A path planning based solar panel active deployment method

Abstract

This invention relates to a method for the active deployment of solar panels based on path planning. After the solar panel clamping release mechanism is unlocked, the initial value of the rotation angle of the tilting mechanism in the clamped state is read, and rotation path planning is performed according to the actual state of the solar panel. When the tilting mechanism starts to drive the solar panel deployment, the solar panel deployment time is timed. If the deployment process time has not reached the maximum time, the solar panel deployment is determined sequentially by calculating the rotation angle and angular velocity of the tilting mechanism, the rotation angle calculated by the potentiometer output, and continuously judging the working mode of the tilting mechanism over multiple cycles. If the deployment process time reaches the maximum time and the solar panel has been fully deployed, the solar panel deployment process ends. If the deployment process time reaches the maximum time and the solar panel has not been fully deployed, a safety protection setting is implemented. This invention is applicable to the design of active solar panel deployment modes for satellites with solar panels featuring extension rod structures and tilting mechanisms, driving the solar panels to deploy smoothly, stably, safely, and reliably.

Description

Technical Field

[0001] This invention belongs to the field of satellite solar panel control technology and relates to a method for active deployment of solar panels based on path planning. Background Technology

[0002] Traditional satellite solar panel deployment mechanisms primarily consist of interconnected springs and hinges. After the satellite enters orbit, a pyrotechnic device unlocks the solar panels, and the elastic potential energy stored in the springs within the deployment mechanism drives their deployment. This deployment method is passively controlled, and the impact and vibration generated during deployment can significantly interfere with the satellite's attitude.

[0003] To reduce launch costs, low-Earth orbit (LEO) internet satellites typically employ a "multiple satellites on one rocket" launch mode, making high integration and unification the development direction for LEO internet satellite platforms. To further reduce the satellite's size and weight while meeting the requirements for instrument layout and satellite mechanical and thermal performance, the structural design of LEO internet satellites utilizes extension rods to extend the solar panels. Each extension rod and solar panel features a foldable and deployable design, incorporating a panel tilting mechanism and a cable mechanism to control the solar panels during normal satellite operation.

[0004] After separation from the launch vehicle, low-Earth orbit (LEO) internet satellites enter the orbit insertion phase. In this phase, the solar panels are driven from a compressed, folded state to an deployed state to ensure the satellite's energy security. However, the extension rod-type folding and deployment structure makes traditional spring-driven solar panel deployment methods unsuitable. Therefore, a solar panel tilting mechanism is needed to replace the hinge mechanism to drive the solar panel deployment. This necessitates designing an active control method for solar panel deployment and monitoring the entire deployment process to prevent panel failure due to severe vibrations or erroneous control during deployment, which could jeopardize the satellite's energy security. Summary of the Invention

[0005] The technical problem solved by this invention is to propose a path planning-based active deployment method for solar panels on satellites that require active deployment of solar panels. This method solves the problem of uncontrolled deployment in traditional solar panel deployment processes and ensures normal deployment of solar panels.

[0006] The solution of this invention is as follows: Firstly, a method for active deployment of solar panels based on path planning is proposed, comprising the following steps:

[0007] Step 1: After the solar panel clamping release mechanism is unlocked, read the initial value of the angle of the solar panel tilting mechanism in the clamped state, set the angle of the solar panel tilting mechanism in the fully deployed state to the desired angle, plan the rotation path of the solar panel tilting mechanism, and after receiving the "start solar panel deployment" data command, set the working mode of the +Y wing and -Y wing solar panel tilting mechanism to "deployment rotation mode", drive the solar panel to deploy according to the planned path, and proceed to Step 2;

[0008] Step 2: Time the solar panel deployment and determine if the deployment time has reached the preset maximum deployment time. If the deployment time has not reached the maximum time, proceed to Step 3; if the deployment time has reached the maximum time, proceed to Step 7.

[0009] Step 3: Calculate the rotation angle of the windsurfing tilting mechanism in real time based on the initial value of the rotation angle and the angular velocity. Determine whether the rotation angle of the windsurfing tilting mechanism has reached the desired angle. If the rotation angle has not reached the desired angle, proceed to Step 2. If the rotation angle has reached the desired angle, proceed to Step 4.

[0010] Step 4: Based on the rotation angle calculated by the potentiometer output of the windsurfing tilting mechanism, determine whether the rotation angle of the windsurfing tilting mechanism has reached the desired angle. If the rotation angle has not reached the desired angle, proceed to Step 5; if the rotation angle has reached the desired angle, proceed to Step 6.

[0011] Step 5: Set the working mode of the windsurfing tilting mechanism to "low speed rotation mode" to keep the windsurfing tilting mechanism in the set angular rate rotation condition, and then proceed to Step 6;

[0012] Step Six: Set the angular rate of the windsurfing tilting mechanism to zero, set the windsurfing tilting mechanism's working mode to "hold mode", and continuously judge the working mode of the windsurfing tilting mechanism: if the working mode of the windsurfing tilting mechanism is not "hold mode" for N consecutive control cycles, proceed to Step Five; otherwise, set both "+Y wing windsurfing deployment status" and "-Y wing windsurfing deployment status" to "deployed", and proceed to Step Seven, where N is an integer greater than 1;

[0013] Step 7: When the solar panel deployment process reaches the preset maximum deployment time, the deployment drive result of the biplane tilting mechanism is judged based on the deployment status of the biplane, and the deployment process ends.

[0014] Furthermore, the planning of the rotation path of the windsurfing tilting mechanism described in step one is as follows:

[0015] Let the rotation angle of the solar panel tilting mechanism be θ(t), where t is time. The rotational motion is expressed as a time-dependent rotation angle function θ(t) = f(t). Based on the actual compression and deployment states of the solar panel, the following boundary conditions are established:

[0016] θ(0)=θ0, θ(t f )=θ f ,

[0017] Where θ0 and θ f Let t be the initial and expected values ​​of the rotation angle θ(t) of the sail tilting mechanism, respectively. f The final moment when the rotation ends;

[0018] Set the following constraints:

[0019]

[0020] in, The maximum angular velocity at which the windshield deploys. The maximum angular acceleration that the windshield tilting mechanism can provide;

[0021] Based on the boundary and constraint conditions, a polynomial fitting algorithm is used to parameterize the rotation angle function θ(t)=f(t) to complete the rotation path planning of the sail tilting mechanism.

[0022] Furthermore, the rotation angle function θ(t) = f(t) is parameterized using a polynomial interpolation algorithm, including:

[0023] The rotation function is parameterized using a fifth-degree polynomial, boundary conditions are introduced, and the rotation function is normalized to obtain:

[0024]

[0025]

[0026]

[0027] When the initial value θ0 and the expected value θ of the sail tilting mechanism f When determined, the rotation angle function is determined by the terminal time t. f Sure.

[0028] Furthermore, the terminal time t f Set according to the following conditions:

[0029] Based on the constraints and the rotation function, the terminal time t is obtained. f The constraints are:

[0030]

[0031]

[0032] Furthermore, step 7, which involves judging the deployment drive result of the biplane tilting mechanism based on the deployment state of the biplane, specifically includes:

[0033] When both "+Y wing panel deployment status" and "-Y wing panel deployment status" are "deployed", the dual-wing panel tilting mechanism completes the deployment drive;

[0034] When the "+Y wing panel deployment status" is not "deployed", the "+Y wing panel deployment status" is set to "deployment abnormal", and the working mode of the +Y wing panel tilting mechanism is set to "standby mode"; when the "-Y wing panel deployment status" is not "deployed", the "-Y wing panel deployment status" is set to "deployment abnormal", and the working mode of the -Y wing panel tilting mechanism is set to "standby mode", the dual-wing panel tilting mechanism has not completed deployment drive.

[0035] Secondly, a computer-readable storage medium is proposed, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps of the path planning-based active deployment method for solar panels.

[0036] Thirdly, a path planning-based active solar panel deployment device is proposed, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the path planning-based active solar panel deployment method.

[0037] The beneficial effects of this invention compared to the prior art are:

[0038] (1) This invention proposes an active control method for solar panel deployment, which can adapt to satellites with different locking and deployment states of extension rod solar panels, set the terminal time of solar panel deployment, shorten or extend the solar panel deployment time, and solve the problem that the traditional solar panel deployment process cannot be actively controlled.

[0039] (2) Based on the path planning algorithm, the present invention can smoothly and stably deploy the solar panel within the driving capability range of the solar panel tilting mechanism.

[0040] (3) The present invention ensures the reliability of the conclusion that “the sail has been deployed” by calculating the angle and angular velocity of the sail tilting mechanism, calculating the angle by the output of the potentiometer, and continuously judging the working mode of the sail tilting mechanism over multiple cycles.

[0041] (4) By setting an upper limit threshold for the solar panel deployment time, this invention can prevent the effects of abnormal output of the potentiometer of the solar panel tilting mechanism and improve the safety of the solar panel deployment process. Attached Figure Description

[0042] Figure 1This is a flowchart of the active control solar panel deployment process of the present invention. Detailed Implementation

[0043] The present invention will be further described below with reference to the embodiments.

[0044] This invention provides a path planning-based active deployment method for solar panels. For satellites with solar panels featuring extension rod structures and tilting mechanisms, a path planning-based active deployment method is proposed. Through a path planning algorithm, the solar panels are deployed smoothly and stably within the driving capability range of the tilting mechanism, ensuring the reliability and safety of the deployment process.

[0045] Active deployment method of solar panels based on path planning, such as Figure 1 As shown, the specific steps include the following:

[0046] Step 1): After the solar panel clamping release mechanism is unlocked, the satellite attitude and orbit control subsystem reads the initial value of the tilting mechanism rotation angle in the clamped state, sets the rotation angle of the tilting mechanism in the fully deployed state as the desired value, and plans the rotation path of the tilting mechanism using a fifth-order polynomial algorithm, considering other constraints. Upon receiving the "Start Solar Panel Deployment" data command from the satellite crew, the operating mode of the +Y and -Y wing solar panel tilting mechanisms is set to "Deployment Rotation Mode," driving the solar panels to deploy through the planned path, and simultaneously proceeding to Step 2).

[0047] In step 1), during path planning, let the rotation angle of the solar panel tilting mechanism be θ(t), where t is time. The rotation motion can be expressed as a time-dependent rotation angle function, i.e., θ(t) = f(t). Based on the actual compression and deployment states of the solar panels, to reduce the impact of the solar panel deployment process on the satellite attitude, the following boundary conditions can be established:

[0048] θ(0)=θ0, θ(t f )=θ f ,

[0049] Where θ0 and θ f Let t be the initial and expected values ​​of the rotation angle θ(t) of the sail tilting mechanism, respectively. f This is the final moment when the rotation ends.

[0050] Considering the linkage capability of the windsurfing rope mechanism and the driving capability of the windsurfing tilting mechanism, the following constraints also need to be set:

[0051]

[0052] in, The maximum angular velocity at which the windshield deploys. This is the maximum angular acceleration that the windsurf tilting mechanism can provide.

[0053] The rotation function is parameterized using a polynomial interpolation algorithm. In a preferred embodiment, a fifth-order polynomial is used to parameterize the rotation function. Boundary conditions are introduced, and the rotation function is normalized to obtain:

[0054]

[0055]

[0056]

[0057] As can be seen from the above, when the initial value θ0 and the desired value θ of the tilting mechanism of the sailboard are... f When determined, the rotation angle function is mainly related to the terminal time t. f related.

[0058] Based on the constraints and the rotation function, the terminal time t is obtained. f Constraints:

[0059]

[0060]

[0061] In summary, the terminal time t that satisfies the constraints is selected. f This allows us to obtain the planned rotation angle, angular velocity, and angular acceleration functions.

[0062] Step 2) When the solar panel tilting mechanism starts to drive the solar panel to deploy, start timing the solar panel deployment and determine whether the solar panel deployment process time has reached the preset maximum deployment time: if the deployment process time has not reached the maximum time, proceed to step 3); if the deployment process time has reached the maximum time, proceed to step 7).

[0063] Step 3) During the process of the windsurfing tilting mechanism driving the windsurfing to unfold, the rotation angle of the windsurfing tilting mechanism is calculated in real time based on the initial value of the rotation angle and the angular velocity. It is then determined whether the rotation angle of the windsurfing tilting mechanism has reached the expected angle in the path planning: if the rotation angle has not reached the expected angle, proceed to step 2); if the rotation angle has reached the expected angle, proceed to step 4).

[0064] Step 4): Based on the rotation angle calculated by the potentiometer output of the windsurfing tilting mechanism, determine whether the rotation angle of the windsurfing tilting mechanism has reached the desired angle: if the rotation angle has not reached the desired angle, proceed to step 5); if the rotation angle has reached the desired angle, proceed to step 6).

[0065] Step 5) When the calculated rotation angle output by the potentiometer of the sail tilting mechanism does not reach the desired angle, set the working mode of the sail tilting mechanism to "low speed rotation mode" to keep the sail tilting mechanism in a low angular rate rotation condition, and proceed to step 6).

[0066] The low angular rate rotation condition can be set according to the specific sail tilting mechanism. In one optional embodiment, the low angular rate rotation condition is set to a rotation angular rate of less than or equal to 0.06° / s.

[0067] Step 6) When the rotation angle calculated by the potentiometer of the sail tilting mechanism has reached the desired angle, set the angular rate of the sail tilting mechanism to zero, set the working mode of the sail tilting mechanism to "hold mode", and continuously judge the working mode of the sail tilting mechanism: if the working mode of the sail tilting mechanism is not all in "hold mode" within 3 consecutive control cycles, proceed to step 5); if the working mode of the sail tilting mechanism is all in "hold mode" within 3 consecutive control cycles, set both "+Y wing sail deployment status" and "-Y wing sail deployment status" to "deployed", and proceed to step 7).

[0068] Step 7) When the solar panel deployment process reaches the preset maximum deployment time, the deployment drive result of the dual-wing solar panel tilting mechanism is judged based on the dual-wing "solar panel deployment status", and the solar panel deployment process ends.

[0069] In step 7), the specific method for interpreting the solar panel deployment result based on the "sunshine deployment state" of the two wings is as follows:

[0070] When both "+Y wing panel deployment status" and "-Y wing panel deployment status" are "deployed", the dual-wing panel tilting mechanism completes the deployment drive;

[0071] When the "+Y wing panel deployment status" is not "deployed", the "+Y wing panel deployment status" is set to "deployment abnormal", and the working mode of the +Y wing panel tilting mechanism is set to "standby mode"; when the "-Y wing panel deployment status" is not "deployed", the "-Y wing panel deployment status" is set to "deployment abnormal", and the working mode of the -Y wing panel tilting mechanism is set to "standby mode", the dual-wing panel tilting mechanism has not completed deployment drive.

[0072] Example 1

[0073] After the solar panel clamping release mechanism is unlocked, the initial value of the solar panel tilting mechanism's rotation angle in the clamped state is read as -180°. The desired rotation angle of the solar panel tilting mechanism is set to 0°. Based on the linkage capability of the solar panel rope mechanism and the driving capability of the solar panel tilting mechanism, the maximum angular velocity of solar panel deployment is set to 1° / s, and the maximum angular acceleration of the solar panel tilting mechanism is set to 0.2° / s². 2Based on the constraints of the terminal time, a terminal time of 350s is selected. Substituting these values ​​into the formulas for angle, angular velocity, and angular acceleration, the planned path is as follows:

[0074] θ(t) = 2.056 × 10 -10 t 5 -1.799×10 -7 t 4 +4.198×10 -5 t 3 -180

[0075]

[0076]

[0077] After receiving the "Start Sail Deployment" data command from the space agency, the working mode of the +Y wing and -Y wing sail tilting mechanism is set to "Deployment Rotation Mode". The sails are driven to deploy according to the planned path. The maximum time for the sail deployment process is set to 1000 seconds and the timer is started.

[0078] Operating Condition 1:

[0079] Within a 1000s timeframe, the rotation angle of the sail tilting mechanism is calculated using the initial rotation angle and angular velocity, changing from -180° to 0°. The calculated rotation angle is then read from the potentiometer output of the sail tilting mechanism. When it reaches 0°, the angular velocity of the sail tilting mechanism is set to zero, and the operating mode is set to "hold mode." For three consecutive control cycles, the sail tilting mechanism remains in "hold mode," and both the "+Y wing sail deployment status" and "-Y wing sail deployment status" are set to "deployed." After 1000s, both the "+Y wing sail deployment status" and "-Y wing sail deployment status" read "deployed," and the sail deployment process ends.

[0080] Operating Condition 2:

[0081] After the timer reaches 1000s, it is found that "+Y wingboard deployment status" is "deployed" and "-Y wingboard deployment status" is not "deployed". The "-Y wingboard deployment status" is set to "deployment abnormal" and the working mode of the -Y wingboard tilting mechanism is set to "standby mode". The deployment process of the sailboard ends.

[0082] In summary, this application proposes a path planning-based active deployment method for solar panels, which is applicable to satellites with solar panels featuring extension rod structures and tilting mechanisms, enabling autonomous, controllable, smooth, and stable deployment of solar panels.

[0083] This application provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform... Figure 1 The method described.

[0084] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0085] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0086] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0087] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0088] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

[0089] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A method for active deployment of solar panels based on path planning, characterized in that... Includes the following steps: Step 1: After the solar panel clamping release mechanism is unlocked, read the initial value of the angle of the solar panel tilting mechanism in the clamped state, set the angle of the solar panel tilting mechanism in the fully deployed state to the desired angle, plan the rotation path of the solar panel tilting mechanism, and after receiving the "start solar panel deployment" data command, set the working mode of the +Y wing and -Y wing solar panel tilting mechanism to "deployment rotation mode", drive the solar panel to deploy according to the planned path, and proceed to Step 2; Step 2: Time the solar panel deployment and determine if the deployment time has reached the preset maximum deployment time. If the deployment time has not reached the maximum time, proceed to Step 3; if the deployment time has reached the maximum time, proceed to Step 7. Step 3: Calculate the rotation angle of the windsurfing tilting mechanism in real time based on the initial value of the rotation angle and the angular velocity. Determine whether the rotation angle of the windsurfing tilting mechanism has reached the desired angle. If the rotation angle has not reached the desired angle, proceed to Step 2. If the rotation angle has reached the desired angle, proceed to Step 4. Step 4: Based on the rotation angle calculated by the potentiometer output of the windsurfing tilting mechanism, determine whether the rotation angle of the windsurfing tilting mechanism has reached the desired angle. If the rotation angle has not reached the desired angle, proceed to Step 5; if the rotation angle has reached the desired angle, proceed to Step 6. Step 5: Set the windsurfing tilting mechanism to "low speed rotation mode" to keep the windsurfing tilting mechanism in the set angular rate rotation condition, and proceed to Step 6; Step Six: Set the angular rate of the windsurfing tilting mechanism to zero, set the windsurfing tilting mechanism's working mode to "hold mode", and continuously judge the working mode of the windsurfing tilting mechanism: if the working mode of the windsurfing tilting mechanism is not "hold mode" for N consecutive control cycles, proceed to Step Five; otherwise, set both "+Y wing windsurfing deployment state" and "-Y wing windsurfing deployment state" to "deployed", and proceed to Step Seven, where N is an integer greater than 1; Step 7: When the solar panel deployment process reaches the preset maximum deployment time, the deployment drive result of the dual-wing solar panel tilting mechanism is judged based on the deployment status of the dual-wing solar panels, and the solar panel deployment process ends. The step one, planning the rotation path of the windsurfing tilting mechanism, specifically involves: Let the angle of the windsurf tilting mechanism be... , Let time be the time factor, and the angular motion be expressed as a time-dependent angular function. Based on the actual compression and deployment states of the solar panels, the following boundary conditions are established: in, and These are the angles of the windsurfing tilting mechanism. The initial value and the expected value, The final moment when the rotation ends; Set the following constraints: in, The maximum angular velocity at which the windshield deploys. The maximum angular acceleration that the windshield tilting mechanism can provide; Based on the boundary conditions and constraints, a polynomial fitting algorithm is used to fit the rotation angle function. Parameterization is performed to complete the rotation path planning of the windsurfing tilting mechanism.

2. The method for active deployment of solar panels based on path planning according to claim 1, characterized in that, The rotation function was obtained using a polynomial interpolation algorithm. Parameterization includes: The rotation function is parameterized using a fifth-degree polynomial, boundary conditions are introduced, and the rotation function is normalized to obtain: When the initial value of the tilting mechanism of the sail and expected value When determined, the rotation function is determined by the terminal time. Sure.

3. The method for active deployment of solar panels based on path planning according to claim 2, characterized in that, The terminal time Set according to the following conditions: Based on the constraints and the rotation function, the terminal time is obtained. The constraints are: 。 4. The method for active deployment of solar panels based on path planning according to claim 1, characterized in that, Step seven, which involves judging the deployment drive result of the biplane tilting mechanism based on the deployment state of the biplane, specifically includes: When both "+Y wing panel deployment status" and "-Y wing panel deployment status" are "deployed", the dual-wing panel tilting mechanism completes the deployment drive. When the "+Y wing panel deployment status" is not "deployed", the "+Y wing panel deployment status" is set to "deployment abnormal", and the working mode of the +Y wing panel tilting mechanism is set to "standby mode"; when the "-Y wing panel deployment status" is not "deployed", the "-Y wing panel deployment status" is set to "deployment abnormal", and the working mode of the -Y wing panel tilting mechanism is set to "standby mode", the dual-wing panel tilting mechanism has not completed the deployment drive.

5. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4.

6. A path planning-based active deployment device for solar panels, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 4.

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