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

Abstract

The present disclosure provides a satellite solar panel rotation control method, device, equipment and storage medium, and relates to the technical field of satellite control. In some embodiments of the present disclosure, the satellite includes a satellite body and a solar panel. The satellite body is pivotally connected with a second rotating shaft. A first rotating shaft is installed on the second rotating shaft, and the first rotating shaft is connected with the solar panel. An angle between a true sun relative orbit of the satellite orbit and the solar panel is obtained. According to the absolute value of the angle between the true sun relative orbit, the first rotating shaft and the second rotating shaft are controlled to rotate. The double-axis control strategy of the present disclosure is simple, the rotation angular velocity is small, and the influence on the satellite attitude control is reduced under the condition that the output energy of the solar panel is stable and sufficient.

Description

Technical Field

[0001] This disclosure relates to the field of satellite control technology, and in particular to a method, apparatus, equipment and storage medium for controlling the rotation of satellite solar panels. Background Technology

[0002] The time it takes for a satellite to orbit the Earth is called its orbital period. Typically, the orbital period includes the Earth's shadow time and the sunlight time. The Earth's shadow time refers to the time during which the satellite is in the Earth's shadow and not exposed to sunlight, while the sunlight time refers to the time during which the satellite is exposed to sunlight.

[0003] The rotation of solar panels tracking the sun can introduce disturbance torques to the satellite's attitude control, affecting its attitude. While ensuring the satellite's energy needs are met, the rotational angular velocity of the solar panels during sun tracking should be minimized, especially for axes with large moments of inertia, and frequent acceleration and deceleration should be avoided.

[0004] Currently, the control strategy for solar panels to track the sun's rotation is highly complex, affecting the satellite's attitude control. Summary of the Invention

[0005] This disclosure provides a method, apparatus, device, and storage medium for controlling the rotation of a satellite solar panel, in order to at least solve the problems of high complexity and impact on the attitude control of the satellite caused by existing control strategies for tracking the rotation of solar panels.

[0006] The technical solution disclosed herein is as follows:

[0007] This disclosure provides a method for controlling the rotation of a satellite solar panel. The satellite includes a satellite body and a solar panel. The satellite body is pivotally connected to a second rotating shaft, and a first rotating shaft is mounted on the second rotating shaft and connected to the solar panel. The method is characterized by including:

[0008] Obtain the angle between the true sun and the orbit of the satellite, wherein the angle between the true sun and the orbit is the difference between 90 degrees and the angle between the solar vector and the normal vector of the satellite orbital plane; the direction of the normal vector of the satellite orbital plane is determined by the right-hand rule according to the direction of the satellite's movement on the orbital plane.

[0009] The rotation of the first and second rotating shafts is controlled based on the absolute value of the angle between the true sun and the orbit.

[0010] Optionally, controlling the rotation of the first and second rotating shafts based on 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 the second angle threshold, the first rotating shaft is controlled to be fixed at the first angle or the second angle and not rotated, wherein the first angle and the second angle are opposites of each other;

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

[0013] Optionally, controlling the rotation of the first and second rotating shafts based on the absolute value of the angle between the true sun and the orbit includes:

[0014] If 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.

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

[0016] Optionally, controlling the rotation of the first and second rotating shafts based on 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 rotating shaft is controlled to make uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity; the first rotating shaft is controlled to rotate uniformly at the orbital angular velocity of the satellite; wherein, the first angle threshold is less than the second angle threshold.

[0018] Optionally, the method further includes:

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

[0020] Control the first rotating shaft to move at a constant orbital angular velocity;

[0021] The first energy integral of the solar radiation zone within the next orbital circle is obtained by traversing the angles between the relative orbits of the true sun and the orbits described below.

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

[0023] Optionally, the method further includes:

[0024] The second rotating shaft is fixed at the first angle and does not rotate.

[0025] The first rotating shaft is fixed at the first angle or the second angle and does not rotate.

[0026] The second energy integral of the solar radiation zone within the next orbital circle is obtained by traversing the angles between the relative orbits of the true sun and the orbits described above.

[0027] If 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 minimum energy value, the method further includes:

[0029] When the satellite is at the synodic point within the orbital plane, the first and second rotating axes are at zero position, and at this time the sunlight vector is directly illuminating the solar panel. The synodic point refers to the position of the satellite closest to the sun on the orbital plane.

[0030] Control the first rotating shaft to move at a constant speed with the track angular velocity;

[0031] The second rotating shaft is controlled to make uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity;

[0032] By iterating through the angles between the true sun relative orbits for different values, the third energy integral within the sunlit region of the next orbital circle is obtained, along with the minimum energy value of the third energy integral and the angle between the target true sun relative orbit corresponding to the minimum energy value.

[0033] This disclosure also provides a satellite solar panel rotation control device. The satellite includes a satellite body and a solar panel. The satellite body is pivotally connected to a second rotating shaft, and a first rotating shaft is mounted on the second rotating shaft and connected to the solar panel. The device is characterized by comprising:

[0034] The acquisition module is used to acquire the angle between the true sun and the orbit of the satellite, wherein the angle between the true sun and the orbit is the difference between 90 degrees and the angle between the solar vector and the normal vector of the satellite orbital plane; the direction of the normal vector of the satellite orbital plane is determined by the right-hand rule according to the direction of the satellite's movement on the orbital plane.

[0035] The control module is used to control the rotation of the first and second rotating shafts based on the absolute value of the angle between the true sun and the orbit.

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

[0037] processor;

[0038] Memory used to store the processor's executable instructions;

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

[0040] This disclosure also provides a computer-readable storage medium storing a computer program thereon, characterized in that the computer program, when executed by a processor, implements the steps of the above-described method.

[0041] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects:

[0042] In some embodiments of this disclosure, the satellite includes a satellite body and a solar panel. The satellite body is pivotally connected to a second rotating shaft, and a first rotating shaft is mounted on the second rotating shaft and connected to the solar panel. The angle between the true sun and the orbit of the satellite is obtained. The rotation of the first and second rotating shafts is controlled according to the absolute value of the angle between the true sun and the orbit. The dual-axis control strategy of this disclosure is simple, has a small rotational angular velocity, and reduces the impact on the satellite attitude control when the solar panel outputs stable and sufficient energy.

[0043] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0044] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0045] Figure 1 A schematic flowchart of a satellite solar panel rotation control method provided for an exemplary embodiment of this disclosure;

[0046] Figure 2 A schematic diagram of a satellite structure and a definition of a celestial coordinate system are provided for exemplary embodiments of this disclosure;

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

[0048] Figure 4 The curve showing the relationship between the output energy of the solar cell array and the β angle within a single revolution is given by the rotation strategy of B-axis reciprocating within the full range of the β angle and A-axis rotating at a constant orbital angular velocity, as an application example of this disclosure.

[0049] Figure 5 The application example disclosed herein is the output power variation curve of a solar cell array in a sunny area when β angle = 47°.

[0050] Figure 6 The rotation strategy of this application example shows the relationship curve between the output energy of the solar cell array and the β angle within a single rotation.

[0051] Figure 7 A schematic diagram of a satellite solar panel rotation control device provided as an exemplary embodiment of this disclosure;

[0052] Figure 8 A schematic diagram of the structure of an electronic device provided for an exemplary embodiment of this disclosure. Detailed Implementation

[0053] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

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

[0055] Satellites typically employ a solar array-battery power supply system, with the solar array being the satellite's sole energy source. The output energy of the solar array directly impacts the satellite's normal operation and service delivery throughout its on-orbit lifespan. The output energy of the solar array is determined by the duration of its illumination and the angle of sunlight incidence on the array. The solar array is mounted on solar panels. Typically, the solar panels retract during launch, deploy after entering orbit, and are then driven by a solar panel drive mechanism to track sunlight during its illumination period.

[0056] During a satellite's on-orbit lifespan, when the angle between the solar vector and the satellite's orbital plane varies significantly, the single-degree-of-freedom drive rotation of the solar panel drive mechanism cannot achieve good solar tracking throughout the entire lifespan. For satellites with a three-axis Earth-stabilized attitude, a dual-axis solar panel drive mechanism is required to obtain a stable energy supply. This mechanism has two freely rotatable axes to enable the solar panels to track sunlight.

[0057] Currently, the control strategy for dual-axis control of solar panels to track the sun's rotation is highly complex, affecting the satellite's attitude control. Any anomalies in the solar panels' tracking of the sun will impact the solar array's power generation, leading to insufficient satellite energy.

[0058] To address the aforementioned technical problems, in some embodiments of this disclosure, the satellite includes: a satellite body and solar panels. The satellite body is pivotally connected to a second rotating shaft. A first rotating shaft is mounted on the second rotating shaft and connected to the solar panels. The true solar angle relative to the orbit is obtained. When the absolute value of the true solar angle relative to the orbit is greater than a second angle threshold, the first rotating shaft is controlled to be fixed at a first angle or a second angle without rotation, wherein the first angle and the second angle are opposites of each other. The second rotating shaft is controlled to be fixed at the first angle without rotation. When the absolute value of the true solar angle relative to the orbit is less than the first angle threshold, the second rotating shaft is controlled to be fixed at zero position and stationary, while the first rotating shaft is controlled to rotate at a constant speed with the orbital angular velocity of the satellite. When the absolute value of the true solar angle relative to the orbit is between the first angle threshold and the second angle threshold, the second rotating shaft is controlled to perform uniform reciprocating motion within a preset rotation range at a preset rotational angular velocity, while the first rotating shaft is controlled to rotate at a constant speed with the orbital angular velocity of the satellite. This disclosure provides a simple dual-axis control strategy with a small rotational angular velocity, reducing the impact on the satellite's attitude control when the solar panels output stable and sufficient energy.

[0059] The technical solutions provided by the embodiments of this disclosure are described in detail below with reference to the accompanying drawings.

[0060] Figure 1 This is a flowchart illustrating a satellite solar panel rotation control method provided as an exemplary embodiment of this disclosure. Figure 1 As shown, the method includes:

[0061] S101: Obtain the angle between the true sun and the orbit of the satellite, where the angle between the true sun and the orbit is 90 degrees and the difference between the angle between the solar vector and the normal vector of the satellite orbital plane; the direction of the normal vector of the satellite orbital plane is determined by the right-hand rule according to the direction of the satellite's movement on the orbital plane.

[0062] S102: The rotation of the first and second rotating axes is controlled according to the absolute value of the angle between the true sun and the orbit.

[0063] In this embodiment, the rotation of the first and second rotating shafts is controlled based on the absolute value of the angle between the true sun and the orbit. One possible implementation is as follows: 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 fixed at either the first angle or the second angle, where the first and second angles are opposites; the second rotating shaft is fixed at the first angle. 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 fixed at zero position; the first rotating shaft moves at a constant speed with the satellite's orbital angular velocity. When the absolute value of the angle between the true sun and the orbit is between the first and second angle thresholds, the second rotating shaft moves at a constant speed within a preset rotation range at a preset rotational angular velocity; the first rotating shaft rotates at a constant speed with the satellite's orbital angular velocity; where the first angle threshold is less than the second angle threshold.

[0064] In this embodiment, the subject of the above method is a satellite. This disclosure does not limit the type of satellite and adjustments can be made according to actual circumstances.

[0065] Figure 2 A schematic diagram of a satellite structure and a definition of a celestial coordinate system are provided for exemplary embodiments of this disclosure. For example... Figure 2 As shown, the satellite includes a body 21 and solar panels. The body 21 is pivotally connected to a second rotating shaft, and a first rotating shaft is mounted on the second rotating shaft and connected to the solar panels. Solar arrays are mounted on the solar panels, forming solar arrays 22. Optionally, there are two solar arrays 22. The two solar arrays 22 are respectively mounted at both ends of the first rotating shaft, and the second rotating shaft is pivotally connected to one end of the body 21. The first rotating shaft is mounted on the second rotating shaft. The following description uses the first rotating shaft as axis A and the second rotating shaft as axis B.

[0066] In this embodiment, a geocentric coordinate system and a celestial coordinate system are established to obtain a model relating the angle of incidence of sunlight on the solar panel to the rotation angle of the solar panel around two axes. Based on this, a dual-axis tracking rotation control strategy for the solar panel is designed for different angles (i.e., β angles) between the true sun and the orbit, and the output energy of the solar array within a single orbit is evaluated under different β angles. This dual-axis tracking rotation control strategy for the solar panel is simple to control the rotation of the two axes, has a small rotational angular velocity, and can reduce the interference torque of the solar panel rotation on the satellite. When the orbital altitude is above 500 km, the loss factor of the output energy of the solar array within a single orbital orbit under different β angles is no more than 3% compared to when the β angle is 0, which well balances the complexity of dual-axis rotation tracking, interference torque, and energy output.

[0067] The basic idea of ​​this disclosure is as follows: First, establish a geocentric coordinate system and a celestial coordinate system to obtain a model relating the angle of incidence of sunlight on the solar panel to the rotation angle of the solar panel around two axes; based on this, design a tracking strategy where axis A moves at a constant orbital angular velocity with a rotation range of 360°, and axis B moves back and forth at an angular velocity of 4|β| / T according to the law 0→β→-β→0; under this tracking strategy, the output energy of the solar array within a single orbit is determined by the β angle, and β∈[0,β] is calculated. max Within the range, the minimum energy value is Q0; with the condition that the output energy of the solar cell array within a single loop is not less than Q0, the rotation strategy of the dual-axis solar panel is further simplified, taking into account the complexity of dual-axis rotation tracking, the interference torque and the balance of energy output.

[0068] Figure 3 This disclosure provides an exemplary embodiment of the relationship between a geocentric coordinate system and a body coordinate system. For example... Figure 2 and Figure 3 As shown, it is necessary to predefine the geocentric coordinate system, the celestial coordinate system, the satellite shadowing time model, and the solar incidence angle model for the solar panel. Specifically:

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

[0070] like Figure 3 As shown, the satellite moves in its orbit, and the geocentric coordinate system is defined as follows:

[0071] The origin O0 is the Earth's center, the X0 axis is the projection of the Earth's center pointing to the Sun's center onto the orbital plane, the Z0 axis is the direction of the orbital plane normal, that is, perpendicular to the orbital plane and upwards, and follows the right-hand screw rule according to the satellite's direction of travel. The Y0 axis satisfies the right-hand screw rule with the X0 and Z0 axes.

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

[0073] The satellite's zero point (time 0 within the satellite's 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 celestial coordinate system.

[0075] like Figure 2 As shown, the satellite's three-axis stable attitude towards Earth is defined by the following coordinate system:

[0076] The roll, pitch, and yaw of the satellite under control or disturbance forces during normal operation in orbit are ignored. The origin of the coordinate system is O1, which is the mounting point of the solar panel support rod (B-axis) on the satellite. The X1 axis is the direction of satellite movement, and the Z1 axis is the origin pointing to the Earth's center. The X1 axis, Y1 axis, and Z1 axis satisfy the right-hand screw rule.

[0077] The solar panel is connected to the celestial body via the A-axis and the B-axis. The B-axis is mounted on the celestial body, and the A-axis is connected to the B-axis. The solar panel is connected to the A-axis. When the solar panel is in the zero position, the A-axis is parallel to the Y1 axis of the celestial body's coordinate system, and the normal vector of the front of the solar panel is parallel to the -Z1 axis of the celestial body's coordinate system.

[0078] (3) Satellite shadowing time model:

[0079] According to the above coordinate system definition, when |β| is less than At that time, the satellite casts a shadow over the Earth; the shadow duration is... The satellite position rotation angles at the starting and ending points of the Earth's shadow are 180°-ε / 2 and 180°+ε / 2, respectively.

[0080] Where ε is the Earth's shadow angle, which is the angle subtended by the arc of the satellite during its shadow period in a single orbit relative to the Earth's center; R is the Earth's average radius; H is the satellite's orbital altitude; and T is the satellite's orbital period, which is the time it takes for the satellite to rotate 360° from its zero point on the orbital plane and return to its zero point.

[0081] (4) Solar Incidence Angle Model for Solar Panels:

[0082] Based on the above coordinate system definition and angle definition, and combined with vector rotation calculations, the cosine of the angle between the solar panel's frontal normal and the vector opposite in direction to the solar radiation vector (Geocenter pointing towards the Sun) during the rotation of the solar panel as the satellite moves on the orbital plane at different β angles is:

[0083] cosψ=cosβsinαcosγsinθ+cosβcosαcosθ+sinβsinαsinγ;

[0084] Where θ is the angle of rotation of the satellite around the orbital plane normal from the starting point on the orbital plane;

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

[0086] ψ is the angle between the normal to the front of the sail and the vector opposite to the direction of the sunlight vector (the Earth's center points to the Sun);

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

[0088] In some embodiments of this disclosure, when the satellite is at the synodic point within the orbital plane, the first and second rotating shafts are at zero position. The first rotating shaft is controlled to move at a constant orbital angular velocity; the second rotating shaft is controlled to move back and forth at a preset rotational angular velocity; the third energy integral within the sunlit area is traversed under different angles between the true sun and the orbit to obtain the minimum energy value of the third energy integral and the angle between the target true sun and the orbit corresponding to the minimum energy value.

[0089] For example, when the satellite is at the eclipse point in its orbit, both the A-axis and B-axis are at zero.

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

[0091] The B-axis (γ angle) moves back and forth with a preset angular velocity of 4|β| / T according to the law 0→β→-β→0.

[0092] Following the aforementioned rotation strategy, by traversing different β angles, the energy integral of the solar panel array power generation in the sunlit area under different β angles is obtained as follows:

[0093] when hour,

[0094]

[0095] when hour,

[0096]

[0097] Where P represents the solar panel under direct sunlight, i.e., ψ represents the power output of the solar array at 0 degrees Celsius; ψ uses the Kelly cosine value.

[0098]

[0099] Once the orbital height is determined, the rotation strategies for axes A and B are fixed, so θ and α are known quantities. Angle γ changes with angle β, therefore cosψ changes with angle β. We also know that ε / 2 changes with angle β, and P is a constant. Therefore, Q = f(β), β ∈ [-β]. max ,β max ], where β varies depending on the orbital altitude and orbital inclination. max For different values, but less than 90°, β0 can be obtained such that β∈(0~90°) and the third energy integral Q is not less than the minimum energy value Q0=f(β0).

[0100] In some embodiments of this disclosure, when |β| is small, the rotation strategy is adjusted as follows: the second rotating shaft is controlled to be at zero position and not rotated; the first rotating shaft is controlled to move at a constant orbital angular velocity; the first energy integral of the sunlit area in the next orbital circle is traversed for different angles between the true sun and the orbit; 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 between the true sun and the orbit is determined, and the maximum value is used as the first angle threshold.

[0101] For example, if the B-axis is fixed at zero and the A-axis moves at a constant orbital angular velocity with a range of 360°, then under this strategy, cosψ = ​​cosβ. The energy integral within the sunlit region at different β angles is:

[0102]

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

[0104] In some embodiments of this disclosure, when |β| is large, the rotation strategy is adjusted as follows: the second rotation axis is fixed to rotate at a first angle; the first rotation axis is fixed at a first angle or a second angle and does not rotate; the second energy integral of the solar radiation zone within the next orbital circle is traversed for different angles between the true sun and the 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. Wherein, the first angle is 90°, and the second angle is -90°.

[0105] For example, if the B-axis is fixed at a 90° rotation, and the A-axis is fixed at 90° (when β>0) or -90° (when β<0°), then under this strategy, cosψ=sinβ (when β>0°) and cosψ=-sinβ (when β<0°), the energy integral in the sunlit region under different β angles is:

[0106] when hour,

[0107]

[0108] when hour,

[0109]

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

[0111] Based on the descriptions of the above embodiments, the satellite solar panel rotation strategy is as follows under different angles β between the true sun and the relative orbit:

[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 rotated, 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 rotated.

[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 constant speed with the orbital angular velocity, while the second rotating shaft is controlled to remain fixed at the zero position.

[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 rotating shaft is controlled to make uniform reciprocating motion at a preset rotational angular velocity within a preset rotation range, and the first rotating shaft is controlled to rotate at a uniform speed at the orbital angular velocity of the satellite, wherein the first angle threshold is less than the second angle threshold.

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

[0116] When |β|<β1: A-axis is fixed and rotates at a constant orbital angular velocity, with a rotation range of 360° and an angular velocity of . 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 angular velocity relative to the track, with a rotation range of 360° and a rotational angular velocity of... The B-axis moves back and forth with an angular velocity of 4|β| / T according to the pattern 0→β→-β→0, with a maximum rotational angular velocity of 4|β2| / T.

[0118] Energy assessment of the rotation strategy:

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

[0120] Using the power generation energy of a single orbital array within a single orbit when the β angle is 0 as the baseline value, the output energy of a single orbital array within a single orbit at different β angles is evaluated.

[0121] Earth shadow time when β angle is 0 After adopting the above rotation control strategy, the ψ angle remains at 0 during the solar illumination period, and the power generation energy of the solar cell array within a single loop is calculated as follows:

[0122]

[0123] Using the energy generated by the solar array within a single orbit, Q1, as the baseline value for the output energy of the solar array on the solar panel within one orbit at different β angles; define the energy loss factor. When the orbital altitude is about 500 km, λ is about 3%. As the orbital altitude increases, λ gradually decreases, and the angle β0 between the target true sun and the orbit gradually decreases.

[0124] In one exemplary embodiment, the A-axis cannot rotate within the range of 0° to 360° (e.g., the windsurfing drive mechanism uses a slip-ring-free design), such as limiting the rotation range of the A-axis to -170° to +170°. When |β|≤β2, the A-axis can rotate at a constant orbital angular velocity to track the sun in the sunlit area and accelerate its rotation in the shaded area, thus keeping the rotation range of the A-axis within -170° to +170°.

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

[0126]

[0127] Taking T1 as the rotation time, and neglecting the acceleration and deceleration process of the A-axis rotation speed change, the time for uniform rotation at the track angular velocity is T-T1, and the rotation angle is... 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 orbital altitude is high, the ground shadow time is short. In order to meet the rotation range limit of the A-axis, and under the condition that the energy loss factor λ of the output within a single orbital circle is no greater than 3%, the rotation time can be carried out entirely within the ground shadow area without restriction.

[0129] The following application example illustrates the satellite solar panel rotation control method disclosed herein.

[0130] A satellite uses an inclined circular orbit with an altitude of 508 km and an inclination of 55°. Its |β| does not exceed 80°. Assume that the solar array on its solar panels outputs 1 W of power when directly illuminated by sunlight in orbit, and the orbital period is 5687 s.

[0131] Figure 4 As an application example of this disclosure, the B-axis reciprocates across the entire range of the β-angle, while the A-axis rotates at a uniform orbital angular velocity. The curve illustrates the relationship between the solar array output energy and the β-angle within a single revolution. (Example:) Figure 4 First, based on the rotation strategy (A-axis (α angle) moves at a constant orbital angular velocity with a rotation range of 360°; B-axis (γ angle) moves back and forth with an angular velocity of 4|β| / T according to the law 0→β→-β→0), the output energy of the solar array within a single orbital loop under different β angles is calculated. Since it is symmetrical about β=0°, only the curve for β>0 is given. Based on the relationship between the output energy of the solar array within a single loop and the β angle, the minimum output energy Q0 is approximately 3461Ws when β≈47°. Figure 5 The output power variation curve of the solar cell array in the sunlit area is shown as an application example of this disclosure when the β angle is 47°.

[0132] With axis B fixed at zero position and axis A moving at a constant orbital angular velocity with a range of 360°, based on the solar incidence angle model of the solar panel, it is found that when |β|≤15°, the output energy of the solar cell array in a single loop is not less than 3456Ws (|β|=15°).

[0133] The B-axis is fixed at 90 degrees of rotation, and the A-axis is fixed at 90 degrees (when β angle > 0) or -90 degrees (when β angle < 0). Based on the solar incidence angle model of the solar panel, it is found that when |β| ≥ 56°, the output energy of the solar cell array in a single loop is not less than 3484Ws (|β| = 56°).

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

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

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

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

[0138] Figure 6 This is an application example of the present disclosure, showing the relationship between the output energy of a solar array within a single orbital orbit and the β angle. For example... Figure 6 As shown, after adopting the above strategy, the output energy curves of a single orbital loop of the solar array at different |β| are obtained. Taking the output energy of the solar array within a single orbital loop when the β angle is 0° as the benchmark value, according to the solar incidence angle model of the solar panel, it is found that when β=0°, the output energy of the solar array within a single orbital loop is not less than 3552Ws; then the energy loss factor...

[0139] If the A-axis cannot rotate within the range of 0° to 360°, then the ground shadow time rotation method is adopted. The ground shadow time T1 for |β| = 56° is approximately 25 minutes. The A-axis rotation time is set to 20 minutes, with an additional 5 minutes used for acceleration and deceleration during two speed turns. Therefore, the rotation range of the A-axis is approximately -142° to 142°, and the rotational angular velocity during the rotation time is approximately 0.2366° / s.

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

[0141] This disclosure also proposes a simple dual-axis rotation control strategy, where the rotational angular velocity of axis A is constant. Or, if fixed at 0°, the maximum angular velocity of axis B is... Alternatively, the angle can be fixed at 0°, simplifying axis rotation control and improving its reliability. The low rotational angular velocity reduces the interference torque of the solar panel rotation on the satellite.

[0142] This disclosure uses the output energy of a solar array within a single orbital circle at a β angle of 0° as a benchmark to evaluate the power generation energy of the solar array under different β angles using a rotation strategy. At orbital altitudes above 500 km, the loss factor relative to the energy benchmark is no greater than 3%. As orbital altitude increases, λ gradually decreases, effectively balancing the complexity of dual-axis rotation tracking, interference torque, and energy output. Since the output energy of the solar array within a single orbital circle is essentially the same as the output energy at a β angle of 0 for most of the time, this rotation strategy is suitable for low-Earth orbit satellites with relatively fixed payload operating modes.

[0143] Figure 7 This is a schematic diagram of a satellite solar panel rotation control device 70 provided as an exemplary embodiment of the present disclosure. Figure 7 As shown, the satellite solar panel 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. The angle between the true sun and the orbit is the difference between 90 degrees and the angle between the solar vector and the normal vector of the satellite orbital plane. The direction of the normal vector of the satellite orbital plane is determined by the right-hand rule according to the direction of the satellite's movement on the orbital plane.

[0145] The control module 72 is used to control the rotation of the first and second rotating shafts based on 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 and second rotating shafts based on 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 the second angle threshold, the first rotation axis is fixed at the first angle or the second angle and does not rotate, wherein the first angle and the second angle are opposite numbers to each other;

[0148] The second rotating shaft is fixed at the first angle and does not rotate.

[0149] Optionally, when the control module 72 controls the rotation of the first and second rotating shafts based on 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 fixed at the zero position.

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

[0152] Optionally, when the control module 72 controls the rotation of the first and second rotating shafts based on 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 rotating shaft is controlled to make uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity; the first rotating shaft is controlled to rotate uniformly at the orbital angular velocity of the satellite; wherein, the first angle threshold is less than the second angle threshold.

[0154] Optionally, the control module 72 can also be used for:

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

[0156] Control the first rotating shaft to move at a constant orbital angular velocity;

[0157] The first energy integral of the illuminated region within the next orbital circle, traversing the angles between the relative orbits of different true suns;

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

[0159] Optionally, the control module 72 can also be used for:

[0160] The second rotating shaft is fixed at the first angle and does not rotate.

[0161] The first rotating shaft is fixed at a first angle or a second angle and does not rotate.

[0162] The second energy integral of the illuminated region within the next orbital circle, traversing the angles between the relative orbits of different true suns;

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

[0164] Optionally, before using the minimum energy value, the control module 72 can also be used for:

[0165] When the satellite is at the synodic point within the orbital plane, the first and second rotation axes are at zero position, and at this time the solar radiation vector is directly illuminating the solar panels. The synodic point refers to the position of the satellite closest to the sun on the orbital plane.

[0166] Control the first rotating shaft to move at a constant speed with the track angular velocity;

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

[0168] By iterating through the angles between different true solar orbits, the third energy integral within the sunlit region of the next orbital circle is obtained, along with the minimum energy value of the third energy integral and the angle between the target true solar orbit corresponding to the minimum energy value.

[0169] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0170] Figure 8 This is a schematic diagram of the structure of an electronic device provided as an exemplary embodiment of the present disclosure. For example... Figure 8 As shown, the electronic device includes a memory 81 and a processor 82. Additionally, the electronic device also includes a power supply component 83 and a communication component 84.

[0171] Memory 81 is used to store computer programs and can be configured to store various other data to support operation on the electronic device. Examples of this data include instructions for any application or method used to operate 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 storage, flash memory, magnetic disk or optical disk.

[0173] 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 between the true sun and the orbit of the satellite orbit, wherein the angle between the true sun and the orbit is 90 degrees and the difference between the angle between the solar vector and the normal vector of the satellite orbital plane; the direction of the normal vector of the satellite orbital plane is determined by the right-hand rule according to the direction of the satellite's movement on the orbital plane; and control the rotation of the first and second rotating axes according to the magnitude of the absolute value of the angle between the true sun and the orbit.

[0175] Accordingly, embodiments of this disclosure also provide a computer-readable storage medium storing a computer program. When the computer-readable storage medium stores a computer program, and the computer program is executed by one or more processors, it causes one or more processors to perform... Figure 1 Each step in the method embodiment.

[0176] Accordingly, embodiments of this disclosure also provide a computer program product, which includes a computer program / instructions that are executed by a processor. Figure 1 Each step in the method embodiment.

[0177] The above Figure 8 The communication components are configured to facilitate wired or wireless communication between the device containing the communication components and other devices. The above... Figure 8 The power supply component provides power to the various components of the device in which it resides. 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 in which it resides.

[0178] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0180] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0181] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

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

[0183] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0184] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0185] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0186] The above are merely specific embodiments of this disclosure, enabling those skilled in the art to understand or implement this disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to these embodiments, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling the rotation of a satellite solar panel, the satellite comprising: A satellite body and a solar 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 panel, characterized in that it includes: Obtain the angle between the true sun and the orbit of the satellite, wherein the angle between the true sun and the orbit is the difference between 90 degrees and the angle between the solar radiation vector and the normal vector of the satellite orbital plane; the direction of the normal vector of the satellite orbital plane is determined by the right-hand rule according to the direction of the satellite's movement on the orbital plane. The rotation of the first and second rotating shafts is controlled according to the absolute value of the angle between the true sun and the orbit. The step of controlling the rotation of the first and second rotating shafts based on the absolute value of the angle between the true sun and the orbit includes: 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 at the first angle or the second angle and not rotated, wherein the first angle and the second angle are opposites of each other; The second rotating shaft is fixed at the first angle and does not rotate. The step of controlling the rotation of the first and second rotating shafts based on the absolute value of the angle between the true sun and the orbit includes: If 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 fixed at the zero position. Control the first rotating shaft to move at a constant speed with the angular velocity of the satellite orbit; The step of controlling the rotation of the first and second rotating shafts based on the absolute value of the angle between the true sun and the orbit includes: 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 rotating shaft is controlled to make uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity; the first rotating shaft is controlled to rotate uniformly at the satellite orbit angular velocity; wherein, the first angle threshold is less than the second angle threshold.

2. The method according to claim 1, further comprising: Control the second rotating shaft to be at the zero position and not to rotate; Control the first rotating shaft to move at a constant speed at the satellite orbital angular velocity; The first energy integral of the solar radiation zone within the next orbital circle is obtained by traversing the angles between the relative orbits of the true sun and the orbits described below. If the first energy integral is greater than or equal to the minimum energy value, determine the maximum absolute value of the angle between the true sun and the orbit, and use the maximum value as the first angle threshold.

3. The method according to claim 1, further comprising: The second rotating shaft is fixed at the first angle and does not rotate. The first rotating shaft is fixed at the first angle or the second angle and does not rotate. The second energy integral of the solar radiation zone within the next orbital circle is obtained by traversing the angles between the relative orbits of the true sun and the orbits described above. If 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.

4. The method according to claim 2 or 3, characterized in that, Before using the minimum energy value, the method further includes: When the satellite is at the synodic point within the orbital plane, the first and second rotating axes are at zero position, and at this time the sunlight vector is directly illuminating the solar panel. The synodic point refers to the position of the satellite closest to the sun on the orbital plane. Control the first rotating shaft to move at a constant speed with the angular velocity of the satellite orbit; The second rotating shaft is controlled to make uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity; By iterating through the angles between the true sun relative orbits for different values, the third energy integral within the sunlit region of the next orbital circle is obtained, along with the minimum energy value of the third energy integral and the angle between the target true sun relative orbit corresponding to the minimum energy value.

5. A satellite solar panel rotation control device, the satellite comprising: A satellite body and a solar 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 panel, characterized in that it includes: The acquisition module is used to acquire the angle between the true sun and the orbit of the satellite, wherein the angle between the true sun and the orbit is the difference between 90 degrees and the angle between the solar vector and the normal vector of the satellite orbital plane; the direction of the normal vector of the satellite orbital plane is determined by the right-hand rule according to the direction of the satellite's movement on the orbital plane. The control module is used to control the rotation of the first and second rotating shafts based on the absolute value of the angle between the true sun and the orbit. The step of controlling the rotation of the first and second rotating shafts based on the absolute value of the angle between the true sun and the orbit includes: 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 at the first angle or the second angle and not rotated, wherein the first angle and the second angle are opposites of each other; The second rotating shaft is fixed at the first angle and does not rotate. The step of controlling the rotation of the first and second rotating shafts based on the absolute value of the angle between the true sun and the orbit includes: If 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 fixed at the zero position. Control the first rotating shaft to move at a constant speed with the angular velocity of the satellite orbit; The step of controlling the rotation of the first and second rotating shafts based on the absolute value of the angle between the true sun and the orbit includes: 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 rotating shaft is controlled to make uniform reciprocating motion within a preset rotation range at a preset rotation angular velocity; the first rotating shaft is controlled to rotate uniformly at the satellite orbit angular velocity; wherein, the first angle threshold is less than the second angle threshold.

6. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the steps of the method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-4.

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