Satellite solar panel rotation control method, device and equipment and storage medium

Abstract

The invention provides a satellite solar panel rotation control method, device and equipment and a storage medium, and relates to the technical field of satellite control. In some embodiments of the invention, a satellite comprises a satellite body and a solar panel, the satellite body is pivotally connected with a second rotating shaft, a first rotating shaft is mounted on the second rotating shaft, the first rotating shaft is connected with the solar panel, and an included angle of a true sun relative to an orbit of a satellite orbit is obtained; performing rotation control on the first rotating shaft and the second rotating shaft according to the absolute value of the included angle of the true sun relative to the orbit; the double-shaft control strategy is simple, the rotation angular speed is small, and the influence on satellite attitude control is reduced under the condition that the output energy of the solar panel is stable and sufficient.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite control technology, and in particular to a satellite solar panel rotation control method, device, equipment and storage medium. Background Art

[0002] The time it takes for a satellite to orbit the earth is called the orbital period. Usually, the orbital period includes the earth's shadow time and the sunshine time. The earth's shadow time refers to the time during the orbital period that the satellite is in the earth's shadow and is not exposed to sunlight. The sunshine time refers to the time during the orbital period that the satellite is exposed to sunlight.

[0003] The rotation of the solar panels tracking the sun will bring interference torque to the satellite's attitude control, affecting the satellite's attitude. Under the premise of ensuring that the satellite's energy needs are met, the angular velocity of the solar panels tracking the sun should be reduced as much as possible, especially the rotation axis with a large moment of inertia, and frequent acceleration and deceleration should be avoided.

[0004] At present, the control strategy for the sailboard to track the rotation of the sun is very complex, which affects the attitude control of the satellite. Summary of the invention

[0005] The present invention provides a satellite solar panel rotation control method, device, equipment and storage medium to at least solve the problem that the existing control strategy for the solar panel tracking the sun is highly complex and affects the attitude control of the satellite.

[0006] The technical solution of the present disclosure is as follows:

[0007] The present disclosure provides a satellite sailboard rotation control method, wherein the satellite comprises: a satellite body and a solar sailboard, wherein the satellite body is pivotally connected to a second rotating shaft, a first rotating shaft is mounted on the second rotating shaft, and the first rotating shaft is connected to the solar sailboard, and the method is characterized in that it comprises:

[0008] Obtaining the angle of the true sun relative to the orbit of the satellite orbit, wherein the angle of the true sun relative to the orbit is the difference between 90 degrees and the angle between the sunlight vector and the normal vector of the satellite orbit plane; the direction of the normal vector of the satellite orbit plane is determined according to the running direction of the satellite on the orbit plane by the right-hand rule;

[0009] The first rotating shaft and the second rotating shaft are controlled to rotate according to the absolute value of the angle between the true sun and the orbit.

[0010] Optionally, the controlling the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit includes:

[0011] When the absolute value of the angle between the true sun and the orbit is greater than a second angle threshold, controlling the first rotating shaft to be fixed at a first angle or a second angle and not to rotate, wherein the first angle and the second angle are opposite numbers of each other;

[0012] The second rotating shaft is controlled to be fixed at the first angle and not to rotate.

[0013] Optionally, the controlling the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit includes:

[0014] When the absolute value of the angle between the true sun and the orbit is less than the first angle threshold, controlling the second rotating shaft to be fixed at zero position;

[0015] The first rotating shaft is controlled to move at a uniform speed at the satellite orbit angular velocity.

[0016] Optionally, the controlling the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit includes:

[0017] When the absolute value of the angle between the true sun and the orbit is between a first angle threshold and a second angle threshold, the second rotation axis is controlled to perform uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity; the first rotation axis is controlled to rotate uniformly at the orbital angular velocity of the satellite; wherein the first angle threshold is smaller than the second angle threshold.

[0018] Optionally, the method further comprises:

[0019] Controlling the second rotating shaft to be at a zero position and not to rotate;

[0020] Controlling the first rotating shaft to move at a uniform orbital angular velocity;

[0021] Traversing the first energy integral of the sunlit area in the next orbital circle at different angles relative to the true sun orbit;

[0022] When the first energy integral is greater than or equal to the minimum energy value, the maximum absolute value of the angle between the true sun and the orbit is determined, and the maximum value is used as the first angle threshold.

[0023] Optionally, the method further comprises:

[0024] Controlling the second rotating shaft to be fixed at the first angle and not to rotate;

[0025] Controlling the first rotating shaft to be fixed at the first angle or the second angle and not to rotate;

[0026] Traversing the second energy integral of the sunlit area in the next orbital circle at different angles relative to the true sun orbit;

[0027] When the second energy integral is greater than or equal to the minimum energy value, the minimum absolute value of the angle between the true sun and the orbit is determined, and the minimum value is used as the second angle threshold.

[0028] Optionally, before using the energy minimum value, the method further comprises:

[0029] When the satellite is at the heliocentric point in the orbital plane, the first rotation axis and the second rotation axis are at zero position, and at this time, the sunlight vector is directly shining on the solar sail panel, wherein the heliocentric point refers to the position of the satellite closest to the sun on the orbital plane;

[0030] Controlling the first rotating shaft to move at a uniform speed at an orbital angular velocity;

[0031] Controlling the second rotating shaft to perform uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity;

[0032] The third energy integral in the sunshine area in the next orbital circle at different angles of the true sun relative to the orbit is traversed to obtain the minimum energy value of the third energy integral and the angle of the target true sun relative to the orbit corresponding to the minimum energy value.

[0033] The present disclosure also provides a satellite sailboard rotation control device, wherein the satellite comprises: a satellite body and a solar sailboard, wherein the satellite body is pivotally connected to a second rotating shaft, a first rotating shaft is mounted on the second rotating shaft, and the first rotating shaft is connected to the solar sailboard, and the device is characterized in that it comprises:

[0034] An acquisition module is used to acquire the angle of the true sun relative to the orbit of the satellite orbit, wherein the angle of the true sun relative to the orbit is the difference between 90 degrees and the angle between the sunlight vector and the normal vector of the satellite orbit plane; the direction of the normal vector of the satellite orbit plane is determined according to the running direction of the satellite on the orbit plane and the right-hand rule;

[0035] A control module is used to control the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit.

[0036] The present disclosure also provides an electronic device, characterized in that it includes:

[0037] processor;

[0038] a memory for storing instructions executable by the processor;

[0039] The processor is configured to execute the instructions to implement each step in the above method.

[0040] The embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements each step of the above method when executed by a processor.

[0041] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects:

[0042] In some embodiments of the present disclosure, a satellite includes: a satellite body and a solar panel, the satellite body is pivotally connected to a second rotating shaft, a first rotating shaft is installed on the second rotating shaft, and the first rotating shaft is connected to the solar panel to obtain the angle between the true sun and the orbit of the satellite; the first rotating shaft and the second rotating shaft are rotationally controlled according to the absolute value of the angle between the true sun and the orbit; the dual-axis control strategy of the present disclosure is simple, the angular velocity of rotation is small, and when the energy output of the solar panel is stable and sufficient, the impact on the satellite attitude control is reduced.

[0043] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0045] Figure 1 A schematic flow chart of a satellite sailboard rotation control method provided for an exemplary embodiment of the present disclosure;

[0046] Figure 2 A schematic diagram of a satellite structure and a definition of a stellar coordinate system provided for an exemplary embodiment of the present disclosure;

[0047] Figure 3 A relationship between a geocentric coordinate system and a body coordinate system provided for an exemplary embodiment of the present disclosure;

[0048] Figure 4 The curve of the relationship between the output energy of the solar cell array and the angle β in a single circle under the rotation strategy of the application example of the present disclosure, in which the B axis moves back and forth in the full range of the angle β and the A axis rotates at a uniform speed at the orbital angular velocity;

[0049] Figure 5 The output power variation curve of the solar cell array in the sunny area when the angle β is 47° in the application example of the present disclosure;

[0050] Figure 6 The relationship curve between the output energy of the solar cell array and the β angle in a single circle of the rotation strategy of the application example disclosed in the present invention;

[0051] Figure 7 A schematic structural diagram of a satellite sailboard rotation control device provided for an exemplary embodiment of the present disclosure;

[0052] Figure 8 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0053] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure.

[0055] Satellites usually use a solar array-battery power supply system, in which the solar array is the only energy source for the satellite. The output energy of the solar array during its on-orbit life is directly related to the normal operation of the satellite on orbit and the normal development of its business. The output energy of the solar array is determined by the time it is in the sunshine time and the incident angle of sunlight on the solar array. The solar array is mounted on the solar sail. Usually, the solar sail is folded when the satellite is launched, unfolded after entering orbit, and then driven by the solar sail drive mechanism to complete the tracking of sunlight during the sunshine time.

[0056] During the satellite's on-orbit life cycle, when the angle between the sunlight vector and the satellite's orbital plane changes greatly, the single-degree-of-freedom driving rotation of the sailboard drive mechanism cannot achieve a good tracking effect of the sailboard on the sunlight throughout the entire life cycle. For satellites with a three-axis earth-stabilized operating attitude, in order to obtain a stable energy supply, a dual-axis sailboard drive mechanism is required, that is, the sailboard drive mechanism has two freely rotatable rotation axes to achieve the sailboard's tracking of sunlight.

[0057] At present, the control strategy for the dual-axis control of solar panels to track the sun is very complex, which affects the attitude control of the satellite. Once the solar panels track the sun abnormally, it will affect the power generation of the solar array and cause insufficient energy for the satellite.

[0058] In view of the above technical problems, in some embodiments of the present disclosure, a satellite includes: a satellite body and a solar sail panel, the satellite body is pivotally connected to a second rotating shaft, a first rotating shaft is installed on the second rotating shaft, and the first rotating shaft is connected to the solar sail panel, so as to obtain an angle between the true sun and the orbit of the satellite orbit; when the absolute value of the angle between the true sun and the orbit is greater than a second angle threshold, the first rotating shaft is controlled to be fixed to a first angle or a second angle and not to rotate, wherein the first angle and the second angle are opposite numbers to each other, and the second rotating shaft is controlled to be fixed to the first angle and not to rotate; when the absolute value of the angle between the true sun and the orbit is less than the first angle threshold, the second rotating shaft is controlled to be fixed at a zero position and not to move, and the first rotating shaft is controlled to rotate at a uniform speed at the orbital angular velocity of the satellite; when the absolute value of the angle between the true sun and the orbit is between the first angle threshold and the second angle threshold, the second rotating shaft is controlled to make a uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity, and the first rotating shaft is controlled to rotate at a uniform speed at the orbital angular velocity of the satellite; the present disclosure has a simple dual-axis control strategy and a small rotation angular velocity, and reduces the influence on the attitude control of the satellite when the output energy of the solar sail panel is stable and sufficient.

[0059] The technical solutions provided by various embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings.

[0060] Figure 1 The following is a flow chart of a satellite sailboard rotation control method provided by an exemplary embodiment of the present disclosure. Figure 1 As shown, the method includes:

[0061] S101: Obtaining the angle of the true sun relative to the satellite orbit, wherein the angle of the true sun relative to the orbit is the difference between 90 degrees and the angle between the sunlight vector and the normal vector of the satellite orbit plane; the direction of the normal vector of the satellite orbit plane is determined according to the running direction of the satellite on the orbit plane by the right-hand rule;

[0062] S102: Controlling the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit.

[0063] In this embodiment, the first rotating shaft and the second rotating shaft are controlled to rotate according to the absolute value of the angle between the true sun and the orbit. One achievable method is that when the absolute value of the angle between the true sun and the orbit is greater than the second angle threshold, the first rotating shaft is controlled to be fixed to the first angle or the second angle and not to rotate, wherein the first angle and the second angle are opposite numbers to each other; the second rotating shaft is controlled to be fixed to the first angle and not to rotate. When the absolute value of the angle between the true sun and the orbit is less than the first angle threshold, the second rotating shaft is controlled to be fixed at zero position and not to move; the first rotating shaft is controlled to move at a uniform speed at the angular velocity of the satellite orbit. When the absolute value of the angle between the true sun and the orbit is between the first angle threshold and the second angle threshold, the second rotating shaft is controlled to move back and forth at a uniform speed within a preset rotation range at a preset rotation angular velocity; the first rotating shaft is controlled to rotate at a uniform speed at the angular velocity of the satellite orbit; wherein the first angle threshold is less than the second angle threshold.

[0064] In this embodiment, the execution subject of the above method is a satellite. The embodiment of the present disclosure does not limit the type of satellite, and can be adjusted according to actual conditions.

[0065] Figure 2 A schematic diagram of a satellite structure and a definition of a stellar coordinate system are provided for an exemplary embodiment of the present disclosure. Figure 2 As shown, the satellite includes: a satellite body 21 and a sailboard, the satellite body 21 is pivotally connected to the second rotating shaft, the first rotating shaft is installed on the second rotating shaft, and the first rotating shaft is connected to the sailboard. A solar cell array is mounted on the sailboard to form a solar wing 22. Optionally, there are two solar wings 22. The two solar wings 22 are respectively installed at both ends of the first rotating shaft, the second rotating shaft is pivotally connected to one end of the satellite body 21, and the first rotating shaft is installed on the second rotating shaft. The following description is based on the first rotating shaft being the A axis and the second rotating shaft being the B axis.

[0066] In this embodiment, a geocentric coordinate system and a stellar coordinate system are established to obtain a relationship model between the incident angle of sunlight on the sailboard and the rotation angle of the solar sailboard around two axes. On this basis, a dual-axis tracking rotation control strategy for the sailboard is designed under different angles relative to the true sun orbit (i.e., angle β), and the output energy of the solar cell array in a single circle under different β angles is evaluated; the dual-axis tracking rotation control strategy for the sailboard has simple rotation control of the two axes and a small rotation angular velocity, which can reduce the interference torque of the sailboard rotation on the satellite; when the orbital altitude is above 500km, the loss factor of the output energy of the solar cell array in a single orbital circle under different β angles relative to the β angle of 0 is no more than 3%, which well takes into account the complexity of dual-axis rotation tracking, the balance of interference torque and energy output.

[0067] The basic idea of ​​the present invention is as follows: first, a geocentric coordinate system and a stellar coordinate system are established to obtain a relationship model between the incident angle of sunlight on the sailboard and the rotation angle of the sailboard around two axes; on this basis, a tracking strategy is designed in which the A axis moves at a uniform speed at an orbital angular velocity with a rotation range of 360°, and the B axis moves back and forth at an angular velocity of 4|β| / T according to the law of 0→β→-β→0; under this tracking strategy, the output energy of the solar cell array in a single circle is determined by the β angle, and β∈[0, β max ] range, the minimum energy value is Q0; under the condition that the output energy of the solar cell array in a single circle is not less than Q0, the dual-axis rotation strategy of the sailboard is further simplified, taking into account the complexity of dual-axis rotation tracking, the balance of interference torque and energy output.

[0068] Figure 3 The relationship between a geocentric coordinate system and a body coordinate system is provided for an exemplary embodiment of the present disclosure. Figure 2 and Figure 3 As shown, it is necessary to predefine the geocentric coordinate system, stellar coordinate system, satellite shadow time model and sailboard solar incidence angle model. The details are as follows:

[0069] (1) Definition of geocentric coordinate system.

[0070] like Figure 3 As shown, the satellite moves on the orbital plane, and the geocentric coordinate system is defined as follows:

[0071] The coordinate origin O0 is the center of the earth, the X0 axis is the projection of the center of the earth to the center of the sun in the orbital plane, and the Z0 axis is the normal direction of the orbital plane, that is, perpendicular to the orbital plane and upward. The right-hand screw rule is followed according to the direction of the satellite's forward movement. The Y0 axis, X0 axis and Z0 axis satisfy the right-hand screw rule.

[0072] The angle between the true sun and the orbit (angle β) = 90° - the angle between the sunlight vector and the normal vector of the orbital plane;

[0073] The satellite position zero point (0 time in the satellite orbital plane) is the point on the orbital plane where the satellite is closest to the sun, that is, the intersection of the O0X0 axis in the geocentric coordinate system and the orbital plane;

[0074] (2) Definition of stellar coordinate system.

[0075] like Figure 2 As shown, the satellite has a three-axis stable attitude toward the earth, and the satellite coordinate system is defined as follows:

[0076] Ignore the roll, pitch and yaw of the satellite under the control force or disturbance force when the satellite is in orbit. The origin of the coordinate is O1, which is the installation point of the sailboard support rod (B axis) on the satellite, the X1 axis is the direction of the satellite, and the Z1 axis is the origin of the coordinate pointing to the center of the earth. The X1 axis, the Y1 axis and the Z1 axis satisfy the right-hand screw rule.

[0077] The sailboard is connected to the star body through the A-axis and the B-axis, wherein the B-axis is mounted on the star body, the A-axis is connected to the B-axis, and the sailboard is connected to the A-axis. When the sailboard is in zero position, the A-axis is parallel to the Y1-axis of the star body coordinate system, and the normal vector of the front of the sailboard is parallel to the -Z1-axis of the star body coordinate system.

[0078] (3) Satellite shadow time model:

[0079] According to the above coordinate system definition, when |β| is less than When the satellite has a shadow, the shadow time The satellite position rotation angles at the starting point and the ending point of the earth shadow are 180°-ε / 2 and 180°+ε / 2 respectively.

[0080] Among them, ε is the angle of the earth's shadow, that is, the angle of the arc of the satellite in the earth's shadow period in a single-circle trajectory to the center of the earth; R is the average radius of the earth, H is the satellite orbit altitude; T is the satellite orbit period, that is, the time taken for the satellite to rotate 360° from the satellite position zero point on the orbital plane and then return to the satellite position zero point.

[0081] (4) Solar incidence angle model of sailboard:

[0082] According to the above coordinate system definition and angle definition, combined with vector rotation calculation, the cosine of the angle between the front normal of the solar sail and the vector opposite to the direction of the sunlight vector (the center of the earth points to the sun) under different β angles is obtained as the solar sail rotates with the satellite moving on the orbital plane:

[0083] cosψ=cosβsinαcosγsinθ+cosβcosαcosθ+sinβsinαsinγ;

[0084] Among them, θ is the rotation angle of the satellite moving on the orbital plane from the starting point around the normal line of the orbital plane;

[0085] α is the rotation angle of the sailboard from the zero position around the +Y1 axis in the stellar coordinate system;

[0086] ψ is the angle between the normal line on the front of the sailboard and the vector opposite to the direction of the sunlight vector (the center of the earth points to the sun);

[0087] γ is the rotation angle of the sailboard from the zero position around the +Z1 axis in the stellar coordinate system.

[0088] In some embodiments of the present disclosure, when the satellite is at the conjunction point in the orbital plane, the first rotation axis and the second rotation axis are at zero position, and the first rotation axis is controlled to move at a uniform speed at the orbital angular velocity; the second rotation axis is controlled to move back and forth at a preset rotation angular velocity; the third energy integral in the sunlit area under different angles of the true sun relative to the orbit is traversed to obtain the minimum energy value of the third energy integral and the angle of the target true sun relative to the orbit corresponding to the minimum energy value.

[0089] For example, when the satellite is at the heliocentric point in the orbital plane, both the A-axis and the B-axis are at zero position;

[0090] The A axis (angle α) moves at a constant speed at the orbital angular velocity, with a rotation range of 360°;

[0091] The B axis (γ angle) performs a reciprocating motion at a preset rotational angular velocity of 4|β| / T according to the rule of 0→β→-β→0.

[0092] According to the above rotation strategy, traverse different β angles, and obtain the energy integral of the windsurfing solar array in the sunlit area under different β angles as follows:

[0093] when hour,

[0094]

[0095] when hour,

[0096]

[0097] Among them, P is the power generation of the solar array when the solar panels are shining directly, that is, when ψ is 0 degrees; ψ adopts the Kelly cosine value:

[0098]

[0099] When the orbit height is determined, since the rotation strategies of the A and B axes are determined, θ and α are known. The γ angle changes with the β angle, so cosψ changes with the β angle. It is also known that ε / 2 changes with the β angle. P is a constant, so Q = f(β), β∈[-β max , β max ], where β max If the value is different but less than 90°, β0 can be obtained so that within β∈(0~90°), the third energy integral Q is not less than the minimum energy value Q0=f(β0).

[0100] In some embodiments of the present disclosure, the rotation strategy is adjusted when |β| is small: the second rotation axis is controlled to be at zero position and not rotate; the first rotation axis is controlled to move at a uniform speed at the orbital angular velocity; the first energy integral of the sunlit area in the next orbital circle at different angles of the true sun relative to the orbit is traversed; when the first energy integral is greater than or equal to the minimum energy value, the maximum value of the absolute value of the angle of the true sun relative to the orbit is determined, and the maximum value is used as the first angle threshold.

[0101] For example, the B axis is fixed at zero position and the A axis moves at a constant speed with an orbital angular velocity, with a range of 360°. Under this strategy, cosψ=cosβ, and the energy integral in the sunlit area under different β angles is:

[0102]

[0103] Let Q≥Q0, then β∈[-β1, β1], find the maximum value β1 of the absolute value of the incident angle of the sunlight |β|, and take β1 as the first angle threshold.

[0104] In some embodiments of the present disclosure, when |β| is large, the rotation strategy is adjusted: the second rotation axis is controlled to be fixed to rotate at the first angle; the first rotation axis is controlled to be fixed to the first angle or the second angle and not rotated; the second energy integral of the sunlit area in the next orbital circle of different angles of the true sun relative to the orbit is traversed; when the second energy integral is greater than or equal to the minimum energy value, the minimum value of the absolute value of the angle of the true sun relative to the orbit is determined, and the minimum value is used as the second angle threshold. Among them, the first angle is 90° and the second angle is -90°.

[0105] For example, the B axis is fixed to rotate 90°, and the A axis is fixed to 90° (when β>0) or -90° (when β<0°). Under this strategy, cosψ=sinβ(when β>0°), cosψ=-sinβ(when β<0°), then the energy integral in the sunlit area under different β angles is:

[0106] when hour,

[0107]

[0108] when hour,

[0109]

[0110] Where ψ uses the Kelly cosine value, let Q ≥ Q0, β∈[-β max , -β2]∪[β2,β max ], find the minimum value β2 of |β|, where β max Angle β is the maximum value of the angle between the true sun and the orbit in this orbit.

[0111] In combination with the description of the above embodiments, under different angles β between the true sun and the orbit, the satellite solar sail panel rotation strategy is as follows:

[0112] When the absolute value of the angle between the true sun and the orbit is greater than the second angle threshold, the first rotation axis is controlled to be fixed at the first angle or the second angle and not to rotate, wherein the first angle and the second angle are opposite numbers to each other; the second rotation axis is controlled to be fixed at the first angle and not to rotate.

[0113] When the absolute value of the angle between the true sun and the orbit is less than the first angle threshold, the first rotating shaft is controlled to move at a uniform speed at the orbital angular velocity, and the second rotating shaft is controlled to be fixed at the zero position and not move.

[0114] When the absolute value of the angle between the true sun and the orbit is between the first angle threshold and the second angle threshold, the second rotation axis is controlled to move back and forth at a uniform speed within a preset rotation range at a preset rotation angular velocity, and the first rotation axis is controlled to rotate at a uniform speed at the orbital angular velocity of the satellite, wherein the first angle threshold is smaller than the second angle threshold.

[0115] For example, when |β|>β2: the A-axis is fixed at 90° (when β>0°) or fixed at -90° (when β<0°) and does not rotate, and the B-axis is fixed at 90° and does not rotate;

[0116] When |β|<β1: A-axis is fixed and rotates at a constant speed at the orbital angular velocity, the rotation range is 360°, and the rotation angular velocity is The B axis is fixed at zero position and does not rotate;

[0117] When β1≤|β|≤β2: A-axis is fixed and rotates at a constant speed at the orbital angular velocity, with a rotation range of 360° and an angular velocity of The B axis moves back and forth at an angular velocity of 4|β| / T according to the rule of 0→β→-β→0, and the maximum angular velocity of rotation is 4|β2| / T.

[0118] Energy evaluation of rotation strategies:

[0119] After adopting the above rotation control strategy, the power generation energy of the solar cell array in a single orbit circle at different β angles is not less than Q0.

[0120] Taking the power generation energy of the solar array in a single orbit when the β angle is 0 as the benchmark value, the output energy of the solar array in a single orbit circle under different β angles is evaluated.

[0121] The time of the earth's shadow when the angle β is 0 After adopting the above rotation control strategy, the angle ψ is kept at 0 during the sunshine time, and the power generation energy of the solar cell array in a single circle is calculated as follows:

[0122]

[0123] The energy Q1 generated by the solar array in a single circle at this time is taken as the benchmark value of the output energy of the solar array on the solar sail in one orbital circle under different β angles; the energy loss factor is defined as When the orbit altitude is about 500 km, λ is about 3%. As the orbit altitude increases, λ decreases gradually, and the angle β0 between the target true sun and the orbit gradually decreases.

[0124] In an exemplary embodiment, the A-axis cannot rotate within the range of 0° to 360° (e.g., the sailboard drive mechanism adopts a non-slip ring design), such as the A-axis has a limited rotation range of -170° to +170°. When |β|≤β2, the A-axis can rotate at a constant speed in the sunlit area to track the sun, and accelerate the rotation in the shadow area, so that the rotation range of the A-axis is within -170° to +170°.

[0125] The shortest earth shadow time when |β|≤β2 is as follows:

[0126]

[0127] Taking T1 as the rotation time, ignoring the acceleration and deceleration process of the A-axis rotation speed change, the time for uniform rotation at the orbital angular velocity is T-T1, and the rotation angle is The rotation range is The angle that should be rotated within the rotation time of T1 is The angular velocity of rotation is The direction of rotation is opposite to the direction of uniform rotation at the orbital angular velocity.

[0128] When the orbit altitude is high, the earth's shadow time is short. In order to meet the rotation range limit of the A-axis, the rotation time can be unlimited and completely carried out in the earth's shadow area under the condition that the loss factor λ of the output energy within a single orbit circle is no more than 3%.

[0129] The satellite sailboard rotation control method disclosed in the present invention is described below with an application example.

[0130] A satellite adopts an inclined circular orbit with an orbital altitude of 508km and an orbital inclination of 55°. Its |β| does not exceed 80°. It is assumed that the output power of the solar array on its sailboard is 1W when the sunlight is directly on orbit, and the orbital period is 5687s.

[0131] Figure 4 This is the relationship curve between the output energy of the solar array and the angle β in a single circle of the rotation strategy in which the B axis moves back and forth in the full range of the β angle and the A axis rotates at a uniform speed at the orbital angular velocity. Figure 4 First, according to the rotation strategy (A axis (α angle) moves at a uniform speed at the orbital angular velocity, with a rotation range of 360°; B axis (γ angle) moves back and forth at an angular velocity of 4|β| / T according to the rule of 0→β→-β→0), the output energy of the solar array in a single orbital circle under different β angles is calculated. It is symmetrical about β=0°, so only the curve when β>0 is given. According to the relationship between the output energy of the solar array in a single circle and the β angle, it is found that when β≈47°, the minimum output energy value Q0 is about 3461Ws. Figure 5 This is the output power variation curve of the solar cell array in the sunny area when the β angle is 47° in the application example of the present disclosure.

[0132] Determine that the B axis is fixed at zero position and does not move, and the A axis moves at a constant speed at the orbital angular velocity, with a range of motion of 360°. According to the solar incidence angle model of the sailboard, it is found that when |β|≤15°, the output energy of the solar cell array in a single circle is not less than 3456Ws (|β|=15°);

[0133] Determine that the B axis is fixed to rotate 90 degrees, the A axis is fixed to 90 degrees (when β angle>0) or fixed to -90 degrees (when β angle<0), and according to the solar incident angle model of the sailboard, it is found that when |β|≥56°, the output energy of the solar cell array in a single circle is not less than 3484Ws (|β|=56°);

[0134] The overall rotation strategy at different β angles is as follows:

[0135] For example, |β|>56 degrees: the A-axis is fixed at 90° (when β>0°) or fixed at -90° (when β<0°) and does not rotate, and the B-axis is fixed at 90° and does not rotate;

[0136] When |β| is less than 15 degrees: the A-axis is fixed and rotates at a constant speed at the orbital angular velocity, with a rotation range of 360° and an angular velocity of 0.0633° / s, and the B-axis is fixed at zero position and does not rotate;

[0137] When 15 degrees ≤ |β| ≤ 56 degrees: A-axis rotates at a fixed angular velocity of the track, with a rotation range of 360° and an angular velocity of 0.0633° / s. B-axis moves back and forth at an angular velocity of 4|β| / T according to the rule of 0→β→-β→0, and the maximum angular velocity is 0.039388° / s.

[0138] Figure 6 The relationship curve between the output energy of the solar cell array and the β angle in a single orbit circle of the application example of the present disclosure is shown in FIG. Figure 6 As shown in the figure, after adopting the above strategy, the output energy curve of the solar array in a single orbit circle at different |β| is taken as the reference value when the β angle is 0. According to the solar incident angle model of the sailboard, when β=0°, the output energy of the solar array in a single orbit circle is not less than 3552Ws; then the energy loss factor

[0139] If the A-axis cannot rotate within the range of 0° to 360°, the earth shadow time rotation method is used. The earth shadow time T1 of |β|=56° is about 25 minutes, and the A-axis rotation time is set to 20 minutes. The other 5 minutes are used for the acceleration and deceleration time of the two speed turns. Then the rotation range of the A-axis is about -142° to 142°, and the rotation angular velocity within the rotation time is about 0.2366° / s.

[0140] It should be noted that the present disclosure proposes a relationship model between the incident angle of sunlight on a sailboard and the rotation angle of the sailboard around two axes and a design method for a dual-axis rotation control strategy, which can be applied to satellites with different inclinations and orbital altitudes in low-orbit satellites.

[0141] The present disclosure also proposes a simple dual-axis rotation control strategy, where the angular velocity of the A-axis is constant. Or fixed to 0°, the maximum angular velocity of the B axis is Or it is fixed at 0°, the axis rotation control is simple, the reliability of the rotation control is improved, the rotation angular velocity is small, and the interference torque of the sailboard rotation on the satellite can be reduced.

[0142] The present disclosure uses the output energy of the solar array in a single orbital circle when the β angle is 0° as a benchmark, and evaluates the power generation energy of the solar array under different β angles of the rotation strategy. When the orbital altitude is above 500km, the loss factor relative to the energy benchmark is no more than 3%. As the orbital altitude increases, λ gradually decreases, which well balances the complexity of dual-axis rotation tracking, interference torque and energy output. Since the output energy of the solar array in a single orbital circle is basically consistent with the output energy when the β angle is 0 most of the time, the rotation strategy is suitable for low-orbit satellites with relatively fixed satellite payload working modes.

[0143] Figure 7 FIG. 7 is a schematic diagram of a satellite solar panel rotation control device 70 provided by an exemplary embodiment of the present disclosure. Figure 7 As shown, the satellite sailboard rotation control device 70 includes: an acquisition module 71 and a first control module 72 .

[0144] The acquisition module 71 is used to acquire the angle between the true sun and the orbit of the satellite orbit, wherein the angle between the true sun and the orbit is the difference between 90 degrees and the angle between the sunlight vector and the normal vector of the satellite orbit plane; the direction of the normal vector of the satellite orbit plane is determined according to the running direction of the satellite on the orbit plane by the right-hand rule;

[0145] The control module 72 is used to control the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit.

[0146] Optionally, when the control module 72 controls the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit, it is used to:

[0147] When the absolute value of the angle between the true sun and the orbit is greater than a second angle threshold, the first rotation axis is controlled to be fixed at a first angle or a second angle and not to rotate, wherein the first angle and the second angle are opposite numbers to each other;

[0148] The second rotating shaft is controlled to be fixed at a first angle and not to rotate.

[0149] Optionally, when the control module 72 controls the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit, it is used to:

[0150] When the absolute value of the angle between the true sun and the orbit is less than the first angle threshold, the second rotating shaft is controlled to be fixed at the zero position;

[0151] The first rotating shaft is controlled to move at a uniform speed at the satellite orbit angular velocity.

[0152] Optionally, when the control module 72 controls the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit, it is used to:

[0153] When the absolute value of the angle between the true sun and the orbit is between the first angle threshold and the second angle threshold, the second rotation axis is controlled to perform uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity; the first rotation axis is controlled to rotate uniformly at the orbital angular velocity of the satellite; wherein the first angle threshold is smaller than the second angle threshold.

[0154] Optionally, the control module 72 may also be used to:

[0155] Control the second rotating shaft to be at zero position and not to rotate;

[0156] Controlling the first rotating shaft to move at a uniform speed at an orbital angular velocity;

[0157] The first energy integral of the sunlit area in the next orbital circle traversing different angles of the true sun relative to the orbit;

[0158] When the first energy integral is greater than or equal to the minimum energy value, the maximum absolute value of the angle between the true sun and the orbit is determined, and the maximum value is used as the first angle threshold.

[0159] Optionally, the control module 72 may also be used to:

[0160] Controlling the second rotating shaft to be fixed at a first angle and not to rotate;

[0161] Controlling the first rotating shaft to be fixed at a first angle or a second angle and not to rotate;

[0162] The second energy integral of the sunlit area in the next orbital circle traversing different angles of the true sun relative to the orbit;

[0163] When the second energy integral is greater than or equal to the minimum energy value, the minimum absolute value of the angle between the true sun and the orbit is determined, and the minimum value is used as the second angle threshold.

[0164] Optionally, before using the energy minimum value, the control module 72 may also be configured to:

[0165] When the satellite is at the heliocentric point in the orbital plane, the first rotation axis and the second rotation axis are at zero position, and the sunlight vector is shining directly on the solar sail panel, wherein the heliocentric point refers to the position of the satellite closest to the sun on the orbital plane;

[0166] Controlling the first rotating shaft to move at a uniform speed at an orbital angular velocity;

[0167] Controlling the second rotating shaft to perform uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity;

[0168] The third energy integral in the sunlit area in the next orbital circle at different angles of the true sun relative to the orbit is traversed to obtain the lowest energy value of the third energy integral and the angle of the target true sun relative to the orbit corresponding to the lowest energy value.

[0169] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0170] Figure 8 FIG. 1 is a schematic diagram of a structure of an electronic device provided by an exemplary embodiment of the present disclosure. Figure 8 As shown, the electronic device includes: a memory 81 and a processor 82. In addition, the electronic device also includes a power supply component 83 and a communication component 84.

[0171] The memory 81 is used to store computer programs and can be configured to store various other data to support operations on the electronic device. Examples of such data include instructions for any application program or method operating on the electronic device.

[0172] The memory 81 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0173] The communication component 84 is used for data transmission with other devices.

[0174] The processor 82 can execute computer instructions stored in the memory 81 to: obtain the angle of the true sun relative to the satellite orbit, wherein the angle of the true sun relative to the orbit is the difference between 90 degrees and the angle between the sunlight vector and the normal vector of the satellite orbit plane; the direction of the normal vector of the satellite orbit plane is determined by the right-hand rule according to the direction of movement of the satellite on the orbit plane; and the first rotation axis and the second rotation axis are controlled to rotate according to the absolute value of the angle of the true sun relative to the orbit.

[0175] Accordingly, the present disclosure also provides a computer-readable storage medium storing a computer program. When the computer-readable storage medium stores the computer program and the computer program is executed by one or more processors, the one or more processors execute Figure 1 Each step in the method embodiment.

[0176] Accordingly, the present disclosure also provides a computer program product, the computer program product includes a computer program / instruction, the computer program / instruction is executed by a processor Figure 1 Each step in the method embodiment.

[0177] Above Figure 8 The communication component in the device is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices. Figure 8 The power supply component in the device provides power to various components of the device where the power supply component is located. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device where the power supply component is located.

[0178] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0179] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0180] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0181] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0182] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0183] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0184] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0185] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0186] The above are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A satellite sailboard rotation control method, the satellite comprising: A satellite body and a solar sail panel, wherein the satellite body is pivotally connected to a second rotating shaft, a first rotating shaft is mounted on the second rotating shaft, and the first rotating shaft is connected to the solar sail panel, characterized in that it comprises: Obtaining the angle of the true sun relative to the orbit of the satellite orbit, wherein the angle of the true sun relative to the orbit is the difference between 90 degrees and the angle between the sunlight vector and the normal vector of the satellite orbit plane; the direction of the normal vector of the satellite orbit plane is determined according to the running direction of the satellite on the orbit plane by the right-hand rule; The first rotating shaft and the second rotating shaft are controlled to rotate according to the absolute value of the angle between the true sun and the orbit.

2. The method according to claim 1, characterized in that The controlling the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit comprises: When the absolute value of the angle between the true sun and the orbit is greater than a second angle threshold, controlling the first rotating shaft to be fixed at a first angle or a second angle and not to rotate, wherein the first angle and the second angle are opposite numbers of each other; The second rotating shaft is controlled to be fixed at the first angle and not to rotate.

3. The method according to claim 1, characterized in that The controlling the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit comprises: When the absolute value of the angle between the true sun and the orbit is less than the first angle threshold, controlling the second rotating shaft to be fixed at zero position; The first rotating shaft is controlled to move at a uniform speed at the satellite orbit angular velocity.

4. The method according to claim 1, characterized in that The controlling the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit comprises: When the absolute value of the angle between the true sun and the orbit is between a first angle threshold and a second angle threshold, the second rotation axis is controlled to perform uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity; the first rotation axis is controlled to rotate uniformly at the orbital angular velocity of the satellite; wherein the first angle threshold is smaller than the second angle threshold.

5. The method according to claim 1, further comprising: Controlling the second rotating shaft to be at a zero position and not to rotate; Controlling the first rotating shaft to move at a uniform orbital angular velocity; Traversing the first energy integral of the sunlit area in the next orbital circle at different angles relative to the true sun orbit; When the first energy integral is greater than or equal to the minimum energy value, the maximum absolute value of the angle between the true sun and the orbit is determined, and the maximum value is used as the first angle threshold.

6. The method according to claim 1, further comprising: Controlling the second rotating shaft to be fixed at the first angle and not to rotate; Controlling the first rotating shaft to be fixed at the first angle or the second angle and not to rotate; Traversing the second energy integral of the sunlit area in the next orbital circle at different angles relative to the true sun orbit; When the second energy integral is greater than or equal to the minimum energy value, the minimum absolute value of the angle between the true sun and the orbit is determined, and the minimum value is used as the second angle threshold.

7. The method according to claim 5 or 6, characterized in that: Before using the energy minimum value, the method further comprises: When the satellite is at the heliocentric point in the orbital plane, the first rotation axis and the second rotation axis are at zero position, and at this time, the sunlight vector is directly shining on the solar sail panel, wherein the heliocentric point refers to the position of the satellite closest to the sun on the orbital plane; Controlling the first rotating shaft to move at a uniform speed at an orbital angular velocity; Controlling the second rotating shaft to perform uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity; The third energy integral in the sunshine area in the next orbital circle at different angles of the true sun relative to the orbit is traversed to obtain the minimum energy value of the third energy integral and the angle of the target true sun relative to the orbit corresponding to the minimum energy value.

8. A satellite sailboard rotation control device, the satellite comprising: A satellite body and a solar sail panel, wherein the satellite body is pivotally connected to a second rotating shaft, a first rotating shaft is mounted on the second rotating shaft, and the first rotating shaft is connected to the solar sail panel, characterized in that it comprises: An acquisition module is used to acquire the angle of the true sun relative to the orbit of the satellite orbit, wherein the angle of the true sun relative to the orbit is the difference between 90 degrees and the angle between the sunlight vector and the normal vector of the satellite orbit plane; the direction of the normal vector of the satellite orbit plane is determined according to the running direction of the satellite on the orbit plane and the right-hand rule; A control module is used to control the rotation of the first rotating shaft and the second rotating shaft according to the absolute value of the angle between the true sun and the orbit.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement each step in the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the method according to any one of claims 1 to 7 is implemented.

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