A control method and device for a highly flexible biaxial solar panel

Abstract

This invention provides a control method and apparatus for a highly flexible biaxial solar panel. The method includes: calculating the target rotation angles of the α-axis and β-axis towards the sun based on the projection of the sun's azimuth in the body coordinate system and the orbital coordinate system; subtracting the current rotation angle of the α-axis and β-axis from their target rotation angles to obtain the current tracking errors of the α-axis and β-axis; comparing the current tracking errors of the α-axis and β-axis with preset thresholds; if the current tracking error of either the α-axis or β-axis exceeds the preset threshold, autonomous acquisition is performed using the acquisition control strategy for either the α-axis or β-axis, respectively; if the current tracking errors of both the α-axis and β-axis exceed the preset thresholds, the acquisition order of the α-axis and β-axis in the biaxial solar panel is determined according to the operating state of the α-axis, and autonomous acquisition is performed sequentially using the acquisition control strategies for the α-axis and β-axis, respectively, according to the acquisition order. This scheme can achieve smooth and stable control of a highly flexible biaxial solar panel.

Description

Technical Field

[0001] This invention relates to the field of spacecraft dual-axis solar panel control technology, and particularly to a control method and device for a highly flexible dual-axis solar panel. Background Technology

[0002] Satellites equipped with solar panels need to align the solar panels with the sun to obtain energy. For satellites equipped with a dual-axis solar panel drive mechanism (including an α axis and a β axis, where the α axis is connected to the satellite body), the satellite body's attitude remains unchanged on all three axes relative to the Earth, and the alignment of the solar panels with the sun can be completed by the dual-axis solar panel drive mechanism.

[0003] In related technologies, traditional dual-axis solar panel control involves setting multiple speed levels for the solar panel drive mechanism. Based on the solar panel tracking error, the speed level is adjusted to eliminate the tracking error. Furthermore, when the drive mechanism switches speed levels, it adopts a direct switching method, determining the speed level and direction only based on the magnitude of the tracking error, without constraining the rotational angular acceleration or the direction of speed switching.

[0004] However, highly flexible solar panels are characterized by low fundamental frequency, large inertia, and susceptibility to excitation, resulting in strong coupling between panel control and planetary attitude control. Rapid acceleration (or deceleration) or sudden changes in rotational direction can cause significant impacts on the highly flexible panels, leading to large-scale vibrations. This affects both planetary attitude stability and introduces substantial disturbances to the control of the highly flexible panels, potentially causing control divergence in severe cases.

[0005] Therefore, there is an urgent need to provide a control method and device for highly flexible biaxial solar panels. Summary of the Invention

[0006] To address the problem that traditional dual-axis solar panel control methods struggle to achieve smooth and stable control of highly flexible solar panels, this invention provides a control method and apparatus for highly flexible dual-axis solar panels.

[0007] In a first aspect, embodiments of the present invention provide a control method for a highly flexible dual-axis solar panel. The highly flexible dual-axis solar panel drive mechanism includes an α-axis and a β-axis. The α-axis is connected to the satellite body, and the β-axis is connected to the drive mechanism body of the α-axis.

[0008] The methods include:

[0009] Get the current rotation angles of the α-axis and β-axis in the dual-axis windsurfing system;

[0010] Based on the projection of the sun's azimuth in the satellite's body coordinate system and orbital coordinate system, the target rotation angles of the α axis and the β axis toward the sun are calculated respectively.

[0011] The current tracking error of the α-axis and β-axis is obtained by subtracting the current rotation angle of the α-axis and β-axis from the target rotation angle of the α-axis and β-axis aligned with the sun.

[0012] The current tracking errors of the α-axis and the β-axis are compared with the set thresholds respectively. If the current tracking error of the α-axis or the β-axis exceeds the set threshold, autonomous acquisition is performed using the acquisition control strategy of the α-axis or the β-axis respectively.

[0013] If the current tracking errors of both the α-axis and the β-axis exceed the set threshold, the capture order of the α-axis and the β-axis in the dual-axis sail is determined according to the operating state of the α-axis. The capture control strategies of the α-axis and β-axis are used to perform autonomous capture in sequence according to the capture order, thereby realizing dual-axis decoupling control.

[0014] Secondly, embodiments of the present invention also provide a control device for a large flexible biaxial solar panel, the large flexible biaxial solar panel including an α axis and a β axis, the α axis being connected to the satellite body, and the β axis being connected to the drive mechanism body of the α axis;

[0015] The device includes:

[0016] The data acquisition unit is used to obtain the current rotation angles of the α-axis and β-axis in the biaxial sail.

[0017] The target rotation angle calculation unit is used to calculate the target rotation angles of the α axis and the β axis toward the sun based on the projection of the sun's azimuth in the satellite body coordinate system and the orbital coordinate system, respectively.

[0018] The tracking error calculation unit is used to calculate the difference between the current rotation angle of the α axis and the target rotation angle of the α axis and the β axis aligned with the sun, respectively, to obtain the tracking error of the α axis and the β axis;

[0019] An autonomous capture control unit is used to compare the current tracking errors of the α-axis and the β-axis with preset thresholds respectively. If the current tracking error of the α-axis or the β-axis exceeds the preset threshold, autonomous capture is performed using the capture control strategy of the α-axis or the β-axis respectively.

[0020] If the tracking errors of both the α-axis and the β-axis exceed the set threshold, the capture order of the α-axis and the β-axis in the dual-axis sail is determined according to the operating state of the α-axis. The capture control strategies of the α-axis and the β-axis are used to perform autonomous capture in sequence according to the capture order, so as to achieve dual-axis decoupling control.

[0021] Thirdly, embodiments of the present invention also provide a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.

[0022] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of this specification.

[0023] On the other hand, embodiments of this application also provide a computer program product, which includes a computer program, wherein a processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, causing the computer device to perform any of the methods described in the above embodiments.

[0024] This invention provides a control method and apparatus for a highly flexible dual-axis solar panel. The method involves subtracting the current rotation angles of the α and β axes from the target rotation angle aligned with the sun to obtain the current tracking errors of the α and β axes. These errors are then compared with preset thresholds. If the current tracking errors of both the α and β axes exceed the preset thresholds, the acquisition order of the α and β axes is first determined based on the current operating state of the α axis. Then, following the determined acquisition order and further combining the acquisition control strategies of the α and β axes, the α axis or β axis is sequentially activated for autonomous acquisition. This achieves decoupled control of the two axes in the dual-axis solar panel, enabling smooth speed regulation control of the α axis under multiple constraints and long-period fixed-angle holding control of the β axis. This reduces the flexible vibration of the solar panel, thereby achieving smooth and stable control of the highly flexible dual-axis solar panel. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a control method for a highly flexible biaxial solar panel according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of a highly flexible biaxial solar panel structure provided in an embodiment of the present invention;

[0028] Figure 3 This is a hardware architecture diagram of a computing device provided in an embodiment of the present invention;

[0029] Figure 4 This is a structural diagram of a control device for a highly flexible biaxial solar panel according to an embodiment of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0031] Please refer to Figure 1 This invention provides a control method for a highly flexible dual-axis solar panel. The highly flexible dual-axis solar panel drive mechanism includes an α-axis and a β-axis. The α-axis is connected to the satellite body, and the β-axis is connected to the drive mechanism body of the α-axis.

[0032] The method includes:

[0033] Step 100: Obtain the current rotation angles of the α-axis and β-axis in the highly flexible biaxial sail.

[0034] Step 102: Based on the projection of the sun's azimuth in the satellite body coordinate system and the orbital coordinate system, calculate the target rotation angles of the α axis and the β axis toward the sun, respectively;

[0035] Step 104: Subtract the current rotation angle of the α-axis and the β-axis from the target rotation angle of the α-axis and the β-axis aligned with the sun, respectively, to obtain the current tracking error of the α-axis and the β-axis;

[0036] Step 106: Compare the current tracking errors of the α-axis and the β-axis with the set thresholds respectively. If the current tracking error of the α-axis or the β-axis exceeds the set threshold, then perform autonomous acquisition using the acquisition control strategy of the α-axis or the acquisition control strategy of the β-axis respectively.

[0037] Step 108: If the current tracking errors of the α axis and the β axis both exceed the set threshold, then the capture order of the α axis and the β axis in the dual-axis sail is determined according to the operating state of the α axis. The capture control strategies of the α axis and the β axis are used to perform autonomous capture in sequence according to the capture order, so as to realize the dual-axis decoupling control.

[0038] In this embodiment of the invention, the current tracking errors of the α-axis and β-axis are obtained by subtracting the current rotation angle of the α-axis and β-axis from the target rotation angle aligned with the sun. These errors are then compared with set thresholds. If the current tracking errors of both the α-axis and β-axis exceed the set thresholds, the acquisition order of the α-axis and β-axis is first determined based on the current operating state of the α-axis. Then, the α-axis or β-axis is started sequentially for autonomous acquisition according to the determined acquisition order and further combined with the acquisition control strategies of the α-axis and β-axis. In this way, the decoupling control of the two axes in the dual-axis solar panel is realized, smooth speed regulation control of the α-axis under multiple constraints and long-period fixed-angle holding control of the β-axis are realized, the flexural vibration of the highly flexible solar panel is reduced, and thus smooth and stable control of the dual-axis solar panel is achieved.

[0039] For step 100:

[0040] like Figure 2 As shown in the embodiment of the invention, the highly flexible biaxial solar panel includes two axes: α and β. The α axis is connected to the satellite body and rotates relative to the body. The β axis is connected to the drive mechanism body of the α axis, and its load is the solar array, which rotates relative to the drive mechanism body of the α axis. During the satellite's flight above Earth (when the satellite's own system and orbital system are approximately coincident), the sun's azimuth relative to the celestial body is real-time variable. The α and β axes need to be rotated to appropriate positions to align the solar panel's normal with the sun. The α axis is used to track the projection of the sun's azimuth onto the orbital plane in real time, while the β axis is used to compensate for changes in the sun's azimuth outside the orbital plane.

[0041] For steps 102 and 104:

[0042] In some implementations, the target rotation angles of the α-axis and the β-axis toward the sun are calculated using the following formulas:

[0043] α Fsm =arctan2(-S bx -S bz )

[0044] β n =arcsin(-S oy )

[0045] In the formula, α Fsm For the target rotation angle of the α axis aligned with the sun, β n For the target rotation angle of the β axis aligned with the sun, [S ox S oy S oz [S] represents the projection of the sun's azimuth onto the orbital coordinate system. bx S by S bz [ ] represents the projection of the sun's position onto the body coordinate system.

[0046] In this embodiment of the invention, the target rotation angle of the α axis and the target (theoretical) rotation angle of the β axis aligned with the sun are first calculated based on the solar azimuth angle. Then, the current tracking error of the two axes is obtained by subtracting the current rotation angles of the α axis and β axis from the target rotation angles of the α axis and β axis aligned with the sun. If the current tracking error exceeds a set threshold, capture is required.

[0047] For steps 106 to 108:

[0048] In this embodiment of the invention, the capture process is divided into the following two cases: if the current tracking error of one of the two axes exceeds a set threshold, then the axis that exceeds the set threshold (e.g., the α axis or the β axis) is captured; if the current tracking error of both axes exceeds the set threshold, both axes (α axis and β axis) need to be captured. However, for a highly flexible dual-axis controlled sail, when both axes need to be captured at the same time, it is necessary to first determine the priority of the capture of the two axes to achieve decoupling of the two axes, thereby effectively avoiding the vibration of the sail caused by the simultaneous speed adjustment of the two axes and ensuring the stability of the highly flexible dual-axis sail control.

[0049] In some implementations, the operating states of the α-axis include stop, capture operation, or steady-state tracking (stable tracking with orbital angular velocity);

[0050] In step 104, determining the capture order of the α-axis and the β-axis in the dual-axis sail based on the operating state of the α-axis includes:

[0051] If the α axis is in a stopped state or a steady-state tracking state, the capture order of the two axes in the large flexible biaxial sail is determined to be β axis capture first, followed by α axis capture.

[0052] If the α-axis is in capture operation mode, then the capture order of the two axes in the highly flexible biaxial sail is determined as α-axis capture first, followed by β-axis capture.

[0053] In this embodiment of the invention, considering the characteristics of the α-axis and β-axis in a highly flexible biaxial sail, the load characteristics (such as inertia) of the β-axis remain unchanged, while the load characteristics of the α-axis change significantly when the β-axis rotates, and its inertia may change considerably. Therefore, during the control of the α-axis, especially during the speed adjustment of the α-axis, the rotation of the β-axis should be avoided as much as possible. Based on this, in this embodiment of the invention, the capture order of the two sails is determined by the operating state of the α-axis. When the α-axis is in a stopped or steady-state tracking state, the β-axis is captured first (if ground intervention occurs, the capture is performed according to the priority order specified by the ground). When the α-axis is in a capture operation state, the α-axis capture is achieved first, and the two axes complete the capture in a time-sharing manner according to the order.

[0054] In some implementations, the capture control strategy for the α-axis is as follows:

[0055] Construct a trajectory planning function for α-axis capture; wherein, the trajectory planning function is a fifth-order polynomial trajectory planning function;

[0056] The parameters of the trajectory planning function are solved using preset constraints to obtain the expression of the trajectory planning function; wherein, the preset constraints include position constraints, velocity constraints and acceleration constraints;

[0057] Based on the current operating state of the α-axis and the trajectory planning function expression, the capture strategy of the α-axis is determined; wherein, the capture strategy includes accelerating to catch up, decelerating to wait, or stopping to wait.

[0058] When driving a highly flexible sail to rotate, the α-axis drive mechanism is subject to the following constraints: the direction of rotation cannot be changed during the capture process, and additional start-stop operations should be avoided as much as possible; during the sail rotation speed adjustment process, the maximum rotation speed and maximum angular acceleration must be less than a certain threshold, and the minimum rotation speed must be greater than a certain threshold; the angle and rotation speed must be captured synchronously, and when the angle reaches the target value, the rotation speed also reaches the target rotation speed, avoiding frequent speed adjustments. Under these constraints, in this embodiment of the invention, the autonomous capture of the α-axis is achieved using polynomial trajectory planning, wherein the speed adjustment of the α-axis is planned under the condition of limited angular acceleration, realizing the variable speed planning of the α-axis. Specifically, this is achieved by first constructing a trajectory planning function for α-axis capture (a fifth-order polynomial trajectory planning function):

[0059] f(t) = a·t 5 +b·t 4 +c·t 3 +d·t 2 +e·t+f

[0060] In the formula, f(t) is the turning position (planned value) at time t, a, b, c, d, e, and f are parameters to be determined, and the derivative of f(t), f'(t), is the planned rotational speed at time t, that is, the target rotational speed of the α axis at time t. The planning function is twice differentiable, thus ensuring the continuous smoothness of the planned rotational speed.

[0061] The trajectory planning function described above must satisfy three preset constraints: position constraint, velocity constraint, and acceleration constraint.

[0062] Position constraints:

[0063]

[0064] That is, the initial position is S1, the target position is S2, and at t max At that moment, the α axis rotates to the target rotation angle α. Fsm ;

[0065] Speed ​​constraints:

[0066]

[0067] That is, the initial velocity is v1, the final velocity is v2, and the maximum value of the first derivative of the function (velocity) is less than or equal to the maximum constrained velocity v. max The minimum speed must be greater than or equal to v. min ;

[0068] Acceleration constraints:

[0069]

[0070] That is, the initial acceleration is 0, the final acceleration is zero, and the maximum value of the second derivative of the function (acceleration) is less than or equal to the constraint maximum acceleration a. max .

[0071] By applying the above constraints, we can obtain the undetermined parameters of the trajectory planning function, thereby obtaining the trajectory planning function expression. Based on this expression, we can further obtain the trajectory planning curve of the α axis with respect to time and position. By further combining the operating state of the α axis, we can determine the capture strategy of the α axis.

[0072] In some implementations, determining the capture strategy for the α-axis based on the current operating state of the α-axis and the trajectory planning function expression includes:

[0073] If the current α-axis is in a stopped state, the time it takes for the sun to reach the current position of the α-axis and the time t1 and t2 required for the α-axis to start unidirectional capture of the sun are calculated according to the trajectory planning function expression, and the method with the shorter required time is determined as the capture strategy of the α-axis;

[0074] If the current α-axis is in a steady-state tracking state or a rotational capture state, then the time required for acceleration and catching up, and deceleration and waiting, respectively, are calculated according to the trajectory planning function, and the method with the shorter time required is determined as the capture strategy for the α-axis.

[0075] In this embodiment of the invention, there are three acquisition strategies for the α-axis, including accelerating to catch up (maximum rotational speed limit), decelerating while waiting (minimum rotational speed limit), and stopping while waiting (in which case, the rate at which the tracking error decreases is related to the satellite's orbital angular velocity ω). o (Same as above) According to the polynomial trajectory planning method, the values ​​of t1 to t4 can be accurately solved, and the shorter time is used as the capture strategy for the α axis. The capture process uses the trajectory planning curve of the α axis with respect to time and position obtained by the above polynomial trajectory planning function to capture, thereby achieving synchronous and accurate capture of the angle and speed.

[0076] Thus, in this embodiment of the invention, through the above-mentioned capture optimization and speed change planning, the capture of the α-axis satisfies various constraints and achieves the purpose of smooth speed change. Furthermore, it achieves synchronous and accurate capture of rotation angle and rotation speed, reduces the impact of the speed adjustment process, avoids exciting the flexible vibration of the solar panel, and realizes the stable control of the large flexible dual-axis solar panel, thereby avoiding large disturbances to the attitude of the spacecraft.

[0077] The β-axis control of the solar panel has the following constraints: when the α-axis rotates, the β-axis speed must be less than a certain threshold; adjustments to the β-axis rotation angle should be minimized to reduce the impact on the α-axis rotation; the β-axis rotation does not require the solar panel normal to be perfectly aligned with the sun, allowing for a certain deviation, the deviation angle of which must meet a certain threshold; when the β-axis rotation angle increases or decreases, a certain hysteresis range needs to be set to avoid back-and-forth switching. Based on the above constraints, the following β-axis capture control strategy was developed.

[0078] In some implementations, the capture control strategy for the β-axis is as follows:

[0079] The range of changes in the angle between the sun's azimuth and the orbital plane is divided into equal intervals to obtain several gear position holding angles;

[0080] The target rotation angle of the β-axis aligned with the sun is successively subtracted from each gear holding angle. If the resulting deviation angle is not greater than the gear switching deviation angle, the corresponding gear holding angle is determined as the initial gear holding angle of the β-axis. The gear switching deviation angle is set according to the energy constraint and hysteresis width.

[0081] Determine whether the current tracking error of the β axis is greater than the gear shift deviation angle; if not, control the β axis to remain in the current gear.

[0082] If so, the required gear holding angle is redefined, and the β axis is controlled to rotate to the target gear according to the operating state of the α axis.

[0083] In this embodiment of the invention, to minimize the adjustment of the β-axis rotation angle, a fixed position (i.e., gear holding angle) for maintaining the β-axis angle is first designed: by dividing the range of the angle between the sun's azimuth and the orbital plane into n equally spaced points, several gear holding angles are obtained. Let the gear interval angle be δ. Then, the β-axis can stop at 0°, ±δ, ±2δ, ..., ±kδ (k = 1 to n) positions. -kδ to +kδ needs to cover the range of the angle between the sun's azimuth and the orbital plane, and n is generally less than 10. Then, based on energy constraints and the hysteresis width requirement for angle position switching, a gear switching deviation angle (defined as γ) is designed, ensuring that the gear switching deviation angle and the gear interval angle satisfy the following relationship:

[0084] 2γ-δ≥H0

[0085] In the formula, γ is the gear shifting deviation angle, δ is the gear interval angle, and H0 is the required minimum hysteresis width.

[0086] When the β-axis switches between two adjacent gears while maintaining an angle, it needs sufficient hysteresis width to avoid frequent rotation of the β-axis caused by switching gears back and forth.

[0087] When the β-axis switches from the non-autonomous angle-holding mode to the autonomous angle-holding mode for the first time, it is necessary to first select the initial gear holding angle based on the target rotation angle βn of the β-axis aligned with the sun: βn is successively subtracted from the gear holding angles 0°, ±δ, ±2δ, ±3δ, ..., ±kδ to obtain several deviation angles θ. When a certain deviation angle θ satisfies |θ|≤γ, the current gear holding angle is determined as the initial gear holding angle βn0 that the β-axis needs to hold at a fixed angle. In the autonomous angle-keeping mode, during the change of the sun's azimuth, the deviation between the target rotation angle of the β-axis aligned with the sun and the current β-axis rotation angle position (i.e., the current tracking error of the β-axis) is calculated in real time, and this tracking error is compared with the gear shift deviation angle γ in real time. When the current tracking error is less than the gear shift deviation angle γ, the β-axis remains unchanged at the current gear. When the current tracking error exceeds the gear shift deviation angle γ, it is necessary to further control the β-axis to rotate to the target gear in combination with the operating status of the α-axis. Specifically, when the α-axis is in a stopped state, the β-axis uses a high speed to reach the next gear, and when the α-axis is in a running state, it uses a low speed to reach the next gear. This not only meets the energy requirements of the entire satellite, but also reduces the impact on the rotation of the α-axis.

[0088] By adopting the above-mentioned autonomous angle-holding strategy for the β-axis, the deviation of the β-axis solar panel normal from the sun is always controlled within the gear switching deviation angle γ. In addition, the hysteresis width of the β-axis switching between two adjacent gears is 2γ-δ. With appropriate parameters designed to avoid back-and-forth switching, the time interval for adjusting the β-axis gear is long, ranging from one week to several weeks (determined by the rate of change of the sun's azimuth). The impact of occasional slow switching on the α-axis control of the solar panel is almost negligible, achieving dual-axis decoupled control and avoiding disturbance to the spacecraft's attitude.

[0089] In summary, in this embodiment of the invention, firstly, based on the decoupling control strategy of the highly flexible dual-axis solar panel, the priority of the two-axis capture is determined, and a time-sharing capture method is implemented. When the highly flexible solar panel captures the sun along the α-axis, the capture optimization of the α-axis is first performed based on the current state and constraints of the α-axis, the target position, etc., to determine the capture method to be adopted. Secondly, an autonomous capture control method for the α-axis based on fifth-order polynomial trajectory planning is designed to achieve smooth speed changes, synchronous and accurate capture of the α-axis rotation angle and speed. When capturing the sun along the β-axis, a long-period autonomous angle-holding control method with hysteresis is designed to allow the β-axis to remain at the set position for a long time, occasionally switching slowly, avoiding disturbance to the α-axis control caused by frequent position adjustments of the β-axis.

[0090] The method described in this embodiment controls the rotation of the highly flexible biaxial solar panel. All the necessary parameters can be obtained, which facilitates on-orbit implementation by the spacecraft. The normal of the solar panel approximately points towards the sun, which satisfies the energy requirements of the entire satellite while achieving stable control of the highly flexible biaxial solar panel and avoids the vibration of the highly flexible solar panel from affecting the attitude stability of the satellite.

[0091] The dual-axis solar panel control method described in this invention was first used on a certain type of spacecraft in my country. On-orbit testing showed that the α-axis speed regulation process was continuous and smooth, achieving stable control of the dual-axis solar panels. The tracking error of the solar panel normal to the sun met the energy requirements of the entire satellite.

[0092] like Figure 3 , Figure 4 As shown, this embodiment of the invention provides a control device for a highly flexible biaxial solar panel. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 3 The diagram shown is a hardware architecture diagram of a computing device housing a control device for a highly flexible biaxial solar panel according to an embodiment of the present invention. (Except for...) Figure 3 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 packets. Taking software implementation as an example, such as... Figure 4 As shown, a device in a logical sense is formed by the CPU of its computing device reading the corresponding computer program from the non-volatile memory into the main memory for execution. This embodiment provides a control device for a highly flexible dual-axis solar panel. The highly flexible dual-axis solar panel includes an α-axis and a β-axis. The α-axis is connected to the satellite body, and the β-axis is connected to the drive mechanism body of the α-axis.

[0093] The device includes:

[0094] The data acquisition unit 401 is used to acquire the current rotation angles of the α-axis and β-axis in the dual-axis sail.

[0095] The target rotation angle calculation unit 402 calculates the target rotation angles aligned with the sun by using the projections of the sun's azimuth in the satellite body coordinate system and the orbital coordinate system, respectively;

[0096] The tracking error calculation unit 403 is used to calculate the difference between the current rotation angle of the α axis and the target rotation angle of the α axis and the β axis aligned with the sun, respectively, to obtain the tracking error of the α axis and the β axis;

[0097] The autonomous capture control unit 404 is used to compare the current tracking error of the α axis and the β axis with a set threshold respectively. If the current tracking error of the α axis or the β axis exceeds the set threshold, then autonomous capture is performed using the capture control strategy of the α axis or the β axis respectively.

[0098] If the tracking errors of both the α-axis and the β-axis exceed the set threshold, the capture order of the α-axis and the β-axis in the dual-axis sail is determined according to the operating state of the α-axis. The capture control strategies of the α-axis and the β-axis are used to perform autonomous capture in sequence according to the capture order, so as to achieve dual-axis decoupling control.

[0099] In this embodiment of the invention, the data acquisition unit 401 can be used to execute step 100 in the above method embodiment, the target rotation angle calculation unit 402 can be used to execute step 102 in the above method embodiment, the tracking error calculation unit 403 can be used to execute step 104 in the above method embodiment, and the autonomous capture control unit 404 can be used to execute steps 106 and 108 in the above method embodiment.

[0100] In one embodiment of the present invention, in the target rotation angle calculation unit 402, the target rotation angles of the α axis and β axis aligned with the sun are calculated by the following formulas:

[0101] α Fsm =arctan2(-S bx -S bz )

[0102] β n =arcsin(-S oy )

[0103] In the formula, α Fsm For the target rotation angle of the α axis aligned with the sun, β n For the target rotation angle of the β axis aligned with the sun, [S ox S oy S oz [S] represents the projection of the sun's azimuth onto the orbital coordinate system. bx S by S bz [ ] represents the projection of the sun's position onto the body coordinate system.

[0104] In one embodiment of the present invention, in the tracking error calculation unit 403, the operating state of the α axis includes stop, capture operation, or steady-state tracking;

[0105] The tracking error calculation unit 403 determines the capture order of the α-axis and the β-axis in the dual-axis sail based on the operating state of the α-axis, and performs the following operations:

[0106] If the α axis is in a stopped state or a steady-state tracking state, the capture order of the two axes in the large flexible biaxial sail is determined to be β axis capture first, followed by α axis capture.

[0107] If the α-axis is in capture operation mode, then the capture order of the two axes in the highly flexible biaxial sail is determined as α-axis capture first, followed by β-axis capture.

[0108] In one embodiment of the present invention, the capture control strategy for the α-axis in the autonomous capture control unit 404 is as follows:

[0109] Construct a trajectory planning function for α-axis capture; wherein, the trajectory planning function is a fifth-order polynomial trajectory planning function;

[0110] The parameters of the trajectory planning function are solved using preset constraints to obtain the expression of the trajectory planning function; wherein, the preset constraints include position constraints, velocity constraints and acceleration constraints;

[0111] Based on the current operating state of the α-axis and the trajectory planning function expression, the capture strategy of the α-axis is determined; wherein, the capture strategy includes accelerating to catch up, decelerating to wait, or stopping to wait.

[0112] In one embodiment of the present invention, in the autonomous capture control unit 404, determining the capture strategy of the α-axis based on the current operating state of the α-axis and the trajectory planning function expression includes:

[0113] If the current α-axis is in a stopped state, the time it takes for the sun's azimuth to reach the current position of the α-axis and the time required for the α-axis to start unidirectional capture are calculated according to the trajectory planning function expression, and the method with the shorter required time is determined as the capture strategy of the α-axis;

[0114] If the current α-axis is in a steady-state tracking state or a rotational capture state, the time required for acceleration and deceleration waiting is calculated according to the trajectory planning function, and the method with the shorter time required is determined as the capture strategy for the α-axis.

[0115] In one embodiment of the present invention, the capture control strategy for the β-axis in the autonomous capture control unit 404 is as follows:

[0116] The range of changes in the angle between the sun's azimuth and the orbital plane is divided into equal intervals to obtain several gear position holding angles;

[0117] The target rotation angle of the β-axis aligned with the sun is successively subtracted from each gear holding angle. If the resulting deviation angle is not greater than the gear switching deviation angle, the corresponding gear holding angle is determined as the initial gear holding angle of the β-axis. The gear switching deviation angle is set according to the energy constraint and hysteresis width.

[0118] Determine whether the current tracking error of the β axis is greater than the gear shift deviation angle; if not, control the β axis to remain in the current gear.

[0119] If so, the required gear holding angle is redefined, and the β axis is controlled to rotate to the target gear according to the operating state of the α axis.

[0120] In one embodiment of the present invention, in the autonomous capture control unit 404, the gear shift deviation angle and the gear interval angle satisfy the following relationship:

[0121] 2γ-δ≥H0

[0122] In the formula, γ is the gear shifting deviation angle, δ is the gear interval angle, and H0 is the required minimum hysteresis width.

[0123] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on the control device for a highly flexible biaxial solar panel. In other embodiments of the present invention, a control device for a highly flexible biaxial solar panel may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0124] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0125] This invention also provides a computing device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a control method for a highly flexible biaxial solar panel according to any embodiment of this invention.

[0126] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform a control method for a highly flexible biaxial solar panel according to any embodiment of this invention.

[0127] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0128] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0129] Examples of storage media used to provide program code 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. Alternatively, program code can be downloaded from a server computer via a communication network.

[0130] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0131] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0132] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement a control method for a highly flexible biaxial solar panel provided in the above-described method embodiments.

[0133] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0134] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions 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 control method for a highly flexible biaxial solar panel, characterized in that, The highly flexible dual-axis solar panel drive mechanism includes an α-axis and a β-axis. The α-axis is connected to the satellite body, and the β-axis is connected to the drive mechanism body of the α-axis. The methods include: Obtain the current rotation angles of the α-axis and β-axis in a highly flexible biaxial sail; Based on the projection of the sun's azimuth in the satellite's body coordinate system and orbital coordinate system, the target rotation angles of the α axis and the β axis toward the sun are calculated respectively. The current tracking error of the α-axis and β-axis is obtained by subtracting the current rotation angle of the α-axis and β-axis from the target rotation angle of the α-axis and β-axis aligned with the sun. The current tracking errors of the α-axis and the β-axis are compared with the set thresholds respectively. If the current tracking error of the α-axis or the β-axis exceeds the set threshold, autonomous acquisition is performed using the acquisition control strategy of the α-axis or the acquisition control strategy of the β-axis respectively. If the current tracking errors of both the α-axis and the β-axis exceed the set threshold, the capture order of the α-axis and the β-axis in the dual-axis sail is determined according to the operating state of the α-axis. The capture control strategies of the α-axis and β-axis are used to perform autonomous capture in sequence according to the capture order, so as to achieve dual-axis decoupling control.

2. The method according to claim 1, characterized in that, The target rotation angles of the α-axis and β-axis toward the sun are calculated using the following formulas: α Fsm =arctan2(-S bx ,-S bz ) β n =arcsin(-S oy ) In the formula, α Fsm For the target rotation angle of the α axis aligned with the sun, β n For the target rotation angle of the β axis aligned with the sun, [S ox S oy S oz [S] represents the projection of the sun's azimuth onto the orbital coordinate system. bx S by S bz [ ] represents the projection of the sun's position onto the body coordinate system.

3. The method according to claim 1, characterized in that, The operating states of the α-axis include stop, capture operation, or steady-state tracking; Determining the capture order of the α-axis and β-axis in the dual-axis sail based on the operating state of the α-axis includes: If the α axis is in a stopped state or a steady-state tracking state, the capture order of the two axes in the large flexible biaxial sail is determined to be β axis capture first, followed by α axis capture. If the α-axis is in capture operation mode, then the capture order of the two axes in the highly flexible biaxial sail is determined as α-axis capture first, followed by β-axis capture.

4. The method according to claim 1 or 3, characterized in that, The capture control strategy for the α-axis is as follows: Construct a trajectory planning function for α-axis capture; wherein, the trajectory planning function is a fifth-order polynomial trajectory planning function; The parameters of the trajectory planning function are solved using preset constraints to obtain the expression of the trajectory planning function; wherein, the preset constraints include position constraints, velocity constraints and acceleration constraints; Based on the current operating state of the α-axis and the trajectory planning function expression, the capture strategy of the α-axis is determined; wherein, the capture strategy includes accelerating to catch up, decelerating to wait, or stopping to wait.

5. The method according to claim 4, characterized in that, The step of determining the acquisition strategy for the α-axis based on the current operating state of the α-axis and the trajectory planning function expression includes: If the α-axis is currently stationary, the time it takes for the sun to reach the current position of the α-axis and the time required for the α-axis to start unidirectional sun capture are calculated according to the trajectory planning function expression, and the method with the shorter required time is determined as the capture strategy of the α-axis. If the current α-axis is in a steady-state tracking state or a rotational capture state, the time required for acceleration and deceleration waiting is calculated according to the trajectory planning function, and the method with the shorter time required is determined as the capture strategy for the α-axis.

6. The method according to claim 1, characterized in that, The capture control strategy for the β-axis is as follows: The range of changes in the angle between the sun's azimuth and the orbital plane is divided into equal intervals to obtain several gear position holding angles; The target rotation angle of the β-axis aligned with the sun is successively subtracted from each gear holding angle. If the resulting deviation angle is not greater than the gear switching deviation angle, the corresponding gear holding angle is determined as the initial gear holding angle of the β-axis. The gear switching deviation angle is set according to the energy constraint and hysteresis width. Determine whether the current tracking error of the β axis is greater than the gear shift deviation angle; if not, control the β axis to remain in the current gear. If so, the required gear holding angle is redefined, and the β axis is controlled to rotate to the target gear according to the operating state of the α axis.

7. The method according to claim 6, characterized in that, The gear shifting deviation angle and the gear interval angle satisfy the following relationship: 2γ-δ≥H0 In the formula, γ is the gear shifting deviation angle, δ is the gear interval angle, and H0 is the required minimum hysteresis width.

8. A control device for a highly flexible biaxial solar panel, characterized in that, The highly flexible biaxial solar panel includes an α-axis and a β-axis. The α-axis is connected to the satellite body, and the β-axis is connected to the drive mechanism body of the α-axis. The device includes: The data acquisition unit is used to obtain the current rotation angles of the α-axis and β-axis in the biaxial sail. The target rotation angle calculation unit is used to calculate the target rotation angles aligned with the sun by the projection of the sun's azimuth in the satellite body coordinate system and the orbital coordinate system, respectively; The tracking error calculation unit is used to calculate the difference between the current rotation angle of the α axis and the target rotation angle of the α axis and the β axis aligned with the sun, respectively, to obtain the tracking error of the α axis and the β axis; An autonomous capture control unit is used to compare the current tracking errors of the α-axis and the β-axis with preset thresholds respectively. If the current tracking error of the α-axis or the β-axis exceeds the preset threshold, autonomous capture is performed using the capture control strategy of the α-axis or the β-axis respectively. If the tracking errors of both the α-axis and the β-axis exceed the set threshold, the capture order of the α-axis and the β-axis in the dual-axis sail is determined according to the operating state of the α-axis. The capture control strategies of the α-axis and the β-axis are used to perform autonomous capture in sequence according to the capture order, so as to achieve dual-axis decoupling control.

9. A computing device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-7.

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