determine the triggering state of the micro switch (25) of the two extension mechanisms in the secondary deployment position and the magnitude of the number of motor rotations n4: If any extension mechanism is deployed to the second position, the micro switch (25) is triggered or n4≥n 二次预 If the power is cut off immediately and the extension mechanism (2) completes its second deployment, then the extension mechanism motor current I4 is checked. If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the extension mechanism motor (23) stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t. 二次预2 If t4 > t 二次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 二次预2 Then the extension mechanism motor (23) continues to operate at V4 = V 张4 Running at ±5% speed, the triggering state of the micro switch (25) of the two extension mechanisms and the size of the number of motor rotations n4 are re-judged; If n4<n 二次展 Then, the motor current I4 of the extension mechanism is detected. If I4≥I 限4 And I4 exceeds I 限4 The duration Δt4>t 延4 If the extension mechanism motor (23) stops immediately, an overcurrent fault is reported, and the autonomous deployment process of the flexible solar cell wing is terminated; otherwise, it is determined whether the action time t4 of the extension mechanism is greater than t. 二次预2 If t4 > t 二次预2 If the reporting agency experiences a timeout failure, the autonomous deployment process of the flexible solar panel will be aborted; if t4≤t 二次预2 Then the extension mechanism motor (23) continues to operate at V4 = V 展4 Run at a speed of ±5%, and re-evaluate the number of motor rotations n4.

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