Spacecraft energy model construction method supporting multi-degree-of-freedom moving part

Abstract

The embodiment of the invention provides a spacecraft energy model construction method supporting multi-degree-of-freedom moving parts. And constructing and combining the body three-dimensional model of the spacecraft to be analyzed and the sailboard three-dimensional model corresponding to each sailboard assembly. And arranging a solar cell array patch model on each sailboard three-dimensional model. And setting a rotation angle of each sailboard three-dimensional model relative to the body three-dimensional model to obtain a spacecraft model. And inputting the orbit information, the attitude information and the epoch time information of the spacecraft to be analyzed into the spacecraft model, constructing a spacecraft on-orbit model corresponding to the spacecraft to be analyzed, and constructing a spacecraft energy model for the spacecraft on-orbit model. Wherein the spacecraft energy model is used for performing energy balance analysis on the to-be-analyzed spacecraft so as to obtain the energy balance state of the to-be-analyzed spacecraft in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft energy systems, and in particular to a method for constructing a spacecraft energy model supporting multi-degree-of-freedom movable parts. Background Art

[0002] The spacecraft energy system (abbreviated as energy system) is one of the key subsystems of a spacecraft. The status of the energy system is directly related to the safety of spacecraft operation and the success or failure of on-orbit missions. In the energy system, solar panels are an indispensable component. Their function is to charge spacecraft batteries by converting solar energy into electrical energy, or directly provide power support for various equipment (for example, communication equipment, navigation equipment, attitude and orbit control systems, and scientific application payloads, etc.).

[0003] At present, except for micro-nano spacecraft, the solar panels of spacecraft are generally configured as deployable panels. The deployable panels are deployed after the spacecraft enters space. By controlling the attitude of the spacecraft and rotating the deployable panels, the sun can be tracked to ensure the maximum power generation efficiency of the solar panels.

[0004] However, the spacecraft is affected by the body and panel configuration, orbital position, and motion posture. At certain moments, the solar panels are blocked by the body or other panels and cannot be in the optimal power generation state in real time. Especially when the spacecraft encounters certain force majeure factors during launch or operation, and some panels are damaged, its power generation capacity is greatly affected, which seriously restricts the work ability of the spacecraft and shortens the life of the spacecraft. Faced with the influence of multiple factors such as internal and external factors, especially when the panels fail or are damaged, how to accurately assess the blocked area of ​​the solar panels and the effective power generation area has become the key to estimating the safety of the spacecraft energy system. Summary of the invention

[0005] The technical problem to be solved by the present invention is: to overcome the shortcomings of the prior art and to provide a method for constructing a spacecraft energy model that is fast and highly accurate, and is applicable to any orbit of the spacecraft, any central celestial body occlusion, and any state of the solar panels, and that can simulate and analyze in real time the power generation state of the spacecraft energy system and the energy balance and supports multi-degree-of-freedom moving parts.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] In one aspect, the present invention provides a method for constructing a spacecraft energy model supporting multi-degree-of-freedom moving parts, comprising:

[0008] The spacecraft to be analyzed includes a sailboard structure and a non-sailboard structure, and the sailboard structure includes a plurality of sailboard components and a plurality of sailboard connecting parts.

[0009] Based on the non-sail structure, a three-dimensional model of the spacecraft to be analyzed is constructed.

[0010] For any sailboard component among the multiple sailboard components, a three-dimensional model of the sailboard corresponding to the any sailboard component is constructed.

[0011] Based on the position layout of the sailboard structure and the non-sailboard structure, the main body three-dimensional model and the three-dimensional models of each sailboard are combined.

[0012] For any of the three-dimensional sailboard models, a solar array patch model is set on any of the three-dimensional sailboard models based on the position of the solar array patch on the sailboard assembly corresponding to any of the three-dimensional sailboard models.

[0013] The rotation angle of each sailboard three-dimensional model relative to the body three-dimensional model is set to obtain the spacecraft model.

[0014] The orbit information, attitude information and epoch time information of the spacecraft to be analyzed are input into the spacecraft model to construct an on-orbit model corresponding to the spacecraft to be analyzed.

[0015] Construct a spacecraft energy model for the spacecraft on-orbit model. The spacecraft energy model is used to perform preset tasks, including:

[0016] Based on the position distribution among the solar model corresponding to the sun, the celestial model corresponding to the target celestial body and the on-orbit model of the spacecraft, it is determined whether the celestial model obstructs the on-orbit model of the spacecraft.

[0017] In the case that the celestial body model does not block the spacecraft on-orbit model, for any sailboard three-dimensional model, the target angle corresponding to any sailboard three-dimensional model is calculated. The target angle is the angle between the first vector and the second vector. The first vector is the pointing vector from the position of any sailboard three-dimensional model to the position of the sun model. The second vector is the normal vector corresponding to the solar array patch model set on any sailboard three-dimensional model.

[0018] When the target angle corresponding to any three-dimensional model of a sailboard is greater than or equal to 90°, the number of power generation units of any three-dimensional model of a sailboard is determined to be 0;

[0019] When the target angle corresponding to any sailboard 3D model is less than 90°, any sailboard 3D model is assigned a value of 1, and both the main body 3D model and the target sailboard 3D model are assigned a value of 0. The target sailboard 3D model is a sailboard 3D model different from any sailboard 3D model among the sailboard 3D models.

[0020] A shadow area on the solar array patch model corresponding to any sailboard three-dimensional model is determined. The shadow area is formed based on the structure of any sailboard three-dimensional model and / or the shielding of any sailboard three-dimensional model by each target sailboard three-dimensional model.

[0021] Based on the region segmentation rule, the surface of the solar array patch model corresponding to any sailboard three-dimensional model is segmented into multiple sub-regions.

[0022] A first sub-region and a second sub-region among the plurality of sub-regions are determined, wherein the first sub-region is a region overlapping with the shadow region, and the second sub-region is a region not overlapping with the shadow region.

[0023] The sum of the areas of the second sub-regions corresponding to any one of the three-dimensional models of the windsurfing board is determined as the effective power generation area of ​​any one of the three-dimensional models of the windsurfing board.

[0024] The power generation power of any sailboard three-dimensional model is determined based on the effective power generation area of ​​any sailboard three-dimensional model, the solar radiation of the sun model at the location of any sailboard three-dimensional model, the angle between any sailboard three-dimensional model and the solar rays emitted by the sun model, the working temperature of the sailboard component corresponding to any sailboard three-dimensional model, and the aging rate of the sailboard component corresponding to any sailboard three-dimensional model.

[0025] The sum of the effective power generation areas of each sailboard three-dimensional model is determined as the effective power generation area of ​​the spacecraft on-orbit model, and the sum of the power generation of each sailboard three-dimensional model is determined as the power generation power of the spacecraft on-orbit model.

[0026] The power consumption of each load device included in the spacecraft to be analyzed is obtained. For any load device among the load devices included in the spacecraft to be analyzed, the power consumption of any load device is determined based on the working state of any load device. The working state includes a power-on state and a power-off state. In addition, the working state may also include a working mode and a time-varying parameter related to power consumption.

[0027] The power consumption of each distribution board and each bus included in the spacecraft to be analyzed is obtained.

[0028] The total power consumption of the spacecraft to be analyzed is determined based on the power consumption of each load device, the power consumption of each switchboard and the power consumption of each bus.

[0029] The working state information of the battery included in the spacecraft to be analyzed is obtained. The working state information of the battery includes the temperature information, voltage information and power information of the battery.

[0030] The power supply mode of the spacecraft to be analyzed is determined based on the effective power generation area, power generation power, total power consumption, and working status information of the battery of the spacecraft to be analyzed. The effective power generation area of ​​the spacecraft to be analyzed is determined based on the effective power generation area of ​​the spacecraft on-orbit model, and the power generation power of the spacecraft to be analyzed is determined based on the power generation power of the spacecraft on-orbit model. The power supply modes of the spacecraft to be analyzed include battery power supply mode, sailboard component power supply mode, and combined power supply mode. The combined power supply mode is a mode in which the battery and the sailboard component are powered at the same time.

[0031] When it is determined that the power supply mode of the spacecraft to be analyzed is the battery power supply mode or the combined power supply mode, the discharge depth and discharge voltage of the battery are obtained.

[0032] When it is detected that the discharge depth of the battery is greater than the discharge depth threshold, and / or the discharge voltage of the battery exceeds the preset discharge voltage range, a prompt message is generated. The prompt message is used to prompt that the power supply of the spacecraft to be analyzed is abnormal.

[0033] When it is determined that the power supply mode of the spacecraft to be analyzed is the sailboard component power supply mode, if the total power consumption of the spacecraft to be analyzed is greater than the power consumption threshold, a prompt message is generated.

[0034] Based on the above technical solution, the present invention can also be improved as follows.

[0035] Furthermore, in the case where the celestial body model blocks the spacecraft on-orbit model, the effective power generation area of ​​the spacecraft on-orbit model is determined to be 0, and the power generation power of the spacecraft on-orbit model is determined to be 0.

[0036] Further, the connection mode between the first sailboard 3D model and the main body 3D model is a three-degree-of-freedom movable connection. The first sailboard 3D model is a sailboard 3D model directly connected to the main body 3D model among the sailboard 3D models. The connection mode between the second sailboard 3D model and the first sailboard 3D model is a one-degree-of-freedom movable connection. The second sailboard 3D model is a sailboard 3D model directly or indirectly connected to the first sailboard 3D model among the sailboard 3D models.

[0037] Furthermore, when setting the rotation angle of each windsurfing three-dimensional model relative to the main body three-dimensional model, the position of each windsurfing three-dimensional model relative to the main body three-dimensional model is calculated based on the topological relationship between the main body three-dimensional model, the first windsurfing three-dimensional model, and the second windsurfing three-dimensional model.

[0038] Further, when it is determined that the power supply mode of the spacecraft to be analyzed is the sailboard assembly power supply mode, and the battery is in a charging state, if the charging current of the battery is greater than the charging current threshold, information is generated to indicate that the battery charging state is abnormal.

[0039] Further, any three-dimensional model of a sailboard includes a first pasting surface and a second pasting surface. A solar cell array patch model is arranged on the first pasting surface included in any three-dimensional model of a sailboard.

[0040] Further, taking the earth as a reference, obtain the declination and hour angle corresponding to the sun, and obtain the declination and hour angle corresponding to the target celestial body. Based on the radius of the earth, the declination and hour angle corresponding to the sun, determine the position vector of the sun relative to the earth. Based on the radius of the earth, the declination and hour angle corresponding to the target celestial body, determine the position vector of the target celestial body relative to the earth. Based on the orbital altitude, orbital inclination, right ascension of the ascending node, argument of perigee and true anomaly of the spacecraft to be analyzed relative to the earth, calculate the position vector of the spacecraft to be analyzed relative to the earth. Based on the position vector of the sun relative to the earth, the position vector of the target celestial body relative to the earth, and the position vector of the spacecraft to be analyzed relative to the earth, determine the position distribution between the earth, the sun and the target celestial body. Based on the position distribution between the earth, the sun and the target celestial body, determine the position distribution between the solar model, the celestial body model and the spacecraft on-orbit model.

[0041] Further, if the product of the first vector and the second vector corresponding to any windsurfing three-dimensional model is less than or equal to 0, it is determined that the target angle corresponding to any windsurfing three-dimensional model is greater than or equal to 90°.

[0042] If the product of the first vector and the second vector corresponding to any windsurfing 3D model is greater than 0, it is determined that the target angle corresponding to any windsurfing 3D model is less than 90°.

[0043] Further, the spacecraft energy model performs a preset task based on a preset frequency.

[0044] The beneficial effects of the present invention are:

[0045] The modeling of the present invention initially considers the existence of multiple configurations of spacecraft panels, as well as possible failures or damages, and can simulate the posture of each part of the solar panel in any state. Then, by constructing an on-orbit model of the spacecraft, the occlusion of the spacecraft by any central celestial body is analyzed, and it is also applicable to the analysis of near-Earth spacecraft and deep space spacecraft. The GPU can be used for calculation, and the image detection method can be used to quickly simulate and analyze the occlusion of each solar panel, realizing the power generation analysis of the energy system in any state of the spacecraft.

[0046] The whole process is to calculate the energy system power generation state of the spacecraft at a specific moment in its orbital position and attitude. By inputting the time series data of the spacecraft's real orbit, attitude, and sailboard attitude, the continuous power generation simulation analysis of the spacecraft's energy system can be realized. Combined with high-precision battery, power supply and distribution, and load models, the spacecraft energy balance analysis can be performed.

[0047] On the other hand, the present invention provides an electronic device, comprising: a memory, one or more processors; the memory and the processor are coupled; wherein the memory stores computer program code, the computer program code includes computer instructions, and when the computer instructions are executed by the processor, the electronic device executes any method described in the first aspect above.

[0048] It can be understood that the beneficial effects that can be achieved by the electronic device provided above can refer to the beneficial effects in the first aspect and any possible design thereof, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic flow chart of a method for constructing a spacecraft energy model supporting multi-degree-of-freedom moving parts provided by the present invention;

[0050] Figure 2 A schematic diagram of the structure of the spacecraft model provided by the present invention;

[0051] Figure 3 A schematic diagram of the flow chart of the preset tasks provided by the present invention;

[0052] Figure 4 A schematic diagram of the umbra and penumbra of a central celestial body provided by the present invention;

[0053] Figure 5 A schematic diagram of the spacecraft to be analyzed within the shadow cone provided by the present invention;

[0054] Figure 6 A schematic diagram of the target angle provided by the present invention;

[0055] Figure 7 A schematic diagram of the shaded area provided by the present invention;

[0056] Figure 8 A statistical schematic diagram of the effective power generation area included in the shaded area provided by the present invention;

[0057] Fig. 9 A schematic diagram of the inertial system attitude quaternion curve corresponding to the spacecraft to be analyzed provided by the present invention;

[0058] Fig.10 A schematic diagram of the effective power generation area ratio curve of the spacecraft to be analyzed provided by the present invention;

[0059] Fig.11 A schematic diagram of a power generation curve of a spacecraft to be analyzed provided by the present invention;

[0060] Fig.12 A schematic diagram of the power consumption curve of the entire spacecraft to be analyzed provided by the present invention;

[0061] Fig.13 A schematic diagram of a battery charge curve of a spacecraft to be analyzed provided by the present invention. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Among them, in the description of the present application, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the present application is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. And, in the description of the present application, unless otherwise specified, "multiple" refers to two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish between the same items or similar items with substantially the same functions and effects. Those skilled in the art will understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the differences. At the same time, in the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or design.

[0063] The present invention has the following assumptions:

[0064] (1) When calculating the shading of the sailboard by the obstruction, the sunlight is parallel light;

[0065] (2) When calculating the size of the umbra of the central celestial body, the Sun and the central celestial body are both standard spherical celestial bodies;

[0066] (3) All obstructing objects are opaque, i.e. sunlight cannot penetrate the obstructing objects;

[0067] (4) The sailboard is flat.

[0068] The orbital elements, spacecraft attitude, sun, earth and central celestial body positions of the present invention are all in the geocentric J2000 coordinate system.

[0069] See also Figure 1The present invention provides a method for constructing a spacecraft energy model supporting multi-degree-of-freedom moving parts, comprising the following steps S101-S108:

[0070] S101: Determine the spacecraft to be analyzed.

[0071] The spacecraft to be analyzed includes a sailboard structure and a non-sailboard structure, and the sailboard structure includes a plurality of sailboard components and a plurality of sailboard connecting parts.

[0072] S102: Based on the non-sailboard structure, construct a three-dimensional model of the spacecraft to be analyzed.

[0073] In some embodiments, 3dsmax software may be used to construct a three-dimensional model of the spacecraft to be analyzed in actual size.

[0074] According to the principle of minimization modeling, the construction of the main body three-dimensional model is limited to the external structures of the spacecraft to be analyzed that may block the sailboard, such as communication antennas, star sensors, rotational joints, robotic arms, etc. The model only needs to build the external structure envelope, and the connecting screws between components can be omitted in the modeling process to minimize the model volume.

[0075] S103: For any windsurfing board component among the multiple windsurfing board components, construct a three-dimensional windsurfing board model corresponding to any windsurfing board component.

[0076] S104: Based on the position layout of the sailboard structure and the non-sailboard structure, the three-dimensional model of the main body and the three-dimensional models of each sailboard are combined.

[0077] In some embodiments, the connection mode between the first sailboard 3D model and the main body 3D model is a three-degree-of-freedom movable connection. The first sailboard 3D model is a sailboard 3D model directly connected to the main body 3D model among the sailboard 3D models. The connection mode between the second sailboard 3D model and the first sailboard 3D model is a one-degree-of-freedom movable connection. The second sailboard 3D model is a sailboard 3D model directly or indirectly connected to the first sailboard 3D model among the sailboard 3D models.

[0078] Taking common spacecraft and common solar panels as examples, the panels are distributed in the +Y and -Y directions, and the single-sided panel configuration can be composed of multiple panel components, which are connected by hinges and folded up; after being launched into orbit, they are unfolded and returned to the 0 position, and this position is used as the initial position of the solar panel.

[0079] Taking the +Y single-sided sailboard as an example, the connection between the sailboard and the main body is disconnected, and the folding part of the sailboard is disconnected. The single-sided solar sailboard can be disassembled to obtain n sailboard components.

[0080] The sailboard connected to the main body after separation is the proximal sailboard assembly, and the coordinate system of the proximal sailboard assembly is set: +y1 -X+ y1 Y +y1 Z +y1 (The subscript +y1 indicates the first component of the +Y side sailboard), where the coordinate origin O +y1 is the connection point between the sailboard and the body, X +y1 , Y +y1 , Z +y1 The direction of the coordinate axis is consistent with the direction of the X, Y, and Z coordinate axes of the spacecraft system.

[0081] If the sailboard is a foldable multi-section sailboard, the sailboard folded around the hinge is the remote sailboard component, and the coordinate system of the remote sailboard component is set: +y2 -X +y2 Y +y2 Z +y2 (The subscript +y2 indicates the second component of the +Y side sailboard), where the coordinate origin O +y2 is the midpoint of the sailboard folding hinge, X +y2 , Y +y2 , Z +y2 The direction of the coordinate axis is consistent with the direction of the X, Y, and Z coordinate axes of the spacecraft system.

[0082] Repeat the remote windsurfing board component coordinate system setting method until all windsurfing board component coordinate system settings for a single-side windsurfing board are completed.

[0083] Set the rotational freedom and connection topology of the single-sided sailboard.

[0084] The proximal sailboard assembly is connected to the system and can be set up in O +y1 As the center, revolve around X +y1 , Y +y1 , Z +y1 The axis rotates with three degrees of freedom.

[0085] The distal sailboard assembly is connected to the proximal sailboard assembly or other distal sailboard assemblies, and the arrangement can be in the form of O +y2 As the center, generally around X +y2 The axis rotates with a single degree of freedom. In abnormal conditions, a multi-degree-of-freedom model of the remote sailboard can also be established according to the situation.

[0086] Set the topological relationship of the sailboard connection, and confirm it with the order of sailboard deployment. When the far-end sailboard moves, it has no effect on the near-end sailboard; when the near-end sailboard moves, it can drive the far-end sailboard to change its attitude as a whole; the single-side sailboard is a model set, and when the spacecraft moves, it drives the single-side sailboard to change its attitude as a whole.

[0087] Complete the modeling of other side sailboards in the same way as the single-side sailboard modeling.

[0088] Among them, see Figure 2In (a), the area framed by blue lines represents the 3D model of the main body. Figure 2 In (b), the area framed by the blue line on the right side of the main body 3D model represents the 3D model of the sailboard near the +Y side. Figure 2 In (c), the area framed by the blue line on the right side of the main body 3D model represents the 3D model of the sailboard at the far end of the +Y side. Figure 2 In (d), the area framed by the blue line on the left side of the main body 3D model represents the 3D model of the sailboard near the -Y side. Figure 2 In (e), the area framed by the blue line on the left side of the main body 3D model represents the 3D model of the sailboard at the far end of the -Y side.

[0089] S105: For any of the three-dimensional sailboard models, a solar array patch model is set on any of the three-dimensional sailboard models based on the position of the solar array patch on the sailboard assembly corresponding to the three-dimensional sailboard model.

[0090] In some embodiments, any sailboard 3D model includes a first pasting surface and a second pasting surface, and a solar array patch model is arranged on the first pasting surface included in any sailboard 3D model. That is, the solar array patch model is attached to only one side of each sailboard 3D model as the power generation surface of the sailboard 3D model, so as to simulate the situation that only one side of the solar sailboard can generate electricity.

[0091] S106: Setting the rotation angle of each sailboard three-dimensional model relative to the body three-dimensional model to obtain a spacecraft model.

[0092] S107: Input the orbit information, attitude information and epoch time information of the spacecraft to be analyzed into the spacecraft model, and construct an on-orbit model of the spacecraft corresponding to the spacecraft to be analyzed.

[0093] The orbital information of the spacecraft to be analyzed includes at least the number of orbital elements of the spacecraft.

[0094] In some embodiments, before executing step S107, the following steps may also be performed:

[0095] Get the number of spacecraft orbital elements and set the spacecraft orbital position.

[0096] The Kepler orbit elements (semi-major axis a, eccentricity e, orbit inclination i, right ascension Ω, argument of perigee ω0 and true anomaly angle) are required at many points in the whole process of sailboard shielding calculation. ) participates in the calculation. Therefore, if the orbital elements obtained are Cartesian orbital elements (position vector and the velocity vector Then we need to convert to Keplerian orbital elements.

[0097] The conversion steps are as follows:

[0098] (1) Calculate the angular momentum vector and orbital energy E

[0099] Angular momentum vector: The components of the angular momentum vector are h x =yv z -zv x ,h y =zv x -xv z ,h z =xv y -yv x .

[0100] Orbital Energy in μ is the gravitational constant of the central gravitational body (for example, for the earth, μ=GM, G is the gravitational constant, and M is the mass of the earth).

[0101] (2) Calculate the semi-major axis a

[0102] The energy equation can be transformed into Available

[0103] (3) Calculate the eccentricity e

[0104] First calculate the eccentricity vector The amount can be based on and The amount of is calculated.

[0105] Eccentricity

[0106] (4) Calculate the orbital inclination i

[0107] in

[0108] (5) Calculate the right ascension Ω of the ascending node

[0109] First calculate the ascending node vector ( is the unit vector of the z-axis), the component of the ascending node vector is n x =h y , n y =-h x , n z =0.

[0110] Ascending node right ascension (When n y ≥0) or (When n y<0), where

[0111] (6) Calculate the argument of perigee ω0

[0112] (when e z ≥0) or (when e z <0).

[0113] (7) Calculate the true anomaly

[0114] (when )or (when ).

[0115] Get the spacecraft attitude parameters and set the spacecraft attitude.

[0116] In order to avoid singularity problems and limitations caused by conversion, the spacecraft attitude parameters are in quaternion form: q = (q0, q1, q2, q3), where q0 is the real part and q1, q2, and q3 are the imaginary parts.

[0117] Get the spacecraft epoch time, based on UTC.

[0118] S108: Construct a spacecraft energy model for the spacecraft on-orbit model.

[0119] In some embodiments, when setting the rotation angle of each windsurfing three-dimensional model relative to the main body three-dimensional model, the position of each windsurfing three-dimensional model relative to the main body three-dimensional model can be calculated based on the topological relationship between the main body three-dimensional model, the first windsurfing three-dimensional model, and the second windsurfing three-dimensional model.

[0120] Specifically, C++ can be used to carry out secondary development of 3dsmax and write an interface. The angle of the sailboard component can be set according to the previously set model degrees of freedom. The sailboard component angle setting interface can be used to set the attitude of the sailboard component. When the sailboard is in an abnormal state, according to the actual attitude data of the sailboard, the angle of each sailboard component is set through the sailboard component angle setting interface to simulate the real attitude of the spacecraft sailboard in orbit. When the sailboard is in a normal state, the actual SADA motor angle data is used to drive the sailboard attitude, and the sailboard component angle setting data has no effect.

[0121] In some embodiments, the spacecraft energy model is used to perform a preset mission, and the preset mission can be performed based on a preset frequency.

[0122] See also Figure 3 , the preset task includes the following steps S301-S316.

[0123] S301: Based on the position distribution among the solar model corresponding to the sun, the celestial body model corresponding to the target celestial body and the on-orbit model of the spacecraft, determine whether the celestial body model obstructs the on-orbit model of the spacecraft.

[0124] In some embodiments, the earth is used as a reference object to obtain the declination and hour angle corresponding to the sun, and the declination and hour angle corresponding to the target celestial body are obtained. Based on the radius of the earth, the declination and hour angle corresponding to the sun, the position vector of the sun relative to the earth is determined. Based on the radius of the earth, the declination and hour angle corresponding to the target celestial body, the position vector of the target celestial body relative to the earth is determined. Based on the orbital altitude, orbital inclination, right ascension of the ascending node, argument of perigee and true anomaly of the spacecraft to be analyzed relative to the earth, the position vector of the spacecraft to be analyzed relative to the earth is calculated. Based on the position vector of the sun relative to the earth, the position vector of the target celestial body relative to the earth, and the position vector of the spacecraft to be analyzed relative to the earth, the position distribution between the earth, the sun and the target celestial body is determined. Based on the position distribution between the earth, the sun and the target celestial body, the position distribution between the solar model, the celestial body model and the spacecraft on-orbit model is determined.

[0125] Specifically, here we only take the earth as the central celestial body as an example. When other celestial bodies are taken as the central celestial bodies, we only need to obtain the position vector of the earth pointing to other celestial bodies, convert them to obtain the vector of other celestial bodies pointing to the sun and the vector pointing to the spacecraft, and then substitute them into the calculation in the same way as calculating the spacecraft-earth-sun spatial relationship.

[0126] Calculate the sun vector, assuming that the sun's declination is δ, the hour angle is ω, and the earth's radius is R E , then the coordinates of the earth pointing to the sun can be expressed as:

[0127] Among them, S x , S y , S z Can be expressed as follows:

[0128] S x =R E cosδcosω

[0129] S y =R E cossinω

[0130] S z =R E sinδ

[0131] Calculate the spacecraft vector, assuming that the spacecraft orbit altitude is H, the orbit inclination i, the ascending node right ascension Ω, the perigee argument ω0 and the true anomaly angle Then the coordinates of the satellite position vector can be expressed as:

[0132] Among them, r x 、r y 、r z Can be expressed as follows:

[0133]

[0134] Calculate the angle between the sunlight and the spacecraft position vector:

[0135] By judging by the angle θ, the spatial relationship between the spacecraft, the central celestial body and the sun can be determined; judging whether the spacecraft is in the shadow area also requires considering the size of the shadow area.

[0136] When θ≤90°, the spacecraft is in the sunlit area; when θ>90°, it is necessary to combine the spacecraft position and the calculation results of the central celestial body's shadow area to confirm whether the spacecraft is obscured.

[0137] S302: When there is no occlusion of the spacecraft on-orbit model by the celestial body model, for any sailboard three-dimensional model, a target angle corresponding to any sailboard three-dimensional model is calculated.

[0138] The target angle is the angle between the first vector and the second vector. The first vector is the pointing vector from the position of any sailboard 3D model to the position of the sun model. The second vector is the normal vector corresponding to the solar array patch model set on any sailboard 3D model.

[0139] In some embodiments, when the celestial body model blocks the spacecraft on-orbit model, the effective power generation area of ​​the spacecraft on-orbit model is determined to be 0, and the power generation power of the spacecraft on-orbit model is determined to be 0.

[0140] In some embodiments, this model is not only applicable to near-Earth spacecraft, but also to the occlusion calculation of deep space exploration spacecraft, so it is necessary to calculate the shadow produced by the target celestial body (also referred to as the central celestial body in the present embodiment). The shadow produced by the central celestial body includes the umbra and penumbra, such as Figure 4 shown.

[0141] This model only considers whether the spacecraft enters the umbra. The spacecraft can still receive sunlight in the penumbra, but the radiation intensity will be reduced. This needs to be considered separately when calculating the power generation of solar panels.

[0142] Calculate the radius of the umbra of the central object:

[0143] According to the principle of similar triangles, the radius of the umbra is Among them, R umbra is the radius of the penumbra, R Eis the radius of the Earth (for non-Earth objects, it is the radius of the central celestial body), R S is the radius of the sun, ρ S is the distance between the sun and the earth (when not located on the earth, it is the distance from the sun to the central celestial body).

[0144] Here, R E Considering the atmospheric attenuation effect, the value is 6398km (the other central celestial bodies do not consider the atmospheric attenuation effect, and the radius is taken as the value); R S The value is 696000km; ρ S The value is 1.496×10 8 km, calculate R umbra It is 1387961.172km.

[0145] Calculate the half cone angle of the umbra Substitute R E and R umbra , we can get σ to be 0.264°

[0146] Combining the angle θ between sunlight and the spacecraft position vector, it can be seen that when θ≤90°+σ, the spacecraft is in the sunlit area; when θ>90°+σ, it is necessary to combine the spacecraft position and the calculation results of the conical surface of the central celestial body shadow area to confirm whether the spacecraft is blocked.

[0147] In the shadow cone coordinate system, the cone surface of the central celestial body shadow area can be expressed as:

[0148] F(x s h,y s h,z s h)=y s h 2 +z s h 2 -(R umbra -x s h) 2 tan 2 σ=0(Formula 1).

[0149] The parameter representation of the spacecraft in the orbital plane coordinate system can be expressed as:

[0150]

[0151] Where r = R E +H, represents the distance from the spacecraft to the center of the central celestial body; is the true anomaly angle.

[0152] Converting the cone surface expression from the shadow cone coordinate system to the orbital plane coordinate system requires a series of unit transformation matrix multiplication transformations. The transformed vector can be expressed as:

[0153] r0=Az (ω0)A x (i)A z (Ω)A x (-ε)A z (π-L)r s h.

[0154] Among them, A n (α) represents the rotation matrix of the coordinate axis n rotating by an angle α, ω0 is the argument of perigee, Ω is the right ascension of the ascending node, i is the orbital inclination, ε is the angle of the ecliptic plane, and L is the solar right ascension.

[0155] Since z0=0 is located at the intersection of the spacecraft orbit plane and the shadow cone surface, the vector component of the transformed cone surface can be expressed as:

[0156]

[0157] After unifying the coordinate system, equations 1, 2, and 3 can be combined to determine whether the spacecraft is within the shadow cone, such as Figure 5 shown.

[0158] In some embodiments, the vectors of all sailboards of the spacecraft pointing to the sun can be equivalent to the vector of the spacecraft pointing to the sun.

[0159] The power generation plane of the nth solar panel assembly to be analyzed can be expressed as a n x+b n y+c n z+d n =0, (a n ,b n ,c n ,d n are all constants), then the normal vector of the windsurfing component plane can be expressed as

[0160] Calculate the angle between the sunlight and the normal vector of the wind panel component power generation surface (target angle), such as Figure 6 shown.

[0161]

[0162] When ∈<90°, the windsurfing board assembly can be illuminated by sunlight, and when ∈≥90°, the windsurfing board assembly cannot be illuminated by sunlight.

[0163] After the spacecraft energy model executes S302, based on the size of the target angle corresponding to any sailboard three-dimensional model, step S303 or S304 is continued.

[0164] S303: When the target angle corresponding to any three-dimensional model of a sailboard is greater than or equal to 90°, determine that the number of power generation units of any three-dimensional model of a sailboard is 0.

[0165] In some embodiments, if the product of the first vector and the second vector corresponding to any windsurfing 3D model is less than or equal to 0, it is determined that the target angle corresponding to any windsurfing 3D model is greater than or equal to 90°.

[0166] After the spacecraft energy model executes step S303, it continues to execute steps S310-S316.

[0167] S304: when the target angle corresponding to any windsurfing board 3D model is less than 90°, assigning a value of 1 to any windsurfing board 3D model, and assigning a value of 0 to both the main body 3D model and the target windsurfing board 3D model.

[0168] The target windsurfing board three-dimensional model is a windsurfing board three-dimensional model that is different from any windsurfing board three-dimensional model among the windsurfing board three-dimensional models.

[0169] In some embodiments, if the product of the first vector and the second vector corresponding to any windsurfing three-dimensional model is greater than 0, it is determined that the target angle corresponding to any windsurfing three-dimensional model is less than 90°.

[0170] After the spacecraft energy model executes step S304, it continues to execute steps S305-S316.

[0171] S305: Determine a shadow area on a solar array patch model corresponding to any three-dimensional model of a sailboard.

[0172] The shadow area is formed based on the structure of any sailboard three-dimensional model and / or the shielding of any sailboard three-dimensional model by each target sailboard three-dimensional model.

[0173] Specifically, when calculating the shadow area, the sunlight can be regarded as parallel light, so the coordinate components of the sunlight can be expressed as (l x ,l y ,l z ), and the surface coordinates of the spacecraft body and the solar sail panel three-dimensional model can be expressed as (M x ,M y ,M z ), the projection point is at a n x+b n y+c n z+d n =0 The coordinates in the plane can be expressed as (P x ,P y ,P z ).

[0174] The specific coordinates can be expressed as:

[0175]

[0176] The process of obtaining the shadow area of ​​the 3D model uses CUDA to call the GPU processor for calculation to speed up the calculation. Figure 7 shown.

[0177] The shadow area of ​​the obstruction is expressed as:

[0178] C=(C x ,C y ,C z ,0)(Formula 5).

[0179] The shaded area of ​​the windsurfing board component to be analyzed is represented by:

[0180] B=(B x ,B y ,B z ,1)(Formula 6).

[0181] (C x ,C y ,C z ) and (B x ,B y ,B z ) are calculated by Formula 4.

[0182] S306: Based on the region segmentation rule, the surface of the solar array patch model corresponding to any windsurfing panel three-dimensional model is segmented into a plurality of sub-regions.

[0183] In some embodiments, the shadow area can be rasterized. To balance the accuracy and efficiency of occlusion calculation, the shadow area can be rasterized with a resolution of 1 cm. 2 The shadow area of ​​the shielding object and the windsurfing assembly to be analyzed are divided, and each grid point in the shadow area of ​​the shielding object is expressed in the form of Formula 5, and the shadow area of ​​the windsurfing assembly to be analyzed is expressed in Formula 6.

[0184] The data queues of the obstruction and the projection points of the windsurfing assembly to be analyzed, which contain j and k elements respectively, are obtained and recorded as: C all =(C1,C2,…,C j ) and B all =(B1,B2,…,B k ).

[0185] Traverse and calculate (C1, C2, ..., C j ) and (B1,B2,…,B k )The Euclidean distance of the data set:

[0186] Convert D to cm.

[0187] The size of a single image grid cell is 1cm*1cm, and the radius of the circumscribed circle is as the judgment threshold.

[0188] when When , it means that the area of ​​the windsurfing component to be analyzed is blocked by an obstruction, and the grid data is calculated as (B xk ,B yk ,B zk ,0), and is removed from the data queue of the projection points of the sailboard component to be analyzed, and does not participate in the next iterative calculation to reduce the amount of calculation.

[0189] The calculation is repeated until all projection points are judged. At this time, the number of elements remaining in the projection point data queue of the windsurfing component to be analyzed is the unblocked area, and the removed elements are the blocked area.

[0190] S307: Determine a first sub-region and a second sub-region among the multiple sub-regions.

[0191] The first sub-region is an area that overlaps with the shadow area, and the second sub-region is an area that does not overlap with the shadow area.

[0192] S308: Determine the sum of the areas of the second sub-regions corresponding to any one of the three-dimensional models of the windsurfing board as the effective power generation area of ​​any one of the three-dimensional models of the windsurfing board.

[0193] Specifically, the number of elements remaining in the queue of the projection point data of the windsurfing assembly to be analyzed can be counted. At this time, all the elements in the queue are represented by (B x ,B y ,B z ,1), divided by 10000, the unit is converted to square meters, and the effective power generation area A of the three-dimensional model of the windsurfing board is obtained N ,like Figure 8 As shown, the area of ​​the non-blocked / shadowed area is the effective power generation area.

[0194] S309: Determine the power generation power of any sailboard three-dimensional model based on the effective power generation area of ​​any sailboard three-dimensional model, the solar radiation of the sun model at the location of any sailboard three-dimensional model, the angle between any sailboard three-dimensional model and the solar rays emitted by the sun model, the working temperature of the sailboard component corresponding to any sailboard three-dimensional model, and the aging rate of the sailboard component corresponding to any sailboard three-dimensional model.

[0195] In some embodiments, the formula P = η × A can be used. N ×I×cos∈×(1-α×ΔT)×C, calculate the power generation of each sailboard three-dimensional model.

[0196] Among them, η is the photoelectric conversion efficiency of the solar panel, and the value of η is [0,1];

[0197] A N is the effective power generation area of ​​the three-dimensional model of the windsurfing board, in square meters (m 2 ).

[0198] I is the irradiance at the distance between the spacecraft to be analyzed and the sun, I0 is the solar constant, which represents the solar irradiance outside the Earth's atmosphere, which is 1361W / m 2 , r is the distance from the spacecraft to be analyzed to the center of the sun (in astronomical units AU, 1AU is the average distance from the earth to the sun, 1.496×10 8 km).

[0199] cos∈ is the correction factor of effective irradiance, ∈ is the angle between sunlight and the normal vector of the windsurfing panel assembly power generation surface. When ∈=0°, sunlight is perpendicular to the windsurfing panel, and the correction factor is equal to 1. As ∈ increases, the correction factor decreases, and the effective irradiance received by the windsurfing panel decreases. Here, since the case of ∈≥90° is excluded previously, the value range of cos∈ is (0,1].

[0200] 1-α×ΔT is the working temperature correction term, α represents the power temperature coefficient, the unit is 1 / ℃, and different sailboard materials have different values; ΔT=TT ref , T is the actual working temperature, T ref is the reference temperature, in °C, T ref The value is usually taken as 25℃.

[0201] C is the correction factor for panel power generation that takes into account panel aging and damage factors. It can be obtained based on actual on-orbit monitoring data or ground test data, or calculated based on a panel aging model. Its value range is [0,1].

[0202] S310: Determine the sum of the effective power generation areas of each sailboard three-dimensional model as the effective power generation area of ​​the spacecraft on-orbit model, and determine the sum of the power generation of each sailboard three-dimensional model as the power generation of the spacecraft on-orbit model.

[0203] For example, the sum of the effective power generation areas of all three-dimensional models of windsurfing panels can be calculated. And the power generation is only The power generation state (effective power generation area and power generation power) of the energy system of the spacecraft on-orbit model at that moment is obtained, that is, the power generation state of the energy system of the spacecraft to be analyzed at that moment is obtained.

[0204] S311: Obtain the power consumption of each load device included in the spacecraft to be analyzed.

[0205] For any load device among the load devices included in the spacecraft to be analyzed, the power consumption of any load device is determined based on the working state of any load device. The working state may include a power-on state and a power-off state. In addition, the working state may also include a working mode and a time-varying parameter related to power consumption.

[0206] Specifically, the on / off status of each load device can be obtained from the satellite service model (an external model that does not belong to the energy model of this spacecraft), or the on / off instructions of each load device can be received. According to the working mode of each load device, the corresponding power consumption table, and time-varying parameters related to power consumption, the power consumption and current of each load device when working can be calculated.

[0207] S312: Obtain the power consumption of each distribution board and each bus included in the spacecraft to be analyzed.

[0208] S313: Determine the total power consumption of the spacecraft to be analyzed based on the power consumption of each load device, the power consumption of each distribution board, and the power consumption of each bus.

[0209] Specifically, according to the corresponding relationship between the distribution board, bus and each load unit, the power supply and distribution model can be used to calculate the current and power consumption corresponding to each distribution board and bus. At the same time, the losses of each distribution board and bus itself in the power supply and distribution process can be considered, and all data can be summarized to obtain the power consumption of the whole device.

[0210] S314: Obtaining the working status information of the battery included in the spacecraft to be analyzed.

[0211] The working status information of the battery includes the temperature information, voltage information and power information of the battery.

[0212] S315: Determine the power supply mode of the spacecraft to be analyzed based on the effective power generation area, power generation power, total power consumption, and battery working status information of the spacecraft to be analyzed.

[0213] The effective power generation area of ​​the spacecraft to be analyzed is determined based on the effective power generation area of ​​the spacecraft on-orbit model, and the power generation power of the spacecraft to be analyzed is determined based on the power generation power of the spacecraft on-orbit model. The power supply modes of the spacecraft to be analyzed include battery power supply mode, sailboard component power supply mode and combined power supply mode. The combined power supply mode is a mode in which the battery and the sailboard component are powered at the same time.

[0214] Furthermore, when the spacecraft is blocked by the central celestial body of the sailboard (i.e., in the umbra of the central celestial body), the power supply mode of the spacecraft to be analyzed is the battery power supply mode;

[0215] When the power generated by the sailboard (the sum of the power supply array and the charging array) is less than the total power consumption (which may also be referred to as the whole device power consumption in the embodiment of the present application), the power supply mode of the spacecraft to be analyzed is the joint power supply mode;

[0216] When the power generated by the sailboard is greater than or equal to the total power and the battery is fully charged, the power supply mode of the spacecraft to be analyzed is the sailboard component power supply mode;

[0217] When the power generated by the sailboard is greater than or equal to the total power and the battery is not fully charged, the power supply mode of the spacecraft to be analyzed is the sailboard component power supply mode, and the charging array is powered by the battery.

[0218] S316: Based on the power supply mode of the spacecraft to be analyzed, an energy balance analysis is performed on the spacecraft to be analyzed.

[0219] The energy balance analysis includes:

[0220] When it is determined that the power supply mode of the spacecraft to be analyzed is a battery power supply mode or a combined power supply mode, the discharge depth and discharge voltage of the battery are obtained. When it is detected that the discharge depth of the battery is greater than the discharge depth threshold, and / or the discharge voltage of the battery exceeds the preset discharge voltage range, a prompt message is generated. The prompt message is used to prompt that the power supply of the spacecraft to be analyzed is abnormal.

[0221] Among them, when it is determined that the power supply mode of the spacecraft to be analyzed is a battery power supply mode or a combined power supply mode, the batteries are in a discharging state. At this time, the battery discharge current, battery voltage, battery power and discharge depth can be calculated based on the battery charge and discharge curve, power generation status and power consumption of the whole device.

[0222] When it is determined that the power supply mode of the spacecraft to be analyzed is the sailboard component power supply mode, if the total power consumption of the spacecraft to be analyzed is greater than the power consumption threshold, a prompt message is generated.

[0223] Among them, when it is determined that the power supply mode of the spacecraft to be analyzed is the sailboard component power supply mode, since the battery is fully charged, at this time, it is only necessary to obtain the battery power and voltage parameters at the current moment, and the discharge depth is 0 at this time.

[0224] When it is determined that the power supply mode of the spacecraft to be analyzed is the sailboard assembly power supply mode and the battery is in a charging state, if the charging current of the battery is greater than the charging current threshold, information for indicating that the battery charging state is abnormal is generated.

[0225] Among them, when it is determined that the power supply mode of the spacecraft to be analyzed is the sailboard component power supply mode, and the battery is in a charging state, the charging current, battery voltage, battery power and discharge depth under the current temperature and power level can be calculated in combination with the battery charging and discharging curve, the power consumption of the whole device, the power generation power of the discharge array, the power generation power of the charging array and the battery status.

[0226] The following is a specific embodiment:

[0227] Assume that a deep space exploration satellite performs orbit control missions with damaged sailboards. The +Y near sailboard is set to rotate at an angle of (15°, 45°, 30°), and the +Y far sailboard is set to rotate at an angle of 30°; the -Y near sailboard is set to rotate at an angle of (-15°, 10°, -30°), and the +Y far sailboard is set to rotate at an angle of 30°.

[0228] Input the initial orbital elements of the spacecraft, and based on the constructed on-orbit model of the spacecraft and the simulation mission action sequence, obtain the attitude angle of the spacecraft during the entire process of executing the corresponding orbit control mission (such as Fig. 9 As shown) and the effective power generation area ratio of the sail panels on both sides (as shown Fig.10 As shown), power generation (as shown Fig.11 As shown), the whole device power consumption (as shown Fig.12 ), battery level (as shown), Fig.13 shown).

[0229] This example simulates a scenario where a deep spacecraft's sailboard is damaged and locked. The sailboard's attitude does not change during the entire process, and its relative relationship with the sun is only related to the spacecraft's orbital position and attitude. Fig. 9 and Fig.10 It can be seen that the inflection point position of the effective power generation area ratio curve of the sail panels on both sides is highly consistent with the position of the spacecraft attitude fluctuation, which is consistent with the theory.

[0230] After confirming the effective power generation area and power of the sail panels on both sides, the simulation is carried out jointly with the battery model, power supply and distribution model, and spacecraft load model to finally realize the energy balance modeling and simulation analysis of the spacecraft in any state (such as Figures 11 to 13 ).

[0231] This method can be applied to other spacecraft energy system modeling by analogy. When modeling, it is necessary to establish a high-precision three-dimensional model of the spacecraft and an on-orbit attitude and orbit model. If you want to analyze the entire process of the spacecraft's on-orbit mission, you also need to cooperate with a high-precision orbital dynamics model, attitude dynamics model, and space service model.

[0232] In some schemes, multiple embodiments of the present application can be combined, and the combined scheme can be implemented. Optionally, some operations in the process of each method embodiment are optionally combined, and / or the order of some operations is optionally changed. In addition, the execution order between the steps of each process is only exemplary and does not constitute a restriction on the execution order between the steps. There can also be other execution orders between the steps. It is not intended to indicate that the execution order is the only order in which these operations can be performed. A person of ordinary skill in the art will think of a variety of ways to reorder the operations described herein. In addition, it should be noted that the process details involved in a certain embodiment of this article are also applicable to other embodiments in a similar manner, or different embodiments can be used in combination.

[0233] In addition, some steps in the method embodiment may be equivalently replaced by other possible steps. Alternatively, some steps in the method embodiment may be optional and may be deleted in certain usage scenarios. Alternatively, other possible steps may be added to the method embodiment. Furthermore, the method embodiments may be implemented separately or in combination.

[0234] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for constructing a spacecraft energy model supporting multi-degree-of-freedom moving parts, characterized in that: include: Determine a spacecraft to be analyzed; the spacecraft to be analyzed includes a sailboard structure and a non-sailboard structure; the sailboard structure includes a plurality of sailboard components and a plurality of sailboard connecting parts; Based on the non-sailboard structure, construct a three-dimensional model of the spacecraft to be analyzed; For any one of the plurality of sailboard assemblies, constructing a three-dimensional model of a sailboard corresponding to the one sailboard assembly; Based on the position layout of the sailboard structure and the non-sailboard structure, combining the main body three-dimensional model and each of the sailboard three-dimensional models; For any one of the three-dimensional sailboard models, a solar array patch model is set on the any one of the three-dimensional sailboard models based on the position of the solar array patch on the sailboard assembly corresponding to the any one of the three-dimensional sailboard models; Setting the rotation angle of each of the three-dimensional models of the sailboard relative to the three-dimensional model of the body to obtain a spacecraft model; Inputting the orbit information, attitude information and epoch time information of the spacecraft to be analyzed into the spacecraft model, and constructing a spacecraft on-orbit model corresponding to the spacecraft to be analyzed; constructing a spacecraft energy model for an on-orbit model of the spacecraft; The spacecraft energy model is used to perform preset tasks, and the preset tasks include: Based on the position distribution among the solar model corresponding to the sun, the celestial body model corresponding to the target celestial body, and the on-orbit model of the spacecraft, determining whether the on-orbit model of the spacecraft is obstructed by the celestial body model; In the case that the celestial body model does not block the on-orbit model of the spacecraft, for any of the three-dimensional sailboard models, calculate the target angle corresponding to the any of the three-dimensional sailboard models; the target angle is the angle between the first vector and the second vector; the first vector is the pointing vector from the position of the any of the three-dimensional sailboard models to the position of the sun model; the second vector is the normal vector corresponding to the solar array patch model set on any of the three-dimensional sailboard models; When the target angle corresponding to any one of the three-dimensional models of the sailboard is greater than or equal to 90°, determining the number of power generation units of any one of the three-dimensional models of the sailboard to be 0; When the target angle corresponding to any of the three-dimensional sailboard models is less than 90°, assigning a value of 1 to any of the three-dimensional sailboard models, and assigning a value of 0 to both the main three-dimensional model and the target three-dimensional sailboard model; the target three-dimensional sailboard model is a three-dimensional sailboard model different from any of the three-dimensional sailboard models; Determine a shadow area on the solar array patch model corresponding to any one of the three-dimensional sailboard models; the shadow area is formed based on the structure of any one of the three-dimensional sailboard models and / or the shielding of any one of the three-dimensional sailboard models by each of the target three-dimensional sailboard models; Based on the region segmentation rule, the surface of the solar array patch model corresponding to any one of the three-dimensional windsurfing panel models is segmented into a plurality of sub-regions; Determine a first sub-region and a second sub-region among the multiple sub-regions; the first sub-region is a region overlapping with the shadow region; the second sub-region is a region not overlapping with the shadow region; Determine the sum of the areas of the second sub-regions corresponding to any one of the three-dimensional models of the windsurfing board as the effective power generation area of ​​any one of the three-dimensional models of the windsurfing board; Determine the power generation power of any sailboard three-dimensional model based on the effective power generation area of ​​any sailboard three-dimensional model, the solar radiation of the sun model at the location of any sailboard three-dimensional model, the angle between any sailboard three-dimensional model and the sunlight emitted by the sun model, the working temperature of the sailboard component corresponding to any sailboard three-dimensional model, and the aging rate of the sailboard component corresponding to any sailboard three-dimensional model; Determine the sum of the effective power generation areas of each of the three-dimensional sailboard models as the effective power generation area of ​​the on-orbit model of the spacecraft, and determine the sum of the power generation of each of the three-dimensional sailboard models as the power generation of the on-orbit model of the spacecraft; Obtaining the power consumption of each load device included in the spacecraft to be analyzed; for any load device among the load devices included in the spacecraft to be analyzed, the power consumption of any load device is determined based on the working state of any load device; the working state includes a power-on state and a power-off state; Obtaining the power consumption of each distribution board and each bus bar included in the spacecraft to be analyzed; Determining the total power consumption of the spacecraft to be analyzed based on the power consumption of each of the load devices, the power consumption of each of the switchboards, and the power consumption of each of the bus bars; Acquiring working state information of a battery included in the spacecraft to be analyzed; the working state information of the battery includes temperature information, voltage information and power information of the battery; The power supply mode of the spacecraft to be analyzed is determined based on the effective power generation area, power generation power, total power consumption of the spacecraft to be analyzed, and the working status information of the battery; the effective power generation area of ​​the spacecraft to be analyzed is determined based on the effective power generation area of ​​the spacecraft on-orbit model, and the power generation power of the spacecraft to be analyzed is determined based on the power generation power of the spacecraft on-orbit model; the power supply modes of the spacecraft to be analyzed include a battery power supply mode, a sailboard component power supply mode, and a combined power supply mode; the combined power supply mode is a mode in which the battery and the sailboard component are powered at the same time; When it is determined that the power supply mode of the spacecraft to be analyzed is the battery power supply mode or the combined power supply mode, obtaining the discharge depth and discharge voltage of the battery; When it is detected that the discharge depth of the battery is greater than the discharge depth threshold, and / or the discharge voltage of the battery exceeds a preset discharge voltage range, a prompt message is generated; the prompt message is used to prompt that the power supply of the spacecraft to be analyzed is abnormal; In the case where it is determined that the power supply mode of the spacecraft to be analyzed is the power supply mode of the sailboard assembly, if the total power consumption of the spacecraft to be analyzed is greater than the power consumption threshold, the prompt information is generated.

2. The method according to claim 1, characterized in that Before determining the power supply mode of the spacecraft to be analyzed based on the effective power generation area, power generation power, total power consumption of the spacecraft to be analyzed, and the working state information of the battery, the method further includes: In the case where the celestial body model blocks the on-orbit model of the spacecraft, the effective power generation area of ​​the on-orbit model of the spacecraft is determined to be 0, and the power generation power of the on-orbit model of the spacecraft is determined to be 0.

3. The method according to claim 2, characterized in that The connection method between the first sailboard three-dimensional model and the main body three-dimensional model is a three-degree-of-freedom movable connection; the first sailboard three-dimensional model is a sailboard three-dimensional model directly connected to the main body three-dimensional model among all the sailboard three-dimensional models; the connection method between the second sailboard three-dimensional model and the first sailboard three-dimensional model is a one-degree-of-freedom movable connection; the second sailboard three-dimensional model is a sailboard three-dimensional model directly or indirectly connected to the first sailboard three-dimensional model among all the sailboard three-dimensional models.

4. The method according to claim 3, characterized in that Also includes: When setting the rotation angle of each of the windsurfing three-dimensional models relative to the main body three-dimensional model, the position of each of the windsurfing three-dimensional models relative to the main body three-dimensional model is calculated based on the topological relationship between the main body three-dimensional model, the first windsurfing three-dimensional model, and the second windsurfing three-dimensional model.

5. The method according to claim 4, characterized in that After determining the power supply mode of the spacecraft to be analyzed based on the effective power generation area, power generation power, total power consumption of the spacecraft to be analyzed, and the working state information of the battery, the method further includes: When it is determined that the power supply mode of the spacecraft to be analyzed is the sailboard component power supply mode, and the battery is in a charging state, if the charging current of the battery is greater than a charging current threshold, information is generated to indicate that the battery charging state is abnormal.

6. The method according to claim 5, characterized in that Any of the three-dimensional models of the sailboard includes a first pasting surface and a second pasting surface, and the solar array patch model is set on any of the three-dimensional models of the sailboard based on the position of the solar array patch on the sailboard assembly corresponding to the three-dimensional model of the sailboard, including: The solar cell array patch model is arranged on the first adhesive surface included in any one of the three-dimensional models of the windsurfing board.

7. The method according to claim 6, characterized in that Before determining whether the celestial body model blocks the spacecraft on-orbit model based on the position distribution among the solar model corresponding to the sun, the celestial body model corresponding to the target celestial body, and the on-orbit model of the spacecraft, the method further includes: Taking the earth as a reference, obtaining the declination and hour angle corresponding to the sun, and obtaining the declination and hour angle corresponding to the target celestial body; Determine the position vector of the sun relative to the earth based on the radius of the earth, the corresponding declination and hour angle of the sun; Determine a position vector of the target celestial body relative to the earth based on the radius of the earth and the declination and hour angle corresponding to the target celestial body; Calculate the position vector of the spacecraft to be analyzed relative to the earth based on the orbital altitude, orbital inclination, right ascension of ascending node, argument of perigee and true anomaly of the spacecraft to be analyzed relative to the earth; Determine the position distribution between the Earth, the Sun, and the target celestial body based on the position vector of the Sun relative to the Earth, the position vector of the target celestial body relative to the Earth, and the position vector of the spacecraft to be analyzed relative to the Earth; Based on the position distribution among the earth, the sun and the target celestial body, the position distribution among the sun model, the celestial body model and the spacecraft on-orbit model is determined.

8. The method according to claim 7, characterized in that When the celestial body model does not block the on-orbit model of the spacecraft, for any of the three-dimensional sailboard models, calculating the target angle corresponding to any of the three-dimensional sailboard models includes: If the product of the first vector and the second vector corresponding to any one of the three-dimensional models of the sailboard is less than or equal to 0, it is determined that the target angle corresponding to any one of the three-dimensional models of the sailboard is greater than or equal to 90°; If the product of the first vector and the second vector corresponding to any one of the three-dimensional models of the windsurfing board is greater than 0, it is determined that the target angle corresponding to any one of the three-dimensional models of the windsurfing board is less than 90°.

9. The method according to claim 8, characterized in that The spacecraft energy model performs the preset task based on a preset frequency.

10. An electronic device, characterized in that: include: A memory and one or more processors; the memory is coupled to the processor; wherein the memory stores computer program code, the computer program code includes computer instructions, and when the computer instructions are executed by the processor, the electronic device executes a method for constructing a spacecraft energy model supporting multi-degree-of-freedom moving parts as described in any one of claims 1 to 9.

Images