Intelligent satellite autonomous energy management system and method

Abstract

The present invention discloses an intelligent satellite autonomous energy management system and method, the system includes a task scheduling subsystem, a power supply strategy subsystem, a state evaluation subsystem and a mode setting subsystem, wherein: the task scheduling subsystem has the highest authority for energy management and is the core of the entire intelligent satellite autonomous energy management system architecture; the power supply strategy subsystem is responsible for energy hardware control after power supply strategy selection; the state evaluation subsystem is responsible for evaluating the impact of a single task on the energy state of the entire satellite; the mode setting subsystem is responsible for energy-consuming equipment control after power supply strategy selection. The present invention can realize the functions of autonomous selection of power supply strategy, dynamic evaluation of energy constraints, efficient planning of working modes, etc. of satellite energy system.

Description

Technical Field

[0001] The present invention relates to the field of space energy technology, and in particular to an intelligent satellite autonomous energy management system and method. Background Art

[0002] The energy collection, conversion, storage and distribution of satellite energy are all completed by the energy system. Therefore, the intelligence and advancement of energy system technology directly determine the overall technical level of the satellite, and the energy quality directly affects the working state of the satellite. The key link in the design of the energy system lies in the dynamic and efficient energy management system and method.

[0003] With the development of intelligent satellite technology, satellite functions are becoming increasingly diversified, and the contradiction between the limited on-board energy provided by solar arrays and batteries and the energy demand caused by the growth of computing power has begun to emerge. The current satellite energy management mainly has the following problems:

[0004] (1) The level of intelligence in energy management is not high, and it is overly dependent on ground intervention. When the satellite encounters energy shortage during the shadow period, most of the time, the ground needs to intervene in time to deal with it, and complete a series of operations on the ground, such as calculating the discharge depth of the battery, selecting the system's working mode, and compiling and injecting control instructions. At the same time, ground intervention generally requires relatively strict guarantee conditions, such as the satellite is in a controllable arc, has the conditions for on-orbit programming, and the control system can upload control instructions and emergency instructions in a timely manner.

[0005] (2) Energy management systems are mostly embedded software, which is not conducive to development and modular design. The software is basically customized. Although it can meet specific energy needs in terms of real-time performance and reliability, it has problems such as high R&D costs, long development cycles, excessive reliance on hardware, and difficulty in mass production.

[0006] (3) The energy management strategy is not designed properly and does not rationalize the relationship between satellite missions and energy. Some energy management systems design power supply strategies based on the satellite's position in orbit. However, as the complexity of satellite functions increases, constraints such as current mission energy consumption, current mission time, satellite remaining energy, and satellite endurance time have an increasingly important impact on the energy of the entire satellite.

[0007] The technologies closest to the present invention include [1]-[4], which realize satellite energy autonomous management by proposing a general intelligent satellite software architecture, an autonomous management method for satellite energy system working mode, an on-orbit management method for battery packs, and an autonomous response method for energy shortage during shadow period. However, none of the existing technologies completely solves the above-mentioned four problems. The present invention mainly focuses on the intelligent satellite autonomous energy management system and method, solves multiple problems in the energy management system, such as operating scene switching, power supply strategy selection, energy constraint evaluation, and working mode planning, and improves the energy management level of intelligent satellites.

[0008] Prior art

[0009] [1] An open and universal intelligent satellite software architecture

[0010] An open and general intelligent satellite software architecture is disclosed to achieve rapid satellite design and manufacturing, which is conducive to satellite inter-satellite resource sharing. The lowest layer of the architecture is the hardware resources of the satellite, and the first layer upward is the operating system layer. On the one hand, the operating system abstracts and encapsulates the underlying resources to achieve lightweight resource virtualization based on containers. At the same time, it manages the satellite's files, energy, security, etc., and provides a general service interface upward. Secondly, the middle is the container engine layer, which manages resources efficiently based on the operating system and provides load balancing, service discovery, resource limitation and other services to the upper-layer application software. Finally, the top layer of the software is the satellite's application software layer. At this layer, the software and the related libraries required for its operation are packaged into images, and resource allocation and services at the application software level can be realized based on the container engine.

[0011] [2] A method for autonomous management of the working mode of medium and high orbit satellite energy system

[0012] A method for autonomous management of the working mode of the energy system of a medium- and high-orbit satellite is disclosed, and the method includes sequentially performing the following steps: Step 1: defining the working mode of the energy system; adjusting the mode of the energy output of the whole satellite according to the working state when the satellite energy is tight; the working mode of the energy system includes a normal output mode, a restricted output mode, and a minimum output mode; Step 2: determining the conversion relationship and judgment criteria between the working modes of the energy system; the conversion relationship includes the conversion from the normal output mode to the restricted output mode, the conversion from the restricted output mode to the minimum output mode, and the conversion from the restricted output mode to the minimum output mode. The beneficial effect is that the risk of power failure of the whole satellite when the energy system output cannot meet the load demand due to the satellite on-orbit failure can be reduced, and by converting the different working modes of the satellite, the on-orbit survival time of the satellite when the energy is insufficient is increased, and the on-orbit working safety of the satellite is improved.

[0013] [3] On-orbit management method for lithium-ion battery packs in sun-synchronous dawn-dusk orbit satellites

[0014] Disclosed is an on-orbit management method for lithium-ion battery packs of solar synchronous dawn and dusk orbit satellites. The on-orbit management mode of lithium-ion battery packs is determined based on orbit calculations, satellite three-axis attitude measurements, and solar position judgments autonomously completed by the onboard computer. The on-orbit management mode includes a long-light period management mode, an earth shadow period management mode, and an emergency state management mode, corresponding to lithium-ion battery pack management strategies under three on-orbit states of solar synchronous dawn and dusk orbit satellites. The system solves the problem of autonomous on-orbit management of lithium-ion batteries under complex working conditions such as long-term shelving of lithium-ion battery packs in long-light periods of solar synchronous dawn and dusk orbit satellites, frequent charging and discharging of battery packs in earth shadow periods, and deep discharge and rapid charging in emergency states, thereby ensuring the long-life, autonomous, and reliable on-orbit operation of the power supply system of solar synchronous dawn and dusk orbit satellites.

[0015] [4] A method and system for autonomously coping with energy shortage during the shadow period of high-orbit satellite

[0016] A method and system for autonomously coping with energy shortage during the shadow period of a high-orbit satellite is disclosed, which relates to the field of spacecraft technology, including: step S1: autonomous shadow period forecast on the satellite; step S2: calculating the maximum discharge depth of the battery during the shadow period; step S3: energy decision during the shadow period; step S4: autonomous generation of program-controlled delay control instructions; step S5: autonomous execution of the satellite pre-shadow strategy; step S6: autonomous execution of the satellite post-shadow strategy; step S7: autonomous monitoring of shadow period energy and responding according to the state; step S8: after the satellite is out of the shadow, the post-shadow whole-satellite strategy is executed, and the normal output mode is switched back, and the autonomous management of shadow period energy is completed intelligently throughout the shadow period. It can reduce the maximum discharge depth of the battery when the shadow period energy is tight, reduce the degree of influence of satellite function limitation due to energy shortage, improve the energy safety during the shadow period, and enhance the intelligent level of high-orbit satellites autonomously coping with energy shortage during the shadow period. Summary of the invention

[0017] The purpose of the present invention is to address the deficiencies of the above-mentioned prior art. The present invention proposes an intelligent satellite autonomous energy management system architecture to realize functions such as autonomous selection of power supply strategies of satellite energy systems, dynamic evaluation of energy constraints, and efficient planning of working modes.

[0018] To achieve the above object, the present invention provides an intelligent satellite autonomous energy management system, the system comprising a task scheduling subsystem, a power supply strategy subsystem, a state evaluation subsystem and a mode setting subsystem, wherein:

[0019] The task scheduling subsystem has the highest authority for energy management and is the core of the entire intelligent satellite autonomous energy management system architecture. The task scheduling subsystem consists of a mode switching module, an external instruction discrimination module, an autonomous management module, a state information module, and a constraint checking module.

[0020] The power supply strategy subsystem is responsible for the energy hardware control after the power supply strategy is selected. The power supply strategy subsystem consists of a supply-charge combination module, a supply-only module, a joint power supply module, and a battery power supply module.

[0021] The state assessment subsystem is responsible for assessing the impact of a single task on the energy state of the entire satellite. The state assessment subsystem consists of a task energy consumption assessment module, a task time assessment module, a remaining energy assessment module, a battery life assessment module, and a battery balancing control module.

[0022] The mode setting subsystem is responsible for controlling the energy-consuming equipment after the power supply strategy is selected. The mode setting subsystem consists of a high-performance module, a basic module, a safety module, an energy minimum system module, and an over-discharge protection module.

[0023] Furthermore, the mode switching module is used to control the energy system to switch between ground management mode and autonomous management mode; the ground control center sends remote control commands to switch the energy system from ground management mode to autonomous management mode, or from autonomous management mode to ground management mode; in the ground management mode, the status information module transmits the status information to the ground control center, the ground control center issues control commands, and the energy management system operates according to the ground control commands; in the autonomous management mode, the status information module sends the status information to the autonomous management module, and the autonomous management module autonomously completes energy management according to the status information.

[0024] Furthermore, the external command identification module is responsible for receiving the dispatch of ground remote control commands, and controlling the operation of corresponding modules of each subsystem according to the ground remote control commands; the external command identification module first receives the ground remote control commands and generates a ground control plan after command identification, and then sends the plan to the constraint check module to implement the constraint check; if the constraint check is normal, the module operation of the corresponding subsystem is directly controlled according to the plan; if the constraint check is abnormal, the abnormal result will be transmitted to the ground control center to inquire whether the ground command is executed; if the ground remote control command is "continue execution", the constraint check result will be ignored, and the module operation of the corresponding subsystem will be directly controlled; if the ground remote control command is "stop execution", the current ground control plan will be abandoned.

[0025] Furthermore, the autonomous management module is responsible for the task scheduling of the energy system under the autonomous management mode; after the energy system switches to the autonomous management mode, the autonomous management module is activated, and the autonomous management module first receives the status information transmitted by the status information module. The status information includes the direct status information, indirect status information and satellite posture information of the hardware device. The autonomous management module evaluates the current position, attitude, energy status and mission status of the satellite according to the status information, and generates an autonomous control plan. The plan is then sent to the constraint check module to implement the constraint check. If the constraint check is normal, the module operation of the corresponding subsystem is directly controlled according to the control plan. If the constraint check is abnormal, the autonomous control plan is regenerated according to the abnormal result of the constraint check.

[0026] Furthermore, the status information module is responsible for collecting direct status information, indirect status information and satellite posture information of the energy system hardware equipment. The direct status information is used to realize the evaluation functions of mission energy consumption, mission duration, remaining energy, and whole satellite endurance time, battery balancing control function and real-time monitoring of hardware health status; the indirect status information is used to evaluate the real-time status of the entire energy system, realize the monitoring of the whole satellite energy and the autonomous adjustment of the energy consumption mode; the satellite posture information is used to realize real-time monitoring of the satellite position and attitude, while ensuring the best angle of the solar array to the sun.

[0027] Furthermore, the constraint check module is responsible for checking the constraint conditions of the control plan to avoid the whole satellite energy out of control due to an erroneous control plan. If the constraint check of the ground control plan generated by the external command identification module is normal, the module operation of the corresponding subsystem will be directly controlled according to the plan; if the constraint check is abnormal, the abnormal result will be transmitted to the ground control center to ask the ground whether to continue to execute the command.

[0028] Furthermore, the supply-charging combination module issues instructions according to the supply-charging combination strategy to control the solar array to supply power to the entire satellite, and the excess power is used to charge the battery;

[0029] The supply-only but not charging module uses the supply-only but not charging strategy to issue instructions to control the solar array to supply power to the entire satellite, and the excess power is consumed by the shunt regulator;

[0030] The combined power supply module adopts a combined power supply strategy to issue instructions to control the solar array and the storage battery to jointly supply power to the entire satellite;

[0031] The battery power supply module adopts the battery power supply strategy to issue a command, the solar array stops working, and only the battery is used to supply power to the entire satellite.

[0032] Furthermore, the mission energy consumption evaluation module is responsible for evaluating the energy consumption of a single mission of the intelligent satellite and providing the energy consumption Q after evaluation. out :

[0033] (1)

[0034] Where P represents the current task power consumption, t c Indicates the current task duration;

[0035] The mission time evaluation module is responsible for evaluating the mission duration of a single mission of the intelligent satellite and giving the mission duration t after evaluation. m :

[0036] (2)

[0037] Among them, M represents the total workload of a single task, and m represents the workload of a single task processed by the intelligent satellite per unit time;

[0038] The remaining energy evaluation module is responsible for evaluating the current energy endurance of the smart satellite and providing the remaining energy Q after evaluation. r :

[0039] (3)

[0040] Among them, Q battery Indicates the remaining energy of the battery, Q solar Indicates the remaining energy of the solar array. represents the energy consumption of the i-th task, and n represents the number of tasks;

[0041] The endurance evaluation module is responsible for evaluating the endurance of the intelligent satellite in high-performance mode, basic mode and safety mode, and gives the endurance of the entire satellite evaluated in the current performance mode;

[0042] The battery balancing control module is responsible for balancing the single cell voltage of the battery.

[0043] Furthermore, the high-performance module is responsible for adjusting the energy-consuming equipment of the satellite so that the hardware operates in a high-performance state;

[0044] The basic mode setting module is responsible for adjusting the satellite's energy-consuming equipment so that the hardware operates in a basic state;

[0045] The safety mode setting module is responsible for adjusting the satellite's energy-consuming equipment so that the hardware operates in a safe state;

[0046] The minimum system mode setting module is responsible for adjusting the satellite's energy-consuming equipment so that the hardware runs in the minimum system state;

[0047] The over-discharge protection mode setting module is responsible for shutting down the satellite's energy-consuming equipment to prevent equipment damage caused by sudden satellite interruption.

[0048] In another aspect, the present invention provides an intelligent satellite autonomous energy management method, the method comprising the following steps:

[0049] S1. The status information module collects direct status information, indirect status information and satellite posture information of energy system hardware equipment;

[0050] S2. According to the status information, the ground control center sends a remote control command, and the control mode switching module selects the ground management mode or the autonomous management mode; when the ground management mode is selected, steps S3-1, S4-1, S5-1, and S6-1 are executed in sequence; when the autonomous management mode is selected, steps S3-2, S4-2, S5-2, and S6-2 are executed in sequence;

[0051] S3-1. After switching to the ground management mode, the external command identification module first receives the ground remote control command and generates a ground control plan after the command is identified, and then sends the plan to the constraint check module to implement the constraint check;

[0052] S3-2. After switching to the autonomous management mode, the autonomous management module evaluates the current position, attitude, energy status and mission status of the satellite according to the status information, generates an autonomous control plan, and sends the plan to the constraint check module for constraint check;

[0053] S4-1. According to the ground control plan, select the power supply strategy and activate or shut down the relevant working modules of the power supply strategy subsystem;

[0054] S4-2. According to the autonomous control plan, select the appropriate power supply strategy and activate or shut down the relevant working modules of the power supply strategy subsystem;

[0055] S5-1. Activate or deactivate relevant working modules of the status assessment subsystem according to the ground control plan;

[0056] S5-2. According to the autonomous control plan, the relevant working modules of the status assessment subsystem cooperate with the status information module to provide timely status information for the autonomous control plan;

[0057] S6-1. According to the ground control plan, select the energy mode and activate or shut down the relevant working modules of the mode setting subsystem;

[0058] S6-2. According to the autonomous control plan, select the appropriate energy mode and activate or shut down the relevant working modules of the mode setting subsystem;

[0059] S7. The operation status information of the energy management system is returned to the status information module.

[0060] The beneficial effects of the present invention are as follows:

[0061] 1. Realize the decoupling of energy hardware and control software and lightweight energy resource virtualization;

[0062] 2. Realize autonomous selection of power supply strategies for energy systems;

[0063] 3. Realize dynamic assessment of onboard energy constraints;

[0064] 4. Realize efficient planning of the entire satellite's working mode and computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a schematic diagram of the structure of the intelligent satellite autonomous energy management system of the present invention;

[0066] Figure 2 It is a schematic diagram of the power supply strategy of the intelligent satellite of the present invention;

[0067] Figure 3 It is a schematic diagram of the energy hardware and energy management system of the present invention;

[0068] Figure 4 It is a schematic diagram of the process flow of the intelligent satellite autonomous energy management method of the present invention. DETAILED DESCRIPTION

[0069] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0071] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] The following combination Figure 1-Figure 4 The specific embodiments of the present invention are described in detail. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0073] The present invention provides an intelligent satellite autonomous energy management system and method, characterized in that the system includes a task scheduling subsystem, a power supply strategy subsystem, a state evaluation subsystem and a mode setting subsystem, the task scheduling subsystem is composed of a mode switching module, an external instruction discrimination module, an autonomous management module, a state information module, and a constraint checking module, the power supply strategy subsystem is composed of a supply and charging combination module, a supply-only module, a joint power supply module, and a battery power supply module, the state evaluation subsystem is composed of a task energy consumption evaluation module, a task time evaluation module, a remaining energy evaluation module, a flight time evaluation module, and a battery balancing control module, and the mode setting subsystem is composed of a high-performance module, a basic module, a safety module, an energy minimum system module, and an over-discharge protection module. Figure 1 As shown, where:

[0074] The task scheduling subsystem has the highest authority for energy management and is the overall and core of the entire intelligent satellite autonomous energy management system architecture.

[0075] Among them, the management mode of the energy system is divided into ground management mode and autonomous management mode, and the mode switching module is used to switch the energy system between ground management mode and autonomous management mode. The ground control center sends a high-authority remote control command to switch the energy system from ground management mode to autonomous management mode, or from autonomous management mode to ground management mode. In the ground management mode, the status information module transmits the status information to the ground control center, the ground control center issues a control command, and the energy management system operates according to the ground control command; in the autonomous management mode, the status information module sends the status information to the autonomous management module, and the autonomous management module autonomously completes energy management according to the status information.

[0076] The external command identification module is responsible for receiving ground remote control commands and controlling the corresponding modules of each subsystem according to the ground remote control commands. Remote control commands include high-level commands and low-level commands, among which power supply strategy switching commands and energy mode switching commands belong to high-level commands, and activation and shutdown of individual working modules belong to low-level commands. After the energy management system switches to the ground management mode, the external command identification module is activated. The external command identification module first receives the ground remote control command and generates a ground control plan after command identification, and then sends the plan to the constraint check module for constraint check. If the constraint check is normal, the module of the corresponding subsystem is directly controlled according to the plan; if the constraint check is abnormal, the abnormal result will be transmitted to the ground control center to ask whether the ground command is executed. If the ground remote control command is "continue execution", the constraint check result is ignored and the module of the corresponding subsystem is directly controlled. If the ground remote control command is "stop execution", the current ground control plan is abandoned.

[0077] For example, when the ground remote control command is "the power supply strategy is switched from the joint power supply strategy to the battery power supply strategy", the external command identification module will generate a ground control plan after the command is identified, and then send the plan to the constraint check module to implement the constraint check. The constraint check is normal, and the control status information module and the constraint check module remain activated according to the plan, the joint power supply module is turned off, the battery power supply module is activated, the mission energy consumption assessment module, the mission time assessment module, the remaining energy assessment module, the endurance time assessment module, and the battery balancing control module remain activated, the high-performance module is turned off, and the basic module is activated.

[0078] For example, when the ground remote control command is "turn off the mission energy consumption assessment module", the external command identification module will generate a ground control plan after command identification, and then send the plan to the constraint check module to implement the constraint check. If the constraint check is abnormal, the abnormal result will be transmitted to the ground control center, and the ground will confirm to continue to execute the command. The external command identification module ignores the constraint check abnormality and turns off the mission energy consumption assessment module.

[0079] The autonomous management module is responsible for the task scheduling of the energy system in the autonomous management mode. After the energy system switches to the autonomous management mode, the autonomous management module is activated. The autonomous management module first receives the status information transmitted by the status information module. The status information includes the direct status information of the hardware device, the indirect status information and the satellite position information. The autonomous management module evaluates the current position, attitude, energy status and mission status of the satellite based on the status information, and generates an autonomous control plan. The plan is then sent to the constraint check module for constraint checking. If the constraint check is normal, the module of the corresponding subsystem is directly controlled according to the control plan. If the constraint check is abnormal, the autonomous control plan is regenerated according to the abnormal result of the constraint check.

[0080] For example, the autonomous management module determines that the satellite is moving from the shadow area to the illuminated area based on the satellite latitude and longitude, altitude, orbital period, solar orbit angle and illuminance information provided by the status information module; determines that the energy system hardware equipment is in good condition based on the battery cell voltage, battery voltage, battery current, solar array voltage and solar array current information; and determines that the entire satellite is working normally, the power supply is stable, and there are no high-energy consumption tasks based on the mission energy consumption, mission duration, remaining energy, and the entire satellite's endurance information. The autonomous management module generates an autonomous control plan based on the current status information and sends the plan to the constraint check module. The constraint check is normal. According to the plan, the status information module and the constraint check module remain activated, the joint power supply module is activated, the battery power supply module is turned off, the mission energy consumption assessment module, the mission time assessment module, the remaining energy assessment module, the endurance assessment module, the battery balancing control module remain activated, and the basic module remains activated.

[0081] The status information module is responsible for collecting the direct status information, indirect status information and satellite posture information of the energy system hardware equipment. The direct status information of the energy system hardware equipment includes battery cell voltage, battery voltage, battery current, solar array voltage, and solar array current data. The indirect status information of the energy system hardware equipment includes the mission energy consumption Q out , task duration t m 、Energy surplus Q r , the whole satellite endurance information t, satellite attitude information includes satellite longitude and latitude, altitude, orbital period, attitude angle, solar orbit angle β and illuminance L data. Direct status information is to realize the mission energy consumption, mission duration, remaining energy, the evaluation function of the whole satellite endurance, the battery balance control function and the real-time monitoring function of the hardware health status. Indirect status information is to evaluate the real-time status of the entire energy system, realize the monitoring of the whole satellite energy and the autonomous adjustment of the energy consumption mode. Satellite attitude information is to realize real-time monitoring of satellite position and attitude, while ensuring the best angle of the solar array to the sun.

[0082] The constraint check module is responsible for checking the constraint conditions of the control plan to prevent the wrong control plan from causing the whole star's energy out of control. If the constraint check of the ground control plan generated by the external command identification module is normal, the module operation of the corresponding subsystem will be directly controlled according to the plan; if the constraint check is abnormal, the abnormal result will be transmitted to the ground control center to ask whether the ground should continue to execute the command. If the constraint check of the autonomous control plan generated by the autonomous management module is normal, the module operation of the corresponding subsystem will be directly controlled according to the plan; if the constraint check is abnormal, the autonomous control plan will be regenerated according to the abnormal result of the constraint check.

[0083] Specifically, energy constraints include: the satellite's mission energy consumption Q outIt shall not exceed 75% of the remaining energy of the system before re-entering the illumination area; the mission duration t m The battery life of the whole satellite in basic mode shall not be exceeded; high-performance mode shall not be enabled when the remaining energy is less than 60%; basic mode shall not be enabled when the remaining energy is less than 20%; safety mode shall not be enabled when the remaining energy is less than 15%; minimum energy system mode shall not be enabled when the remaining energy is less than 10%; minimum energy system mode will be enabled automatically when the remaining energy is less than 5%; high-performance mode shall not be enabled in safety mode, minimum system mode and over-discharge protection mode; when the voltage of a single battery V i With the minimum battery voltage V min Relationship between i -V min >V1, the battery balancing control module needs to be activated to implement balancing control on the battery; when the voltage of a single battery V i With the minimum battery voltage V min Relationship between i -V min When the voltage is less than V2, the battery balancing control module needs to be turned off to stop the balancing control.

[0084] The power supply strategy subsystem is responsible for the energy hardware control after the power supply strategy is selected. The power supply strategies include a supply-and-charge combination strategy, a joint power supply strategy, a supplement-only strategy, and a battery power supply strategy. The supply-and-charge combination strategy means that the solar array supplies power to the entire satellite, and the excess power is used to charge the battery. The joint power supply strategy means that the solar array and the battery are controlled to jointly supply power to the entire satellite. The supply-only strategy means that the solar array is controlled to supply power to the entire satellite, and the excess power is consumed by the shunt regulator. The battery power supply strategy means that the solar array stops working and only supplies power to the entire satellite through the battery. Accordingly, the power supply strategy subsystem is composed of a supply-and-charge combination module, a supply-only module, a joint power supply module, and a battery power supply module, such as Figure 2 and Figure 3 As shown. The solar orbit angle at the beginning of the shadow is β1, the solar orbit angle at the end of the shadow is β2, the solar orbit angle at the beginning of the shadow is β3, and the solar orbit angle at the end of the shadow is β4. The illuminance at the beginning of the shadow is L1, the illuminance at the end of the shadow is L2, the illuminance at the beginning of the shadow is L3, and the illuminance at the end of the shadow is L4.

[0085] Among them, the supply and charging combination module issues instructions according to the supply and charging combination strategy, controls the solar array to power the entire satellite, and the excess electricity is used to charge the battery.

[0086] like Figure 2As shown in stage 1 in the figure, when the satellite moves from the shadow area to the illuminated area, the illumination is weak at the beginning, then gradually increases, and finally the satellite enters the fully illuminated area. In this scene stage, when the solar orbit angle β ranges from β1<β<β2 and the illumination L ranges from L1<L<L2, the power supply strategy switches from the joint power supply strategy to the supply and charge combination strategy. The supply and charge combination module is activated to control the solar array to power the entire satellite. At this time, the discharge regulator of the battery pack is turned off, and the charge regulator is activated to charge the battery pack.

[0087] To be more specific, the supply-only but not charging module adopts the supply-only but not charging strategy to issue instructions to control the solar cell array to supply power to the entire satellite, and the excess electric energy is consumed by the shunt regulator.

[0088] like Figure 2 As shown in stage 3 in the figure, the illumination is strongest when the satellite moves to the illuminated area. In this scenario, when the solar orbit angle range is β2<β<β3 and the illumination L range is L2<L<L3, the supply-only module is activated to control the solar array to supply power to the entire satellite. At this time, the discharge regulator of the battery pack is turned off, the charging regulator is turned off, and the battery pack is not charged.

[0089] More specifically, the combined power supply module adopts a combined power supply strategy to issue instructions to control the solar array and the battery to jointly supply power to the entire satellite.

[0090] like Figure 2 As shown in stage 2 and stage 4 in the figure, when the satellite moves from the illuminated area to the shadow area, the illumination is strong at the beginning and then gradually weakens. In this scene stage, when the solar orbit angle β ranges from β2<β<β3 and the illumination L ranges from L2<L<L3, the power supply strategy changes from the supply and charging strategy or the supply-only strategy to the joint power supply strategy. The joint power supply module is activated, controlling the solar array and the battery to jointly power the entire satellite. At this time, the discharge regulator of the battery group is turned on, the charge regulator is turned off, and the battery group is discharged.

[0091] like Figure 2 As shown in stage 6 in Figure 1, when the satellite moves from the shadow area to the illuminated area, the illumination is weak at the beginning and then gradually increases. In this scene stage, when the solar orbit angle β ranges from β1<β<β2 and the illumination L ranges from L1<L<L2, the power supply strategy changes from the battery power supply strategy to the joint power supply strategy. The joint power supply module is activated, controlling the solar array and the battery to jointly power the entire satellite. At this time, the discharge regulator of the battery group is turned on, the charge regulator is turned off, and the battery group is discharged.

[0092] More specifically, the battery power supply module uses the battery power supply strategy to issue a command, the solar array stops working, and only the battery is used to supply power to the entire satellite.

[0093] like Figure 2As shown in stage 5 in the figure, the illumination disappears when the satellite moves into the complete shadow area. In this scenario, when the solar orbit angle β ranges from β4<β<β1 and the illumination L ranges from L4<L<L1, the power supply strategy changes from the joint power supply strategy to the battery power supply strategy. The battery power supply module is activated, and the control battery supplies power to the entire satellite. At this time, the discharge regulator of the battery pack is turned on, the charge regulator is turned off, and the battery pack is discharged.

[0094] The state assessment subsystem is responsible for assessing the impact of a single task on the energy state of the entire star.

[0095] Specifically, the mission energy consumption evaluation module is responsible for evaluating the energy consumption of a single mission of the intelligent satellite and providing the energy consumption Q after evaluation. out :

[0096] (1)

[0097] Where P represents the current task power consumption, t c Indicates the current task duration.

[0098] The mission time evaluation module is responsible for evaluating the mission duration of a single mission of the intelligent satellite and giving the mission duration t after evaluation. m :

[0099] (2)

[0100] Among them, M represents the total workload of a single task, and m represents the workload of a single task processed by the intelligent satellite per unit time.

[0101] The remaining energy evaluation module is responsible for evaluating the current energy endurance of the smart satellite and providing the remaining energy Q after evaluation. r :

[0102] (3)

[0103] Among them, Q battery Indicates the remaining energy of the battery, Q solar Indicates the remaining energy of the solar array. represents the energy consumption of the i-th task, and n represents the number of tasks.

[0104] The endurance evaluation module is responsible for evaluating the endurance of the intelligent satellite in high-performance mode, basic mode, and safety mode, and gives the estimated endurance of the entire satellite in the current performance mode t (high-performance mode t high , Basic Mode basic , Safe Mode safe ).

[0105] (4)

[0106] (5)

[0107] (6)

[0108] Among them, P high , P basic and P safe They represent the task power consumption in high-performance mode, basic mode, and safety mode respectively. In the energy minimum system mode and over-discharge protection mode, the endurance evaluation module is turned off and the whole satellite endurance is not calculated.

[0109] The battery balancing control module is responsible for balancing the single cell voltage of the battery to extend the battery life.

[0110] The mode setting subsystem is responsible for controlling the energy-consuming equipment after the power supply strategy is selected. The mode setting subsystem is provided with a high-performance mode, a basic mode, a safety mode, an energy minimum system mode and an over-discharge protection mode.

[0111] The high-performance mode is suitable for high-performance computing requirements of energy-consuming devices. Specifically, the high-performance module is responsible for adjusting the satellite's energy-consuming devices so that the hardware runs in a high-performance state. In the high-performance mode, the energy consumption of the entire satellite increases, and energy-consuming devices such as computing devices are maintained at the first operating frequency. After the energy-consuming device completes a single task, it switches to the basic mode.

[0112] The basic mode is suitable for the long-term operation requirements of energy-consuming equipment. Specifically, the basic mode setting module is responsible for adjusting the satellite's energy-consuming equipment so that the hardware operates in a basic state. In the basic mode, the energy of the entire satellite is in a normal state, and energy-consuming equipment such as computing devices maintain the second operating frequency of normal standby, and can be switched to high-performance mode at any time. The second operating frequency in the basic mode is lower than the first operating frequency.

[0113] The safety mode is suitable for the basic operation requirements of energy-consuming devices. Specifically, the safety mode setting module is responsible for adjusting the satellite's energy-consuming devices so that the hardware operates in a safe state. In the safety mode, high-power energy-consuming devices are turned off, the energy-consuming devices are maintained at the third operating frequency, and the satellite turns to face the sun. After the energy is restored, it switches to the basic mode. The third operating frequency in the safety mode is lower than the second operating frequency.

[0114] The minimum system mode is suitable for the minimum system operation requirements of energy-consuming devices. Specifically, the minimum system mode setting module is responsible for adjusting the satellite's energy-consuming devices so that the hardware runs in the minimum system state. In the minimum system mode, the satellite's main energy-consuming devices are turned off, the energy-consuming devices are maintained at the fourth operating frequency, the temperature of the entire satellite is reduced, and the system remains in the minimum state. After the energy is restored, it switches to the safe mode. The fourth operating frequency in the minimum system mode is lower than the third operating frequency.

[0115] The over-discharge protection mode is suitable for the safety protection needs of satellite energy depletion. Specifically, the over-discharge protection mode setting module is responsible for shutting down the satellite's energy-consuming equipment to prevent equipment damage caused by sudden interruptions of the satellite. In the over-discharge protection mode, the battery discharge regulator is turned off and the entire satellite is powered off. After the energy of the entire satellite is restored, it switches to the minimum system mode.

[0116] The present invention also relates to an intelligent satellite autonomous energy management method, such as Figure 4 As shown, the specific process is as follows:

[0117] Step S1. The status information module collects direct status information, indirect status information and satellite posture information of the energy system hardware equipment;

[0118] S2. According to the status information, the ground control center sends a high-authority remote control command, and the control mode switching module selects the ground management mode or the autonomous management mode; when the ground management mode is selected, steps S3-1, S4-1, S5-1, and S6-1 are executed in sequence; when the autonomous management mode is selected, steps S3-2, S4-2, S5-2, and S6-2 are executed in sequence;

[0119] S3-1. After switching to the ground management mode, the external command identification module first receives the ground remote control command and generates a ground control plan after judging the command, and then sends the plan to the constraint check module to implement the constraint check. If the constraint check is normal, the module operation of the corresponding subsystem is directly controlled according to the plan; if the constraint check is abnormal, the abnormal result will be transmitted to the ground control center to inquire whether the ground command is executed. If the ground remote control command is "continue execution", the constraint check result is ignored and the module operation of the corresponding subsystem is directly controlled. If the ground remote control command is "stop execution", the current ground control plan is abandoned.

[0120] S3-2. After switching to the autonomous management mode, the autonomous management module evaluates the current position, attitude, energy status and mission status of the satellite based on the status information, and generates an autonomous control plan. The plan is then sent to the constraint check module for constraint check. If the constraint check is normal, the module of the corresponding subsystem is directly controlled according to the control plan. If the constraint check is abnormal, the autonomous control plan is regenerated based on the abnormal result of the constraint check.

[0121] S4-1. According to the ground control plan, select the power supply strategy and activate or shut down the relevant working modules of the power supply strategy subsystem;

[0122] S4-2. According to the autonomous control plan, select the appropriate power supply strategy and activate or shut down the relevant working modules of the power supply strategy subsystem;

[0123] S5-1. Activate or deactivate relevant working modules of the status assessment subsystem according to the ground control plan;

[0124] S5-2. According to the autonomous control plan, the relevant working modules of the status assessment subsystem cooperate with the status information module to provide timely status information for the autonomous control plan;

[0125] S6-1. According to the ground control plan, select the energy mode and activate or shut down the relevant working modules of the mode setting subsystem;

[0126] S6-2. According to the autonomous control plan, select the appropriate energy mode and activate or shut down the relevant working modules of the mode setting subsystem;

[0127] S7. The operation status information of the energy management system is returned to the status information module.

[0128] The technical effects of the present invention are as follows:

[0129] 1. Software functions are completely separated from hardware resources, and functions are realized by controlling hardware through the energy management system.

[0130] 2. The power supply strategy subsystem can realize the autonomous selection of power supply strategy for the energy system.

[0131] 3. By setting reasonable energy constraint strategies in the constraint detection module, dynamic evaluation of on-board energy constraints can be achieved.

[0132] 4. Realize efficient planning of the entire satellite's working mode and computing resources.

[0133] Any process or method described in the flowchart of the present invention or in other ways herein can be understood as a module, fragment or part of a code including one or more executable instructions for implementing the steps of a specific logical function or process, which can be implemented in any computer-readable medium for use by an instruction execution system, device or equipment, and the computer-readable medium can be any medium containing storage, communication, propagation or transmission programs for use by execution systems, devices or equipment, including read-only memories, magnetic disks or optical disks, etc.

[0134] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art can combine or combine different embodiments or examples described in this specification and the features therein without causing any contradiction.

[0135] Although the above content has shown and described the embodiments of the present invention, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace, modify and other update operations on the above embodiments within the scope of the present invention.

Claims

1. Intelligent satellite autonomous energy management system, characterized by: The system comprises: The task scheduling subsystem consists of a mode switching module, an external instruction identification module, an autonomous management module, a state information module, and a constraint checking module; The power supply strategy subsystem consists of a combined supply and charging module, a supply-only module, a joint power supply module, and a battery power supply module; The state assessment subsystem consists of a task energy consumption assessment module, a task time assessment module, a remaining energy assessment module, a battery life assessment module, and a battery balancing control module; The mode setting subsystem consists of a high-performance module, a basic module, a safety module, an energy minimum system module, and an over-discharge protection module; The solar orbit angle at the beginning of the shadow is β1, and the illuminance is L1; the solar orbit angle at the end of the shadow is β2, and the illuminance is L2; ​​the solar orbit angle at the beginning of the shadow is β3, and the illuminance is L3; the solar orbit angle at the end of the shadow is β4, and the illuminance is L4; When the satellite moves from the shadow area to the illuminated area, when the solar orbit angle β ranges from β1<β<β2 and the illuminance L ranges from L1<L<L2, the supply and charging combination module is activated, and the joint power supply strategy is switched to the supply and charging combination strategy; When the satellite moves to the illuminated area, when the solar orbit angle range is β2<β<β3 and the illumination L range is L2<L<L3, the supply-only module is activated and the solar array is controlled to supply power to the entire satellite. When the satellite moves from the illuminated area to the shadow area, when the solar orbit angle β ranges from β2<β<β3 and the illuminance L ranges from L2<L<L3, the joint power supply module is activated, and the strategy of combined supply and charging or supply without charging is changed to the joint power supply strategy; When the satellite moves from the shadow area to the illuminated area, when the solar orbit angle β ranges from β1<β<β2 and the illuminance L ranges from L1<L<L2, the joint power supply module is activated, and the battery power supply strategy is switched to the joint power supply strategy; When the satellite moves into the complete shadow area, when the solar orbit angle β is in the range of β4<β<β1 and the illuminance L is in the range of L4<L<L1, the battery power supply module is activated and the joint power supply strategy is switched to the battery power supply strategy.

2. The intelligent satellite autonomous energy management system according to claim 1 is characterized in that: The mode switching module is used to control the energy system to switch between ground management mode and autonomous management mode; the ground control center sends remote control commands to switch the energy system from ground management mode to autonomous management mode, or from autonomous management mode to ground management mode; in the ground management mode, the status information module transmits the status information to the ground control center, the ground control center issues control commands, and the energy management system operates according to the ground control commands; in the autonomous management mode, the status information module sends the status information to the autonomous management module, and the autonomous management module autonomously completes energy management according to the status information.

3. The intelligent satellite autonomous energy management system according to claim 2 is characterized in that: The external command identification module is responsible for receiving the dispatch of ground remote control commands and controlling the corresponding modules of each subsystem according to the ground remote control commands; the external command identification module first receives the ground remote control commands and generates a ground control plan after command identification, and then sends the plan to the constraint check module to implement the constraint check; if the constraint check is normal, the module work of the corresponding subsystem is directly controlled according to the plan; if the constraint check is abnormal, the abnormal result will be transmitted to the ground control center to inquire whether the ground command is executed; if the ground remote control command is "continue execution", the constraint check result will be ignored and the module work of the corresponding subsystem will be directly controlled; if the ground remote control command is "stop execution", the current ground control plan will be abandoned.

4. The intelligent satellite autonomous energy management system according to claim 2 is characterized in that: The autonomous management module is responsible for the task scheduling of the energy system under the autonomous management mode; after the energy system switches to the autonomous management mode, the autonomous management module is activated, and the autonomous management module first receives the status information transmitted by the status information module; the status information includes the direct status information of the hardware device, the indirect status information and the satellite posture information; The autonomous management module evaluates the satellite's current position, attitude, energy status and mission status based on the status information, and generates an autonomous control plan; then the plan is sent to the constraint check module to implement the constraint check; if the constraint check is normal, the module operation of the corresponding subsystem is directly controlled according to the control plan; if the constraint check is abnormal, the autonomous control plan is regenerated based on the abnormal result of the constraint check.

5. The intelligent satellite autonomous energy management system according to claim 2 is characterized in that: The status information module is responsible for collecting the direct status information, indirect status information and satellite posture information of the energy system hardware equipment. The direct status information is used to realize the evaluation functions of mission energy consumption, mission duration, remaining energy, and whole satellite endurance time, battery balancing control function and real-time monitoring of hardware health status; the indirect status information is used to evaluate the real-time status of the entire energy system, realize the monitoring of the whole satellite energy and the autonomous adjustment of the energy consumption mode; the satellite posture information is used to realize the real-time monitoring of the satellite position and attitude, and at the same time ensure the best angle of the solar array to the sun.

6. The intelligent satellite autonomous energy management system according to claim 2, characterized in that: The constraint check module is responsible for checking the constraint conditions of the control plan to avoid the whole satellite energy out of control due to the wrong control plan. If the constraint check of the ground control plan generated by the external command identification module is normal, the module operation of the corresponding subsystem will be directly controlled according to the plan; If the constraint check is abnormal, the abnormal result will be transmitted to the ground control center to ask whether the ground should continue to execute the instruction.

7. The intelligent satellite autonomous energy management system according to claim 1, characterized in that: The supply and charging combination module issues instructions according to the supply and charging combination strategy to control the solar array to supply power to the entire satellite, and the excess power is used to charge the battery; The supply-only but not charging module uses the supply-only but not charging strategy to issue instructions to control the solar array to supply power to the entire satellite, and the excess power is consumed by the shunt regulator; The combined power supply module adopts a combined power supply strategy to issue instructions to control the solar array and the storage battery to jointly supply power to the entire satellite; The battery power supply module adopts the battery power supply strategy to issue a command, the solar array stops working, and only the battery is used to supply power to the entire satellite.

8. The intelligent satellite autonomous energy management system according to claim 1, characterized in that: The task energy consumption evaluation module is responsible for evaluating the energy consumption of a single task of the intelligent satellite and providing the energy consumption Q after evaluation. out : Where P represents the current task power consumption, t c Indicates the current task duration; The mission time evaluation module is responsible for evaluating the mission duration of a single mission of the intelligent satellite and giving the mission duration t after evaluation. m : Among them, M represents the total workload of a single task, and m represents the workload of a single task processed by the intelligent satellite per unit time; The remaining energy evaluation module is responsible for evaluating the current energy endurance of the smart satellite and providing the remaining energy Q after evaluation. r : Among them, Q battery Indicates the remaining energy of the battery, Q solar Indicates the remaining energy of the solar array. represents the energy consumption of the i-th task, and n represents the number of tasks; The endurance evaluation module is responsible for evaluating the endurance of the intelligent satellite in high-performance mode, basic mode and safety mode, and gives the endurance of the entire satellite evaluated in the current performance mode; The battery balancing control module is responsible for balancing the single cell voltage of the battery.

9. The intelligent satellite autonomous energy management system according to claim 1, characterized in that: The high-performance module is responsible for adjusting the satellite's energy-consuming equipment so that the hardware operates in a high-performance state; The basic mode setting module is responsible for adjusting the satellite's energy-consuming equipment so that the hardware operates in a basic state; The safety mode setting module is responsible for adjusting the satellite's energy-consuming equipment so that the hardware operates in a safe state; The minimum system mode setting module is responsible for adjusting the satellite's energy-consuming equipment so that the hardware runs in the minimum system state; The over-discharge protection mode setting module is responsible for shutting down the satellite's energy-consuming equipment to prevent equipment damage caused by sudden satellite interruption.

10. An intelligent satellite autonomous energy management method, implemented based on the intelligent satellite autonomous energy management system according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: Step S1. The status information module collects direct status information, indirect status information and satellite posture information of the energy system hardware equipment; S2. According to the status information, the ground control center sends a remote control command, and the control mode switching module selects the ground management mode or the autonomous management mode; when the ground management mode is selected, steps S3-1, S4-1, S5-1, and S6-1 are executed in sequence; when the autonomous management mode is selected, steps S3-2, S4-2, S5-2, and S6-2 are executed in sequence; S3-1. After switching to the ground management mode, the external command identification module first receives the ground remote control command and generates a ground control plan after the command is identified, and then sends the plan to the constraint check module to implement the constraint check; S3-2. After switching to the autonomous management mode, the autonomous management module evaluates the current position, attitude, energy status and mission status of the satellite according to the status information, generates an autonomous control plan, and sends the plan to the constraint check module for constraint check; S4-1. According to the ground control plan, select the power supply strategy and activate or shut down the relevant working modules of the power supply strategy subsystem; S4-2. According to the autonomous control plan, select the appropriate power supply strategy and activate or shut down the relevant working modules of the power supply strategy subsystem; S5-1. Activate or deactivate relevant working modules of the status assessment subsystem according to the ground control plan; S5-2. According to the autonomous control plan, the relevant working modules of the status assessment subsystem cooperate with the status information module to provide timely status information for the autonomous control plan; S6-1. According to the ground control plan, select the energy mode and activate or shut down the relevant working modules of the mode setting subsystem; S6-2. According to the autonomous control plan, select the appropriate energy mode and activate or shut down the relevant working modules of the mode setting subsystem; S7. The operation status information of the energy management system is returned to the status information module.

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