Sailboard control method and device for quickly finding the zero position during orbit injection for rendezvous and docking

Abstract

The present invention relates to the technical field of solar panel control, and particularly relates to a solar panel control method and device for quickly finding the zero position during orbit injection for rendezvous and docking. Among them, the method is applied to the control system of a spacecraft, and the method includes: after the spacecraft is injected into orbit, at a set moment, based on a preset angle range, making the solar panel rotate forward and backward, so as to start measuring the rotation angle information when the solar panel passes through the zero position sensor; performing sun-pointing control on the solar panel to continuously supply energy; when receiving the zeroing command before orbit control, based on the current rotation angle information, determining the rotation direction of the solar panel to control the solar panel to return to the zero position. Therefore, it can not only enable the solar panel to quickly find the zero position to quickly obtain effective rotation angle information, but also, when receiving the zeroing command before orbit control, according to the effective rotation angle information, enable the solar panel to quickly return to the zero position, which can meet the autonomous and rapid rendezvous and docking requirements of the spacecraft on the basis of avoiding damage to the solar panel.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of solar panel control, and particularly to a solar panel control method and device for quickly finding the zero position during orbit injection for rendezvous and docking. Background Art

[0002] After the spacecraft enters the space orbit, the solar panels are deployed, and then the solar panels are oriented towards the sun to supply energy to the spacecraft. When orbit control of the spacecraft is required, large orbit control engines at the tail of the spacecraft or translation engines in the horizontal direction are often used for orbit transfer. Due to factors such as the large thrust of the engines and the heat of the plume during startup, it may cause destructive effects on the solar panels configured on the spacecraft. Therefore, before using the above-mentioned engine for orbit control, the solar panels need to be rotated to the zero position (horizontal zero position or vertical zero position).

[0003] However, the traditional method for controlling the solar panels to return to the zero position mainly rotates the solar panels in a single direction to the zero position. Since the initial position of the solar panels is unknown, it may reach the zero position quickly according to the set single direction, or it may need to rotate a large circle before reaching the zero position. In this case, the longest return time will reach 10 minutes. During the autonomous and rapid rendezvous process, the interval time between two adjacent orbit controls is sometimes relatively short, and the shortest interval may be less than 400 seconds. Therefore, the return speed of the traditional method for controlling the solar panels to return to the zero position is too slow to meet the requirements of autonomous and rapid rendezvous and docking of the spacecraft.

[0004] Therefore, there is an urgent need for a new solar panel control method. Summary of the Invention

[0005] To solve the problem that the return speed of the traditional method for controlling the solar panels to return to the zero position is too slow, the embodiments of the present invention provide a solar panel control method and device for quickly finding the zero position during orbit injection for rendezvous and docking.

[0006] In a first aspect, the embodiments of the present invention provide a solar panel control method for quickly finding the zero position during orbit injection for rendezvous and docking, which is applied to the control system of a spacecraft. A zero position sensor is provided at the horizontal zero position of the solar panels of the spacecraft. The method includes:

[0007] After the spacecraft enters the orbit, at a set moment, based on a preset angle range, the solar panels are rotated forward and backward to start real-time acquisition of the rotation angle information of the solar panels when the solar panels pass through the zero position sensor;

[0008] Perform solar panel orientation control towards the sun to continuously supply energy to the spacecraft;

[0009] When receiving the zeroing command before orbit control, based on the current rotation angle information, determine the rotation direction of the solar panel to control the solar panel to the zero position; wherein, the zero position includes a horizontal zero position and a vertical zero position.

[0010] In a second aspect, an embodiment of the present invention further provides a sailboard control device for quickly finding the zero position during orbit injection for rendezvous and docking, which is arranged in the control system of the spacecraft. The spacecraft is provided with a zero position sensor at the horizontal zero position of the solar panel. The device includes:

[0011] A zero-finding unit, configured to, after the spacecraft is in orbit, at a set moment, based on a preset angle range, make the solar panel rotate forward and backward, so as to start to obtain the rotation angle information of the solar panel in real time when the solar panel passes through the zero position sensor;

[0012] A sun-facing unit, configured to perform sun-facing orientation control on the solar panel to continuously supply energy to the spacecraft;

[0013] A zeroing unit, configured to, when receiving the zeroing command before orbit control, based on the current rotation angle information, determine the rotation direction of the solar panel to control the solar panel to the zero position; wherein, the zero position includes a horizontal zero position and a vertical zero position.

[0014] In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0015] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed on a computer, the computer is made to execute the method described in any embodiment of this specification.

[0016] An embodiment of the present invention provides a sailboard control method and device for quickly finding the zero position during orbit injection for rendezvous and docking. After the spacecraft is in orbit, at a set moment, the solar panel is rotated forward and backward to a preset angle range respectively, so that the solar panel passes through the zero position sensor, and the rotation angle information of the solar panel is obtained in real time; then, after finding the zero position, sun-facing orientation control is performed on the solar panel to continuously supply energy to the spacecraft; then, when receiving the zeroing command before orbit control, based on the current rotation angle information, the rotation direction of the solar panel can be determined to control the solar panel to quickly return to the zero position. This solution can not only enable the solar panel to quickly find the zero position to quickly obtain effective rotation angle information, but also, when receiving the zeroing command before orbit control, according to the effective rotation angle information, make the solar panel quickly return to the zero position, and on the basis of avoiding damage to the solar panel, can meet the autonomous and rapid rendezvous and docking requirements of the spacecraft. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a flowchart of a sailboard control method for quickly finding the zero position during orbit injection for rendezvous and docking provided by an embodiment of the present invention;

[0019] Figure 2 It is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0020] Figure 3 It is a structural diagram of a sailboard control device for quickly finding the zero position during orbit injection for rendezvous and docking provided by an embodiment of the present invention. Detailed implementation manners

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0022] As mentioned above, when using a large orbit control engine or a translation engine for orbit control, it may damage the solar sailboard. Therefore, before using the above-mentioned engine for orbit control, the solar sailboard needs to be rotated to the zero position. However, the traditional method for controlling the solar sailboard to return to the zero position mainly rotates the sailboard in a single direction to the zero position, and the initial position of the sailboard is unknown. Then, according to the set single direction, it may quickly reach the zero position, or it may need to rotate a large circle before reaching the zero position. In this case, the longest return time to zero can reach 10 minutes. This not only fails to meet the time interval reserved before orbit control during the autonomous and rapid rendezvous process, but also the long time to return to the zero position will reduce the time for the solar sailboard to orient towards the sun, resulting in an imbalance in energy.

[0023] To solve the above technical problems, the inventor can consider setting zero position sensors at the horizontal zero position and / or the vertical zero position. Then, during the normal control process of the solar sailboard, when it first passes through the zero position sensor, by recording the angle that the motor rotates after passing through the zero position sensor, effective rotation angle information can be generated. When it is necessary to return to the zero position (horizontal zero position or vertical zero position) before orbit control, the rotation direction can be determined based on the rotation angle information, and the zero position can be quickly reached.

[0024] In the traditional control process of the solar panel, generally after the spacecraft is in orbit, the solar panel is deployed, and then the sun-pointing orientation is started. When it is necessary to return to the zero position before orbit control, the solar panel is then controlled to return to the zero position. Since the initial position of the solar panel is usually near 0° (i.e., the horizontal zero position) after the solar panel is deployed, when only one zero-position sensor is set, the preferred option is to set it at the horizontal zero position. In addition, during the normal sun-pointing orientation process after the solar panel is deployed, since the actual position of the solar panel when it is deployed is uncertain in the positive and negative directions of 0°, and the direction of the solar panel's controlled rotation is also uncertain in the positive and negative directions according to the illumination conditions at orbit injection, it is possible to quickly pass through 0° or it may be necessary to rotate a large circle before passing through 0°. Then, according to the traditional control process, it may take up to 70 minutes to obtain effective rotation angle information. In the actual fast autonomous rendezvous process, the time from when the solar panel is deployed to the first orbit control is also relatively short. Therefore, in order to shorten the time to obtain the rotation angle information, the inventor can consider that after the spacecraft is in orbit, at a set time, based on a pre-set angle range, the solar panel is quickly rotated forward and backward so that the solar panel quickly passes through the zero-position sensor, which can greatly shorten the time to obtain the rotation angle information.

[0025] The following describes the specific implementation manner of the above concept.

[0026] Please refer to Figure 1 , an embodiment of the present invention provides a solar panel control method for quickly finding the zero position during orbit injection for rendezvous and docking, which is applied to the control system of a spacecraft. The spacecraft is provided with a zero-position sensor at the horizontal zero position of the solar panel. The method includes:

[0027] Step 100, after the spacecraft is in orbit, at a set time, based on a pre-set angle range, the solar panel is rotated forward and backward so that when the solar panel passes through the zero-position sensor, the rotation angle information of the solar panel is started to be obtained in real time;

[0028] Step 102, perform sun-pointing orientation control on the solar panel to continuously supply energy to the spacecraft;

[0029] Step 104, when a zeroing command before orbit control is received, based on the current rotation angle information, determine the rotation direction of the solar panel to control the solar panel to return to the zero position; where the zero position includes the horizontal zero position and the vertical zero position.

[0030] In an embodiment of the present invention, after a spacecraft enters orbit, at a set time, the solar panels are rotated forward and reversed to a pre-set angle range, so that the solar panels pass through the zero position sensor and begin to obtain real-time rotation angle information of the solar panels. Then, after finding the zero position, the solar panels are oriented toward the sun to continuously supply power to the spacecraft. Then, when a pre-orbit control zeroing instruction is received, the rotation direction of the solar panels can be determined based on the current rotation angle information to control the solar panels to quickly return to the zero position. This solution not only enables the solar panels to quickly find the zero position to quickly obtain valid rotation angle information, but also allows the solar panels to quickly return to the zero position based on the valid rotation angle information when a pre-orbit control zeroing instruction is received, thereby preventing damage to the solar panels.

[0031] For step 100:

[0032] In some embodiments, the angle range is determined based on the deployment accuracy of the solar sail panel and the sensitive angle of the zero position sensor;

[0033] The deployment accuracy of the solar panels is determined by:

[0034] Test the initial position of the solar panels after deployment multiple times;

[0035] Based on the pre-set positive and negative directions, the phase difference angle between each initial position and the horizontal zero position is determined to determine the deployment accuracy of the solar sail panel.

[0036] In this embodiment, after the solar panel is unfolded, the initial position of the solar panel rotation angle is usually near 0° (i.e., the horizontal zero position). Therefore, in order to enable the solar panel to quickly reverse forwards and backwards within the angle range and pass through the horizontal zero position 100%, it is necessary to comprehensively consider the unfolding accuracy of the solar panel and the sensitive angle of the zero position sensor to determine the angle range.

[0037] The deployment accuracy of the solar panels of the spacecraft used requires multiple tests to determine. For example, if the number of tests is set to 4, the initial positions are 5.2 degrees, 356.9 degrees, 4.3 degrees, and 355.9 degrees, respectively. The direction from 0 degrees to 1 degree is set as the positive direction, and the direction from 0 degrees to 359 degrees is set as the negative direction. Then, the angles of difference between the initial position and the horizontal zero position are 5.2 degrees (positive direction), 3.1 degrees (negative direction), 4.3 degrees (positive direction), and 4.1 degrees (negative direction), respectively. The deployment accuracy of the solar panels can be determined based on the angles of difference between the initial position and the horizontal zero position in these four setting tests. It can be understood that the average angle difference in the positive and negative directions can be used as the forward deployment accuracy and the reverse deployment accuracy, respectively.

[0038] In the embodiments of the present invention, the maximum difference angle in the positive direction and the maximum difference angle in the negative direction in multiple tests are respectively used as the forward deployment accuracy and the reverse deployment accuracy of the solar panel.

[0039] In this embodiment, in order to increase the probability that the angle range can cover the horizontal zero position, the maximum difference angle in the positive direction and the maximum difference angle in the negative direction in multiple tests can be respectively used as the forward deployment accuracy and the reverse deployment accuracy of the solar panel, instead of selecting the average difference angle as the deployment accuracy, so as to increase the probability that the solar panel can quickly rotate forward and backward within the angle range and pass through the horizontal zero position.

[0040] In some embodiments, the angle range is calculated by the following formula:

[0041] θ1 = k·(A1 + S)

[0042] θ2 = k·(A2 + S)

[0043] In the formula, the angle range is [-θ1, θ2], θ1 is the reverse limit angle, θ2 is the forward limit angle, A1 and A2 are respectively the reverse deployment accuracy and the forward deployment accuracy of the solar panel, k is a set coefficient, and S is the sensitive angle of the zero position sensor.

[0044] In this embodiment, the maximum difference angle in the positive direction and the maximum difference angle in the negative direction in multiple tests are respectively used as the forward deployment accuracy A2 and the reverse deployment accuracy A1 of the solar panel. In order to increase the probability that the angle range can cover the horizontal zero position, a certain control margin can be increased, and the set coefficient k is set according to the control margin, so as to increase the probability that the solar panel can quickly rotate forward and backward within the angle range and pass through the horizontal zero position.

[0045] In some embodiments, the set time is determined based on the spacecraft's orbit entry time, the duration of the sailboard deployment process, and the interval time when the sailboard has controllable conditions.

[0046] After the spacecraft enters the orbit, the sailboard deployment is usually triggered by a fixed flight program. The duration of the sailboard deployment process and the interval time when the sailboard has controllable conditions are usually known design states. By simply considering them comprehensively, the set time t0 for allowing the forward and backward rotation to find the zero position after the spacecraft enters the orbit can be reasonably set. Then, when performing the rendezvous and docking process, starting from the actual spacecraft orbit entry time as 0 o'clock, the forward and backward rotation to find the zero position can start at the set time t0.

[0047] Specifically, in some embodiments, the step of "at the set time, making the solar panel rotate forward and backward based on the preset angle range to start real-time acquisition of the rotation angle information of the solar panel when the solar panel passes through the zero position sensor" may include the following steps S1 - S6:

[0048] Step S1, at a set time, make the solar panel rotate forward at a preset first speed. When receiving the zero position signal sent by the zero position sensor when the solar panel rotates to the zero position, start to obtain the rotation angle information of the solar panel in real time, and stop controlling the solar panel for a first duration.

[0049] Step S2, if the zero position signal has not been received at a first time, stop controlling the solar panel for a second duration; wherein, the first time is determined based on the set time, the first speed, and the forward limit angle.

[0050] Step S3, add the first time and the second duration to determine a second time.

[0051] Step S4, at the second time, make the solar panel rotate backward at a preset second speed. When receiving the zero position signal sent by the zero position sensor when the solar panel rotates to the zero position, start to obtain the rotation angle information of the solar panel in real time, and stop controlling the solar panel for a first duration; wherein, the first speed and the second speed are determined based on the rotation speed constraint and the safety constraint of the solar panel.

[0052] Step S5, determine a third time based on the second time, the second speed, and the angle range.

[0053] Step S6, if the zero position signal has not been received at the third time, after stopping controlling the solar panel for a first duration, perform sun orientation control on the solar panel.

[0054] In this embodiment, starting from the set time t0, control the sailboard to rotate forward at the first speed v1. If the sailboard gives a zero position signal during the rotation, start to obtain the rotation angle information of the solar panel in real time, and stop controlling the solar panel for the first duration Δt1.

[0055] Otherwise, at the first time, that is, when the sailboard nominally moves to near θ2 and the zero position signal has not been received yet, stop controlling the solar panel for the second duration Δt2; then, starting from the second time t2 = t1 + Δt2, control the sailboard to rotate backward at the second speed v2. If the sailboard gives a zero position signal during the rotation, start to obtain the rotation angle information of the solar panel in real time, and stop controlling the solar panel for the first duration Δt1; otherwise, at the third time, that is, when the sailboard nominally moves from θ2 to near θ1 and the zero position signal has not been received yet, it means that the sailboard fails to find the zero position, which may be due to a broken zero position sensor or the angle range not covering the horizontal zero position. Then, only after stopping controlling the solar panel for the first duration Δt1, start to execute step 102, that is, perform sun orientation control on the solar panel.

[0056] By rotating the solar panel forward and reverse through the angle range, the angle the motor has rotated since the set time t0 can be used to determine whether the solar panel has reached θ2 and -θ1. However, while calculating the forward and reverse angles based on the motor is relatively accurate, it is relatively slow and consumes more computing resources. Therefore, the theoretical time when the solar panel reaches θ2 and -θ1 can be calculated based on the panel's rotation speeds (i.e., the first speed and the second speed), as well as the forward limit angle θ2 and the reverse limit angle θ1 within the angle range. By controlling the rotation time, it can be determined whether θ2 and -θ1 have been reached.

[0057] It is understandable that stopping the solar panel control is due to the sudden change of speed and direction of the solar panel, which may cause damage to the solar panel. Therefore, the solar panel needs to be stopped for a period of time before changing direction or speed to avoid damage to the solar panel.

[0058] In some embodiments, the first moment in step S2 is calculated using the following formula:

[0059]

[0060] Where t1 is the first moment, t0 is the set moment, θ2 is the positive limit angle, and v1 is the first speed;

[0061] The third moment in step S5 is calculated using the following formula:

[0062]

[0063] Wherein, t3 is the third moment, t2 is the second moment, θ2 is the forward limit angle, θ1 is the reverse limit angle, and v2 is the second speed.

[0064] It can be seen that through the above two calculation formulas, the second moment when the solar panel rotates forward to θ2 and the third moment when it reverses to -θ1 can be calculated, thereby controlling the solar panel to complete the rapid zeroing process.

[0065] Regarding step 102:

[0066] In this step, after obtaining valid rotation angle information in step 100, the solar panel can be oriented toward the sun based on the rotation angle information, which can greatly shorten the time it takes for the solar panel to capture the sun.

[0067] However, in some embodiments, if the zero signal has not been received at the third moment of step S6 in step 102, the zero signal is generated by:

[0068] During the process of controlling the solar panel's orientation toward the sun, when the solar panel passes the zero position sensor for the first time, the zero position sensor sends a zero position signal to start acquiring the rotation angle information in real time.

[0069] In this embodiment, since no zero-position signal is received in step 100, valid rotation angle information cannot be obtained. Therefore, when executing step 102, the solar panel is oriented toward the sun according to the original control method. Therefore, when the solar panel passes the zero-position sensor for the first time during the solar orientation control, the zero-position sensor sends a zero-position signal, and real-time rotation angle information can be obtained.

[0070] Regarding step 104:

[0071] When using the large orbital control engine at the tail of the spacecraft to change orbit, the zeroing command is to return to the horizontal zero position (0 degrees). When using the horizontal translation engine to change orbit, the zeroing command is to return to the vertical zero position (270 degrees).

[0072] For example, when the zeroing instruction received before orbit control is the vertical zero position (270 degrees), and the current rotation angle information is 0 degrees, the rotation direction of the solar panel can be determined to be the opposite direction, so that the solar panel can quickly reach the vertical zero position.

[0073] In addition, a sensor can be set at 270 degrees to accurately return the solar panel to its zero position.

[0074] like Figure 2 、 Figure 3 As shown, the embodiment of the present invention provides a sailboard control device for rapid zeroing of the orbit for rendezvous and docking. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 2 As shown in the figure, a hardware architecture diagram of a computing device where a sailboard control device for rapid zero-finding in orbit for rendezvous and docking provided by an embodiment of the present invention is located, except Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the computing device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a logical device, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the internal memory and executes it. This embodiment provides a solar panel control device for rapid orbital zeroing for rendezvous and docking, which is provided in the control system of a spacecraft. The spacecraft is provided with a zero position sensor at the horizontal zero position of the solar panel. The device includes:

[0075] The homing unit 301 is used to rotate the solar panel forward and reverse based on a preset angle range at a set time after the spacecraft enters orbit, so as to start obtaining the rotation angle information of the solar panel in real time when the solar panel passes the zero position sensor;

[0076] The sun-tracking unit 302 is used to control the sun-facing orientation of the solar panels to continuously supply energy to the spacecraft;

[0077] The zeroing unit 303 is used to determine the rotation direction of the solar panels based on the current rotation angle information when receiving a zeroing command before orbit control, so as to control the solar panels to return to the zero position; where the zero position includes the horizontal zero position and the vertical zero position.

[0078] In an embodiment of the present invention, the angle range in the zeroing unit 301 is determined based on the deployment accuracy of the solar panels and the sensitive angle of the zero position sensor;

[0079] The deployment accuracy of the solar panels is determined by the following method:

[0080] Conduct multiple tests on the initial positions after the solar panels are deployed;

[0081] Based on the preset positive direction and negative direction, determine the difference angle between each initial position and the horizontal zero position, so as to determine the deployment accuracy of the solar panels.

[0082] In an embodiment of the present invention, in the zeroing unit 301, the maximum difference angle in the positive direction and the maximum difference angle in the negative direction in multiple tests are respectively used as the forward deployment accuracy and the reverse deployment accuracy of the solar panels.

[0083] In an embodiment of the present invention, the angle range in the zeroing unit 301 is calculated by the following formula:

[0084] θ1 = k·(A1 + S)

[0085] θ2 = k·(A2 + S)

[0086] In the formula, the angle range is [-θ1, θ2], θ1 is the reverse limit angle, θ2 is the forward limit angle, A1 and A2 are respectively the reverse deployment accuracy and the forward deployment accuracy of the solar panels, k is a set coefficient, and S is the sensitive angle of the zero position sensor.

[0087] In an embodiment of the present invention, the zeroing unit 301 is used to execute:

[0088] At a set time, make the solar panels rotate forward at a preset first speed. When receiving the zero position signal sent by the zero position sensor when the solar panels rotate to the zero position, start to obtain the rotation angle information of the solar panels in real time, and make the solar panels stop controlling for a first period of time;

[0089] If the zero position signal has not been received at the first time, make the solar panels stop controlling for a second period of time; where the first time is determined based on the set time, the first speed, and the forward limit angle;

[0090] Add the first moment and the second duration to determine the second moment;

[0091] At the second moment, the solar panel is rotated in the opposite direction at a preset second speed. When a zero position signal is received from a sensor indicating that the solar panel has rotated to a zero position, the rotation angle information of the solar panel is acquired in real time, and the solar panel is stopped for a first duration. The first speed and the second speed are determined based on a rotation speed constraint and a safety constraint of the solar panel.

[0092] determining a third moment based on the second moment, the second speed, and the angular range;

[0093] If the zero position signal is not received at the third moment, the solar sail panel is stopped for the first period of time, and then the solar sail panel is oriented toward the sun.

[0094] In one embodiment of the present invention, the first moment in the homing unit 301 is calculated using the following formula:

[0095]

[0096] Where t1 is the first moment, t0 is the set moment, θ2 is the positive limit angle, and v1 is the first speed;

[0097] The third moment is calculated using the following formula:

[0098]

[0099] Wherein, t3 is the third moment, t2 is the second moment, θ2 is the forward limit angle, θ1 is the reverse limit angle, and v2 is the second speed.

[0100] In one embodiment of the present invention, if the zero signal has not been received at the third moment, the zero signal is generated in the sun unit 302 in the following manner:

[0101] During the process of controlling the solar panel's orientation toward the sun, when the solar panel passes the zero position sensor for the first time, the zero position sensor sends a zero position signal to start acquiring the rotation angle information in real time.

[0102] It should be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on a sailboard control device for rapid orbital homing during rendezvous and docking. In other embodiments of the present invention, a sailboard control device for rapid orbital homing during rendezvous and docking may include more or fewer components than illustrated, or may combine or separate certain components, or employ a different component arrangement. The illustrated components may be implemented in hardware, software, or a combination of both.

[0103] For the information interaction, execution process, etc. among the various modules within the above-mentioned device, since they are based on the same concept as the method embodiments of the present invention, the specific content can be referred to the description in the method embodiments of the present invention, and will not be elaborated here.

[0104] An embodiment of the present invention further provides a computing device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, a method for controlling a solar panel to quickly find the zero position during rendezvous and docking according to any one of the embodiments of the present invention is implemented.

[0105] An embodiment of the present invention further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the processor is enabled to execute a method for controlling a solar panel to quickly find the zero position during rendezvous and docking according to any one of the embodiments of the present invention.

[0106] Specifically, a system or device equipped with a storage medium can be provided. Software program codes for implementing the functions of any one of the above embodiments are stored on the storage medium, and the computer (or CPU or MPU) of the system or device is enabled to read and execute the program codes stored on the storage medium.

[0107] In this case, the program codes read from the storage medium itself can implement the functions of any one of the above embodiments. Therefore, the program codes and the storage medium storing the program codes constitute a part of the present invention.

[0108] Embodiments of the storage medium for providing program codes include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program codes can be downloaded from a server computer via a communication network.

[0109] In addition, it should be clear that not only can the functions of any one of the above embodiments be implemented by executing the program codes read by the computer, but also by the operating system operating on the computer based on the instructions of the program codes to complete part or all of the actual operations.

[0110] In addition, it can be understood that the program codes read from the storage medium are written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion module connected to the computer. Subsequently, based on the instructions of the program codes, the CPU, etc. installed on the expansion board or expansion module are enabled to execute part and all of the actual operations, thereby implementing the functions of any one of the above embodiments.

[0111] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0112] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium includes various media that can store program codes, such as ROM, RAM, magnetic disks or optical discs.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a sailboard to quickly find the zero position during orbital injection for rendezvous and docking, characterized in that, A control system applied to a spacecraft, where a zero-position sensor is provided at the horizontal zero position of the solar panel of the spacecraft, and the method includes: After the spacecraft is in orbit, at a set time, based on a preset angle range, the solar panel is rotated forward and backward so that when the solar panel passes through the zero-position sensor, the rotation angle information of the solar panel is started to be acquired in real time; Perform sun-pointing control on the solar panel to continuously supply energy to the spacecraft; When a zeroing command before orbit control is received, based on the current rotation angle information, determine the rotation direction of the solar panel to control the solar panel to return to the zero position; where the zero position includes a horizontal zero position and a vertical zero position; The angle range is determined based on the deployment accuracy of the solar panel and the sensitive angle of the zero-position sensor; The deployment accuracy of the solar panel is determined by the following method: Conduct multiple tests on the initial position after the solar panel is deployed; Based on a preset positive direction and negative direction, determine the difference angle between each initial position and the horizontal zero position, and take the maximum difference angle in the positive direction and the maximum difference angle in the negative direction in multiple tests as the positive deployment accuracy and the negative deployment accuracy of the solar panel respectively; The angle range is calculated by the following formula: θ1 = k·(A1 + S) θ2 = k·(A2 + S) In the formula, the angle range is [-θ1, θ2], θ1 is the reverse limit angle, θ2 is the forward limit angle, A1 and A2 are the reverse deployment accuracy and the forward deployment accuracy of the solar panel respectively, k is a set coefficient, and S is the sensitive angle of the zero-position sensor.

2. The method according to claim 1, characterized in that At the set time, based on a preset angle range, the solar panel is rotated forward and backward so that when the solar panel passes through the zero-position sensor, the rotation angle information of the solar panel is started to be acquired in real time, including: At the set time, the solar panel is rotated forward at a preset first speed. When the zero-position signal sent by the zero-position sensor when the solar panel rotates to is received, the rotation angle information of the solar panel is started to be acquired in real time, and the solar panel is stopped for a first period of time; If the zero-position signal has not been received at the first moment, the solar panel is stopped for a second period of time; where the first moment is determined based on the set time, the first speed, and the forward limit angle; Add the first moment and the second period of time to determine the second moment; At the second moment, the solar panel is rotated backward at a preset second speed. When the zero-position signal sent by the zero-position sensor when the solar panel rotates to is received, the rotation angle information of the solar panel is started to be acquired in real time, and the solar panel is stopped for the first period of time; where the first speed and the second speed are determined based on the rotation speed constraint and the safety constraint of the solar panel; Based on the second moment, the second speed, and the angle range, determine the third moment; If the zero-position signal has not been received at the third moment, after the solar panel is stopped for the first period of time, perform sun-pointing control on the solar panel.

3. The method according to claim 2, characterized in that, The first moment is calculated by the following formula: In the formula, t1 is the first moment, t0 is the set moment, θ2 is the positive limit angle, and v1 is the first speed; The third moment is calculated by the following formula: In the formula, t3 is the third moment, t2 is the second moment, θ2 is the positive limit angle, θ1 is the negative limit angle, and v2 is the second speed.

4. The method according to claim 2 or 3, characterized in that, If the zero position signal has not been received at the third moment, the zero position signal is generated in the following manner: During the process of controlling the solar panel to be oriented towards the sun, when the solar panel first passes by the zero position sensor, the zero position sensor emits a zero position signal to start real-time acquisition of the rotation angle information.

5. A sailboard control device for quickly finding the zero position during orbital injection for rendezvous and docking, which is used to implement the method described in any one of claims 1-4, characterized in that, A control system provided on a spacecraft, the spacecraft is provided with a zero position sensor at the horizontal zero position of the solar panel, and the device includes: A zero position searching unit, configured to, after the spacecraft is in orbit and at a set moment, based on a pre-set angle range, make the solar panel rotate forward and backward so as to start real-time acquisition of the rotation angle information of the solar panel when the solar panel passes by the zero position sensor; A sun-facing unit, configured to perform sun-facing orientation control on the solar panel to continuously supply energy to the spacecraft; A zero position resetting unit, configured to, when receiving a zero position resetting instruction before orbit control, determine the rotation direction of the solar panel based on the current rotation angle information to control the solar panel to return to the zero position; wherein, the zero position includes a horizontal zero position and a vertical zero position.

6. A computing device, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method according to any one of claims 1-4 is implemented.

7. A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed on a computer, the computer is made to execute the method according to any one of claims 1-4.

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