Combined type double-degree-of-freedom sun alignment system

Abstract

The invention discloses a combined type double-degree-of-freedom sun alignment system which comprises an A-axis sun alignment subsystem, a B-axis sun alignment subsystem and a truss assembly. The A-axis sun-oriented subsystem and the B-axis sun-oriented subsystem are orthogonally mounted on a spacecraft cabin through a truss assembly; the A-axis sun-oriented subsystem is used for realizing A-axis rotation control of the solar cell wing; and the B-axis sun orientation subsystem is used for realizing B-axis rotation control of the solar cell wing. According to the combined type double-degree-of-freedom sun-oriented system, double-degree-of-freedom sun-oriented orientation is achieved through the A-axis sun-oriented orientation subsystem and the B-axis sun-oriented orientation subsystem, so that it is guaranteed that under the conditions of different flight orbits and flight attitudes of a spacecraft, the sun incident angle reaches the optimal state, and the power generation capacity of solar cell wings reaches the maximum capacity; stable power output is provided for the spacecraft; and meanwhile, sun-oriented driving torque and stalling locking torque are provided for the large-inertia flexible solar cell wing, and high bearing performance is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of power supply of a spacecraft power system, and in particular relates to a combined dual-degree-of-freedom solar system. Background Art

[0002] The power supply system is an important part of the spacecraft. As the power consumption of the spacecraft increases, the power supply capacity of the power supply system also increases. Large-area flexible solar panels are born. Maximizing the power generation capacity of the solar panel is the basis for effectively improving the power supply capacity of the power supply system. At the same time, for spacecraft operating in different orbits, the power supply system faces orbital operation characteristics with different orbital periods and real-time changes in the solar incidence angle. The solar panel's ability to orient to the sun is directly related to its power generation capacity. As a spacecraft power supply system with high-power supply capacity, higher requirements are placed on the solar panel's ability to orient to the sun. It must not only have high orientation accuracy, but also high load-bearing capacity, strong driving and locking capabilities. Summary of the invention

[0003] The technology of the present invention solves the problem: overcomes the shortcomings of the prior art, provides a combined dual-degree-of-freedom solar orientation system, realizes dual-degree-of-freedom solar orientation through an A-axis solar orientation subsystem and a B-axis solar orientation subsystem, so as to ensure that the solar incidence angle of the spacecraft reaches the optimal state under different flight orbits and flight attitude conditions, and the power generation of the solar cell wing reaches the maximum capacity, thereby providing a stable power output for the spacecraft; at the same time, provides a solar orientation driving torque and a stall locking torque for the flexible solar cell wing with large inertia, and has high load-bearing performance.

[0004] In order to solve the above technical problems, the present invention discloses a combined dual-degree-of-freedom solar orientation system, comprising: an A-axis solar orientation subsystem, a B-axis solar orientation subsystem and a truss assembly; wherein the A-axis solar orientation subsystem and the B-axis solar orientation subsystem are orthogonally installed on a spacecraft cabin through the truss assembly; the A-axis solar orientation subsystem is used to drive the solar cell wing to rotate around the A-axis to achieve A-axis rotation control of the solar cell wing, and the A-axis is the axis of the spacecraft cabin; the B-axis solar orientation subsystem is used to drive the solar cell wing to rotate around the B-axis to achieve B-axis rotation control of the solar cell wing, and the B-axis is the axis of the solar cell wing.

[0005] In the above-mentioned combined dual-degree-of-freedom solar orientation system, the A-axis solar orientation subsystem includes: an A-axis solar orientation mechanism, an A-axis main drive controller, an external temperature controller and an A-axis backup drive controller;

[0006] The A-axis main drive controller and the A-axis backup drive controller are used to realize the drive control of the A-axis sun-direction orientation mechanism; wherein the A-axis main drive controller is installed in the cabin of the spacecraft cabin, and the A-axis backup drive controller is installed on the truss assembly;

[0007] The fixed end of the A-axis solar orientation mechanism is connected to the spacecraft cabin, and the rotating end is connected to the truss assembly; wherein the A-axis solar orientation mechanism is used to drive the truss assembly, the B-axis solar orientation subsystem and the solar cell wing to rotate around the A-axis as a whole under the driving control of the A-axis main drive controller or the A-axis backup drive controller, so as to realize the A-axis rotation control of the solar cell wing;

[0008] The extravehicular temperature controller is installed on the truss assembly to realize the temperature control of the A-axis solar orientation mechanism so that the A-axis solar orientation mechanism is within the required operating temperature range.

[0009] In the above-mentioned combined dual-degree-of-freedom solar orientation system, the B-axis solar orientation subsystem includes: N B-axis solar orientation mechanisms and N B-axis drive controllers;

[0010] The number of B-axis solar orientation mechanisms and B-axis drive controllers is consistent with the number of solar panels; each solar panel corresponds to one B-axis solar orientation mechanism and one B-axis drive controller; N≥2;

[0011] The B-axis driving controller is installed on the truss assembly, and is used to realize the driving control of the B-axis solar orientation mechanism; and realize the temperature control of the B-axis solar orientation mechanism, so that the B-axis solar orientation mechanism is within the required working temperature range;

[0012] The fixed end of the B-axis solar orientation mechanism is connected to the truss assembly, and the rotating end is connected to the solar cell wing; wherein, the B-axis solar orientation mechanism is used to drive the solar cell wing to rotate around the B-axis under the drive control of the B-axis drive controller, thereby realizing the B-axis rotation control of the solar cell wing.

[0013] In the above combined dual-degree-of-freedom sun-facing system, the truss assembly includes: a truss structure and a truss cable;

[0014] The truss structure is used to provide fixed support connection for the A-axis solar orientation mechanism and the B-axis solar orientation mechanism, and to provide an installation platform for the extravehicular temperature controller, the A-axis backup drive controller, and the B-axis drive controller;

[0015] The truss cable is laid and fixed on the truss structure, and is used to provide electrical connection between the A-axis solar orientation mechanism and the A-axis main drive controller, the extravehicular temperature controller and the A-axis backup drive controller; and to provide electrical connection between the B-axis solar orientation mechanism and the B-axis drive controller.

[0016] In the above-mentioned combined dual-DOF solar-facing system, the truss structure is assembled by rods and metal corner joints, and is covered with multiple layers of thermal control to insulate it from the external heat flow of the space environment.

[0017] In the above combined dual-degree-of-freedom sun-facing system, the truss structure includes: a large column segment and a small column segment;

[0018] The fixed end of the B axial sun-orienting mechanism is connected to the large column section;

[0019] Several instrument mounting plates are arranged on the small column section, and the outboard temperature controller, A axial backup drive controller and B axial drive controller are respectively mounted on the corresponding instrument mounting plates.

[0020] In the above-mentioned combined dual-degree-of-freedom sun-directed system, the A-axis sun-directed orientation mechanism includes: three sets of drive locking mechanisms, one set of TBA slewing support mechanism, four sets of switching locking mechanisms and one set of rotating electrical transmission device;

[0021] The TBA slewing support mechanism comprises: a TBA guide rail assembly, a main mode slewing support assembly, a cabin end flange, a standby mode slewing support assembly and a truss end flange; wherein the TBA guide rail assembly comprises: a cabin side guide rail and a truss side guide rail, the cabin side guide rail and the truss side guide rail are arranged in parallel, and the inner sides of the cabin side guide rail and the inner sides of the truss side guide rail are large gear rings; the main mode slewing support assembly consists of 8 main mode TBA rolling units, which are evenly distributed on the cabin side guide rail in the circumferential direction, and play a supporting and rotating role; the 8 main mode TBA rolling units are connected to the spacecraft cabin through the cabin end flange; the standby mode slewing support assembly consists of 8 standby mode TBA rolling units, which are evenly distributed on the truss side guide rail in the circumferential direction, and play a supporting and rotating role; the 8 standby mode TBA rolling units are connected to the truss assembly through the truss end flange;

[0022] The driving locking mechanism is used to control the rotation of the A-axis sun-directing orientation mechanism or the electric locking stop; the three sets of driving locking mechanisms are respectively: driving locking mechanism a, driving locking mechanism b and driving locking mechanism c; the three sets of driving locking mechanisms are in a backup relationship with each other, one set of driving locking mechanisms is working at the same time, and the other two sets of driving locking mechanisms are cold backup; wherein the driving locking mechanism a is located on the cabin side, and comprises: brake a, motor a, reducer a, clutch a and pinion a connected in sequence, and the pinion a is meshed with the large gear ring on the inner side of the cabin side guide rail; the driving locking mechanism b is located on the cabin side, and comprises: brake b, motor b, reducer b, clutch b and pinion b connected in sequence, and the pinion b is meshed with the large gear ring on the inner side of the cabin side guide rail; the driving locking mechanism c is located on the truss side, and comprises: brake c, motor c, reducer c and pinion c connected in sequence, and the pinion c is meshed with the large gear ring on the inner side of the truss side guide rail;

[0023] The four sets of switching locking mechanisms are: switching locking mechanism a and switching locking mechanism b located on the cabin side, and switching locking mechanism c and switching locking mechanism d located on the truss side; wherein, when the main mode slewing support assembly is working, the switching locking mechanism a and the switching locking mechanism b are unlocked, and the switching locking mechanism c and the switching locking mechanism d are locked; when the standby mode slewing support assembly is working, the switching locking mechanism a and the switching locking mechanism b are locked, and the switching locking mechanism c and the switching locking mechanism d are unlocked;

[0024] A rotating electric transmission device is used to realize the transmission of power / electrical signals between the fixed end and the rotating end of the A-axis solar orientation mechanism; wherein one end of the rotating electric transmission device is connected to the cabin end flange, and the power / electrical signals are transmitted to the electrical connector of the cabin end flange through a wire; the other end of the rotating electric transmission device is connected to the truss end flange, and the power / electrical signals are transmitted to the electrical connector of the truss end flange through a wire.

[0025] In the above combined dual-degree-of-freedom sun-targeting system, the B-axis drive controller includes:

[0026] The CPU module is used to analyze the rotation control instructions sent by the spacecraft GNC subsystem and generate drive signals;

[0027] The motor drive module is used to realize the drive control of the B-axis sun orientation mechanism based on the drive signal generated by the CPU module, drive the solar cell wing to rotate around the B-axis, and realize the B-axis rotation control of the solar cell wing;

[0028] A temperature control module is used to realize temperature control of the B-axis solar orientation mechanism so that the B-axis solar orientation mechanism is within a required operating temperature range;

[0029] The power module is used to supply power to the CPU module, the motor drive module and the temperature control module.

[0030] In the above-mentioned combined dual-degree-of-freedom solar-directed system, the B-axis solar-directed orientation mechanism includes: a stepper motor, a harmonic reducer, a zero position sensor, a drive shaft and a power / signal transmission device; wherein, during operation, the stepper motor drives the harmonic reducer to rotate, the harmonic reducer drives the drive shaft to rotate, and the drive shaft drives the solar cell wing to rotate around the B axis, thereby realizing the B-axis rotation control of the solar cell wing; the zero position sensor is used to measure the rotation position of the drive shaft, and feed back the measured rotation position of the drive shaft to the B-axis drive controller; the power / signal transmission device rotates with the solar cell wing, thereby realizing the power and signal transmission of the solar cell wing.

[0031] In the above combined dual-degree-of-freedom solar-facing system, the A-axis and B-axis rotation of the solar cell wing have five control modes, including: tracking mode, capture mode, zeroing mode, angle servo mode and stop mode;

[0032] The tracking mode includes: a normal tracking mode and an offset angle tracking mode. The normal tracking mode is used for the solar cell wing to generate electricity at full power, and the offset angle tracking mode is used for reducing the power generation of the solar cell wing. In the normal tracking mode, the solar incident angle is ensured to be 0°, one axis of the solar cell wing is maintained at 0°, and the other axis rotates at the flight orbit speed of the spacecraft. In the offset angle tracking mode, the solar incident angle is made to be a fixed angle, which is any angle greater than 0° and not ±90°, one axis of the solar cell wing is maintained at the above fixed angle, and the other axis rotates at the flight orbit speed of the spacecraft.

[0033] In the capture mode, the solar cell wings quickly rotate from the positive or negative direction to a fixed angle of incidence of the sun, with a rotation speed of 0.3° / s;

[0034] In zeroing mode, the solar panel is controlled to quickly rotate from the forward or reverse direction to the desired zero position, with a rotation rate of 0.3° / s; the desired zero position includes: horizontal zero position and vertical zero position;

[0035] In the angle servo mode, the sun-direction mechanism rotates to the required specific position and remains in a stopped state;

[0036] In the stop mode, the sun-directing mechanism stops at any position.

[0037] The present invention has the following advantages:

[0038] The present invention discloses a combined dual-degree-of-freedom solar-facing system, which can enhance the solar-facing directivity of the solar wing by driving the two axial degrees of freedom of the solar wing, so as to ensure that the solar incidence angle of the spacecraft reaches the optimal state under different flight orbits and flight attitudes, and the power generation of the solar wing reaches the maximum capacity, thereby providing stable power output for the spacecraft, improving the power generation capacity of the solar wing of the spacecraft power system under different flight orbits and flight attitudes, and ensuring the power output stability of the power supply system; at the same time, it has extremely strong carrying capacity, and provides solar-facing directional driving torque and stall locking torque for the solar wing with large inertia in each flight stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of a combined dual-degree-of-freedom sun-aiming system in an embodiment of the present invention;

[0040] Figure 2 It is a block diagram of a combined dual-degree-of-freedom solar tracking system in an embodiment of the present invention;

[0041] Figure 3 It is a schematic diagram of equipment layout and connection relationship on one side of a truss assembly in an embodiment of the present invention;

[0042] Figure 4 is a schematic diagram of the equipment layout and connection relationship on the other side of a truss assembly in an embodiment of the present invention;

[0043] Figure 5 is a structural schematic diagram of a truss assembly in an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the structure of an A-axis sun orientation subsystem in an embodiment of the present invention;

[0045] Figure 7 This is a block diagram of a B-axis sun orientation subsystem in an embodiment of the present invention;

[0046] Figure 8 This is a flow chart of a combined spacecraft dual-axis sun-orientation control method according to an embodiment of the present invention;

[0047] Fig. 9 This is a schematic diagram of the sun orientation mode of an experimental cabin I / II cabin during inertial flight in an embodiment of the present invention;

[0048] Fig.10 This is a schematic diagram of a solar orientation method for a single-cabin spacecraft during three-axis earth-to-earth flight in an embodiment of the present invention;

[0049] Fig.11 It is a schematic diagram of the sun orientation mode of a two-cabin inline combination during inertial flight in an embodiment of the present invention;

[0050] Fig.12 It is a schematic diagram of a sun-orientation method of a two-cabin in-line combination during three-axis ground-to-ground flight in an embodiment of the present invention;

[0051] Fig.13 It is a schematic diagram of the sun orientation mode of a two-cabin L-shaped combination during three-axis ground-to-ground flight in an embodiment of the present invention;

[0052] Fig.14 It is a schematic diagram of a sun-orientation method of a two-cabin L-shaped assembly docked and ready for flight in an embodiment of the present invention;

[0053] Fig.15 It is a schematic diagram of a sun-orientation method of a three-cabin T-shaped assembly during three-axis ground flight / three-cabin T-shaped assembly orbital flight in an embodiment of the present invention;

[0054] Fig.16 This is a schematic diagram of a sun-orientation method for a three-cabin T-shaped assembly in radial docking and preparation for flight in an embodiment of the present invention;

[0055] Fig.17 It is a schematic diagram of the sun orientation mode of a three-cabin T-shaped assembly in an embodiment of the present invention when it is docked forward and backward in preparation for flight. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0057] The core idea of ​​the present invention is to provide a combined dual-degree-of-freedom solar-oriented system, which is suitable for power supply occasions where the solar wing battery wing has high requirements for solar-oriented pointing accuracy and strong carrying capacity. The combined dual-degree-of-freedom solar-oriented system plays a key role in improving the power output capacity of the spacecraft power system. It can not only provide good solar-oriented effect, but also has a strong carrying capacity, providing drive and locking for large-inertia solar wing.

[0058] Reference Figure 1 In this embodiment, the combined dual-degree-of-freedom solar orientation system includes: an A-axis solar orientation subsystem 1, a B-axis solar orientation subsystem 2 and a truss assembly 3. The A-axis solar orientation subsystem 1 and the B-axis solar orientation subsystem 2 are orthogonally mounted on the spacecraft cabin 5 through the truss assembly 3; the A-axis solar orientation subsystem 1 is used to drive the solar cell wing 4 to rotate around the A-axis to achieve the axial rotation control of the solar cell wing 4A, and the A-axis is the axis of the spacecraft cabin 5; the B-axis solar orientation subsystem is used to drive the solar cell wing 4 to rotate around the B-axis to achieve the axial rotation control of the solar cell wing 4B, and the B-axis is the axis of the solar cell wing 4. That is, the combined dual-degree-of-freedom solar orientation system realizes dual-degree-of-freedom solar orientation through the A-axis solar orientation subsystem 1 and the B-axis solar orientation subsystem 2, so as to ensure that the solar incidence angle of the spacecraft reaches the optimal state under different flight orbits and flight attitude conditions, and the power generation of the solar cell wings reaches the maximum capacity, thereby providing stable power output for the spacecraft; at the same time, it provides solar orientation driving torque and stall locking torque for the solar cell wings with large inertia, and has high load-bearing performance.

[0059] A-axis sun orientation subsystem

[0060] In this embodiment, if Figure 2 As shown, the A-axis solar orientation subsystem 1 mainly includes: an A-axis solar orientation mechanism 101, an A-axis main drive controller 102, an external temperature controller 103 and an A-axis backup drive controller 104.

[0061] The A-axis main drive controller 102 and the A-axis backup drive controller 104 are used to realize the drive control of the A-axis solar orientation mechanism 101. The A-axis main drive controller 102 is installed in the cabin of the spacecraft cabin 5, and the A-axis backup drive controller 104 is installed on the truss assembly 3.

[0062] The fixed end of the A-axis solar orientation mechanism 101 is connected to the spacecraft cabin 5, and the rotating end is connected to the truss assembly 3. The A-axis solar orientation mechanism 101 is used to drive the truss assembly 3, the B-axis solar orientation subsystem 2 and the solar cell wing 4 to rotate around the A-axis as a whole under the driving control of the A-axis main drive controller 102 or the A-axis backup drive controller 104, so as to realize the A-axis rotation control of the solar cell wing 4.

[0063] The outboard temperature controller 103 is installed on the truss assembly 3 and is used to control the temperature of the A-axis solar orientation mechanism 101 so that the A-axis solar orientation mechanism 101 is within the required operating temperature range.

[0064] like Figure 6 As shown, the A-axis sun orientation mechanism 101 specifically includes: three sets of drive locking mechanisms, one set of TBA (Trundle Bearing Assembly) slewing support mechanism, four sets of switching locking mechanisms and one set of rotating electrical transmission device 1019. Among them:

[0065] The TBA slewing support mechanism is used to realize the slewing support function of the fixed end and the rotating end, and is mainly used for on-track load bearing, torque transmission and rotation speed transmission. The TBA slewing support mechanism specifically includes: TBA guide rail assembly, main mode slewing support assembly, cabin end flange 10183, standby mode slewing support assembly and truss end flange 10185. Among them, the TBA guide rail assembly includes: cabin side guide rail 10181 and truss side guide rail 10186, the cabin side guide rail 10181 and the truss side guide rail 10186 are arranged in parallel, and the inner side of the cabin side guide rail 10181 and the inner side of the truss side guide rail 10186 are both large gear rings. The main mode slewing support assembly is composed of 8 main mode TBA rolling units 10182, which are evenly distributed on the cabin side rails 10181 in the circumferential direction, and play a supporting and rotating role; the 8 main mode TBA rolling units 10182 are connected to the spacecraft cabin 5 through the cabin end flange 10183. The standby mode slewing support assembly is composed of 8 standby mode TBA rolling units 10184, which are evenly distributed on the truss side rails 10186 in the circumferential direction, and play a supporting and rotating role; the 8 standby mode TBA rolling units 10184 are connected to the truss assembly 3 through the truss end flange 10185.

[0066] The driving locking mechanism is used to control the rotation or electrical locking and stopping of the A-axis sun-orienting mechanism 101. Specifically, the driving locking mechanism realizes the rotation function through the motor, the reducer and the clutch, and realizes the electrical locking and stopping function through the brake and the clutch; the clutch of the driving locking mechanism in the working state is in the meshing state, and the clutch of the driving locking mechanism in the cold backup and non-working state is in the disengaged state. Among them, the three sets of driving locking mechanisms are: driving locking mechanism a1011, driving locking mechanism b1012 and driving locking mechanism c1013; the three sets of driving locking mechanisms are in a backup relationship with each other, and at the same time, one set of driving locking mechanisms is working, and the other two sets of driving locking mechanisms are in cold backup. The driving locking mechanism a1011 is located on the cabin side, including: brake a10111, motor a10112, reducer a10113, clutch a10114 and pinion a10115 connected in sequence, and the pinion a10115 is meshed with the inner large gear ring of the cabin side guide rail 10181. The driving locking mechanism b1012 is located on the cabin side, and includes: a brake b10121, a motor b10122, a reducer b10123, a clutch b10124 and a pinion b10125 connected in sequence, and the pinion b10125 is meshed with the inner large gear ring of the cabin side guide rail 10181. The driving locking mechanism c1013 is located on the truss side, and includes: a brake c10131, a motor c10132, a reducer c10133 and a pinion c10135 connected in sequence, and the pinion c10135 is meshed with the inner large gear ring of the truss side guide rail 10186.

[0067] The four sets of switching locking mechanisms are: switching locking mechanism a1014 and switching locking mechanism b1015 located on the cabin side, and switching locking mechanism c1016 and switching locking mechanism d1017 located on the truss side; wherein the four sets of switching locking mechanisms are used in combination to realize the switching between the main mode and the standby mode. When the main mode slewing support assembly is working, the switching locking mechanism a1014 and the switching locking mechanism b1015 are unlocked, and the switching locking mechanism c1016 and the switching locking mechanism d1017 are locked; when the standby mode slewing support assembly is working, the switching locking mechanism a1014 and the switching locking mechanism b1015 are locked, and the switching locking mechanism c1016 and the switching locking mechanism d1017 are unlocked.

[0068] The rotating electric transmission device 1019 is used to realize the transmission of power / electrical signals between the fixed end and the rotating end of the A-axis solar orientation mechanism 101. One end of the rotating electric transmission device 1019 is connected to the cabin end flange 10183, and the power / electrical signal is transmitted to the electrical connector of the cabin end flange 10183 through a wire; the other end of the rotating electric transmission device 1019 is connected to the truss end flange 10185, and the power / electrical signal is transmitted to the electrical connector of the truss end flange 10185 through a wire.

[0069] The A-axis main drive controller 102 controls the main mode operation; at this time, the A-axis main drive controller 102 first controls the switching locking mechanism a1014 and the switching locking mechanism b1015 to unlock; then, controls the driving locking mechanism a1011 or the driving locking mechanism b1012 to work, so that the A-axis solar orientation mechanism 101 drives the truss assembly 3, the B-axis solar orientation subsystem 2 and the solar cell wing 4 to rotate around the A-axis as a whole, thereby realizing the axial rotation control of the solar cell wing 4A.

[0070] The A-axis backup drive controller 104 controls the backup mode to work; at this time, the A-axis backup drive controller 104 first controls the switching locking mechanism c1016 and the switching locking mechanism d1017 to unlock; then, the control drives the locking mechanism c1013 to work, so that the A-axis sun-facing orientation mechanism 101 drives the truss assembly 3, the B-axis sun-facing orientation subsystem 2 and the solar cell wing 4 to rotate around the A-axis as a whole, thereby realizing the axial rotation control of the solar cell wing 4A.

[0071] The torque and speed output functions of the A-axis sun orientation mechanism 101 are jointly realized by the driving locking mechanism and the TBA slewing support mechanism: the motor output torque and speed in the driving locking mechanism are decelerated and the torque is amplified by the reducer, and then output by the small gear in the driving locking mechanism to drive the large gear ring on the inner side of the guide rail in the TBA slewing support mechanism, which is decelerated and the torque is amplified again by the large gear ring and then output to the cabin end flange / truss end flange.

[0072] B-axis sun orientation subsystem

[0073] In this embodiment, if Figure 2 As shown, the B-axis solar orientation subsystem mainly includes: N B-axis solar orientation mechanisms 201 and N B-axis drive controllers 202. Among them, the number of B-axis solar orientation mechanisms 201 and B-axis drive controllers 202 is consistent with the number of solar cell wings 4, that is, each solar cell wing corresponds to one B-axis solar orientation mechanism and one B-axis drive controller, N≥2.

[0074] The B-axis driving controller 202 is installed on the truss assembly 3, and is used to realize the driving control of the B-axis solar orientation mechanism 201; and realize the temperature control of the B-axis solar orientation mechanism 201, so that the B-axis solar orientation mechanism 201 is within the required working temperature range.

[0075] The fixed end of the B-axis solar orientation mechanism 201 is connected to the truss assembly 3, and the rotating end is connected to the solar cell wing 4. The B-axis solar orientation mechanism 201 is used to drive the solar cell wing 4 to rotate around the B-axis under the driving control of the B-axis driving controller 202, so as to realize the B-axis rotation control of the solar cell wing 4.

[0076] like Figure 7As shown, the B-axis drive controller 202 mainly includes: a CPU module, a motor drive module, a temperature control module and a power module. Among them, the CPU module is used to parse the rotation control instructions sent by the spacecraft GNC subsystem and generate a drive signal. The motor drive module is used to realize the drive control of the B-axis solar orientation mechanism 201 based on the drive signal generated by the CPU module, drive the solar cell wing 4 to rotate around the B axis, and realize the B-axis rotation control of the solar cell wing 4. The temperature control module is used to realize the temperature control of the B-axis solar orientation mechanism 201, so that the B-axis solar orientation mechanism 201 is within the required operating temperature range. The power module is used to supply power to the CPU module, the motor drive module and the temperature control module.

[0077] like Figure 7 As shown, the B-axis sun-orientation mechanism 201 mainly includes: a stepper motor, a harmonic reducer, a zero position sensor, a drive shaft and a power / signal transmission device. In operation, the stepper motor drives the harmonic reducer to rotate, the harmonic reducer drives the drive shaft to rotate, and the drive shaft drives the solar cell wing 4 to rotate around the B axis to realize the B-axis rotation control of the solar cell wing 4; the zero position sensor is used to measure the rotation position of the drive shaft, and the measured rotation position of the drive shaft is fed back to the B-axis drive controller 202; the power / signal transmission device rotates with the solar cell wing 4, and is used to realize the power and signal transmission of the solar cell wing 4. It can be seen that the driving function of the B-axis sun-orientation mechanism 201 is mainly realized by the stepper motor and the harmonic reducer: the B-axis sun-orientation mechanism 201 operates continuously for a long time, and the torque output is provided by the stepper motor; after the stepper motor outputs the torque, the harmonic reducer is used to realize the deceleration and torque amplification, and it also has the function of improving the speed stability. The harmonic reducer is mainly affected by the inertia load torque of the solar cell wing and the internal friction torque of the B-axis solar orientation mechanism, and can withstand the impact load when the solar cell wing is unfolded, changed and docked; the torque output by the stepper motor is amplified by the harmonic reducer and transmitted and output through the drive shaft. The drive shaft base material is made of stainless steel, and the B-axis solar orientation mechanism adopts molybdenum disulfide solid lubrication. It has a wide operating temperature range, high load capacity, stable performance, long-term reliable operation, and can meet the working life requirements of more than 108 revolutions.

[0078] Control Mode

[0079] In this embodiment, the solar cell wing 4A axis and B axis rotation have five control modes, including: tracking mode, capture mode, zeroing mode, angle servo mode and stop mode. Among them:

[0080] The tracking mode includes: a normal tracking mode and an offset angle tracking mode. The normal tracking mode is used for full power generation of the solar cell wing, and the offset angle tracking mode is used for reducing the power generation of the solar cell wing. In the normal tracking mode, the solar incident angle is ensured to be 0°, one axis of the solar cell wing 4 is kept at 0°, and the other axis rotates at the flight orbit speed of the spacecraft; in the offset angle tracking mode, the solar incident angle is a fixed angle, which is any angle greater than 0° and not ±90°, one axis of the solar cell wing 4 is kept at the above fixed angle, and the other axis rotates at the flight orbit speed of the spacecraft.

[0081] In the capture mode, the solar panel quickly rotates from the positive or negative direction to a fixed angle of incidence of the sun, with a rotation speed of 0.3° / s.

[0082] In zeroing mode, the solar panel is controlled to quickly rotate from the forward or reverse direction to the desired zero position, with a rotation rate of 0.3° / s; the desired zero position includes: horizontal zero position and vertical zero position;

[0083] In the angle servo mode, the solar orientation mechanism rotates to the required specific position (determined by the position of the sun and the flight mission requirements, any position from 0° to 360°) and remains in a stopped state.

[0084] In the stop mode, the sun-directing mechanism stops at any position.

[0085] Truss components

[0086] In this embodiment, if Figure 2 As shown, the truss assembly 3 mainly includes: a truss structure 301 and a truss cable.

[0087] The truss structure 301 is used to provide a fixed connection for the A-axis solar orientation mechanism 101 and the B-axis solar orientation mechanism 201, and to provide an installation platform for the extravehicular temperature controller 103, the A-axis backup drive controller 104 and the B-axis drive controller 202.

[0088] The truss cable is laid and fixed on the truss structure 301, and is used to provide electrical connection between the A-axis solar orientation mechanism 101 and the A-axis main drive controller 102, the extravehicular temperature controller 103 and the A-axis backup drive controller 104; and to provide electrical connection between the B-axis solar orientation mechanism 201 and the B-axis drive controller 202.

[0089] The truss structure 301 is assembled with rods and metal corner joints, and is covered with multiple layers of thermal control to insulate it from the external heat flow of the space environment.

[0090] like Figures 3 to 5As shown, the truss structure 301 includes: a large column section 3011 and a small column section 3012. Among them, the fixed end of the B-axis sun orientation mechanism 201 is connected to the large column section 3011. A number of instrument mounting plates are arranged on the small column section 3012, and the external temperature controller 103, the A-axis backup drive controller 104 and the B-axis drive controller 202 are respectively mounted on the corresponding instrument mounting plates; the instrument mounting plates are made of aluminum honeycomb panels.

[0091] In this embodiment, the combined dual-degree-of-freedom solar orientation system is usually installed at the tail of the experimental cabin of the spacecraft; the experimental cabin includes: a cabin body and two sets of solar cell wings. Specifically: the fixed end of the A-axis solar orientation subsystem is connected to the cabin body of the experimental cabin, and the rotating end is connected to the truss structure. As mentioned above, the number of B-axis solar orientation mechanisms and B-axis drive controllers in the B-axis solar orientation subsystem is consistent with the number of solar cell wings: the fixed end of one B-axis solar orientation mechanism is connected to the truss structure, and the rotating end is connected to the root of one set of solar cell wings; the fixed end of the other B-axis solar orientation mechanism is connected to the truss structure, and the rotating end is connected to the root of the other set of solar cell wings; the two B-axis drive controllers are respectively installed on the instrument mounting plates on both sides of the truss structure.

[0092] In this embodiment, a specific application scenario is taken as an example for description.

[0093] The combined dual-degree-of-freedom solar orientation system described in the embodiment of the present invention can be applied to the combined spacecraft dual-axis solar orientation control. Specifically:

[0094] The modular spacecraft mainly includes: Experimental Module I, Core Module and Experimental Module II. Since the modular spacecraft is launched as a single module, assembled and operated on orbit, and has multiple and complex configurations on orbit, the working mode of the power system must be able to adapt to all states from basic assembly to docking with manned spacecraft and cargo spacecraft. The assembly of the modular spacecraft is based on the core module for docking and assembly.

[0095] Both the experimental cabin I and the experimental cabin II are equipped with a combined dual-degree-of-freedom solar orientation system. By controlling the attitude of the combined dual-degree-of-freedom solar orientation system, the solar cell wings of the experimental cabin are operated in the optimal solar orientation mode to enhance the solar orientation directivity of the solar cell wings of the experimental cabin, so that the solar incident angle reaches the optimal state, the solar cell wings convert solar energy to the maximum extent, and the power generation capacity of the solar cell wings is improved, providing stable power output for the combined spacecraft. In addition, the core cabin is equipped with a single-degree-of-freedom solar orientation system.

[0096] The combined dual-degree-of-freedom solar-directed system installed at the end of the experimental cabin I is recorded as the combined dual-degree-of-freedom solar-directed system I; wherein, the combined dual-degree-of-freedom solar-directed system I includes: an A-axis solar-directed orientation subsystem I, a B-axis solar-directed orientation subsystem I and a truss assembly I; the A-axis solar-directed orientation subsystem I and the B-axis solar-directed orientation subsystem I are orthogonally installed on the cabin body of the experimental cabin I through the truss assembly I; the A-axis solar-directed orientation subsystem I is used to drive the solar cell wing of the experimental cabin I to rotate around the A1 axis, and the A1 axis is the cabin body axis of the experimental cabin I; the B-axis solar-directed orientation subsystem I is used to rotate the solar cell wing of the experimental cabin I around the B1 axis, and the B1 axis is the axis of the solar cell wing of the experimental cabin I.

[0097] The combined dual-degree-of-freedom solar-directed system installed at the end of the experimental cabin II is recorded as the combined dual-degree-of-freedom solar-directed system II; wherein, the combined dual-degree-of-freedom solar-directed system II includes: an A-axis solar-directed orientation subsystem II, a B-axis solar-directed orientation subsystem II and a truss assembly II; the A-axis solar-directed orientation subsystem II and the B-axis solar-directed orientation subsystem II are orthogonally installed on the body of the experimental cabin II through the truss assembly II; the A-axis solar-directed orientation subsystem II is used to drive the solar cell wing of the experimental cabin II to rotate around the A2 axis, and the A2 axis is the axis of the cabin body of the experimental cabin II; the B-axis solar-directed orientation subsystem II is used to rotate the solar cell wing of the experimental cabin II around the B2 axis, and the B2 axis is the axis of the solar cell wing of the experimental cabin II.

[0098] Based on the above, Figure 8 As shown in the figure, the dual-axis solar orientation control process of the combined spacecraft is as follows:

[0099] S1, determine the current configuration, flight attitude and working conditions of the combined spacecraft.

[0100] Multiple configurations

[0101] The configurations of modular spacecraft mainly include: single-cabin configuration, two-cabin straight-line configuration, two-cabin L configuration and three-cabin T configuration.

[0102] Single cabin configuration: experimental cabin I or experimental cabin II.

[0103] Two-cabin in-line configuration: Experimental cabin I is coaxially docked with the core cabin to form a two-cabin in-line combination.

[0104] Two-cabin L-configuration: The experimental cabin I in the two-cabin straight-line combination is shifted to form a two-cabin L-shaped combination.

[0105] Three-cabin T-configuration: Experimental cabin II is docked with the two-cabin L-shaped combination to form a three-cabin T-shaped combination.

[0106] Multiple flight attitudes

[0107] The flight postures of the combined spacecraft mainly include: single-cabin flight of experimental cabin I, single-cabin flight of experimental cabin II, flight of two-cabin straight-line combination, flight of two-cabin L-shaped combination and flight of three-cabin T-shaped combination.

[0108] The single-cabin flight of Experimental Cabin I mainly includes: the single-cabin inertial system flight of Experimental Cabin I and the single-cabin three-axis ground flight of Experimental Cabin I.

[0109] The single-cabin flight of Experimental Cabin II mainly includes: the single-cabin inertial system flight of Experimental Cabin II and the single-cabin three-axis ground flight of Experimental Cabin II.

[0110] The flight of the two-cabin in-line combination mainly includes: the inertial system flight of the two-cabin in-line combination and the three-axis ground flight of the two-cabin in-line combination.

[0111] The flight of the two-cabin L-shaped combination mainly includes: three-axis ground flight of the two-cabin L-shaped combination and docking preparation flight of the two-cabin L-shaped combination.

[0112] The flight of the three-cabin T-type combination mainly includes: three-axis ground flight of the three-cabin T-type combination, orbital flight of the three-cabin T-type combination, radial docking preparation flight of the three-cabin T-type combination and forward and backward docking preparation flight of the three-cabin T-type combination.

[0113] Multiple working conditions

[0114] During the construction and operation of modular spacecraft, the cabin needs to complete various action tasks such as attitude control, orbit change, docking, transfer, and evacuation. Different cabin action tasks will produce different magnitudes and directions of impact loads on the solar panels. The working conditions of modular spacecraft mainly include: attitude control conditions, orbit control conditions, docking conditions, transfer conditions, and evacuation conditions. Among them:

[0115] Attitude control conditions: Factors affecting the load conditions of attitude control conditions include: cabin configuration, cabin attitude adjustment direction, GNC attitude adjustment mode, etc.

[0116] Orbit control conditions: Factors affecting the load conditions of orbit control conditions include: the position difference between the current orbit and the target orbit, orbit raising or lowering control, orbit control engine working time, cabin configuration, etc.

[0117] Docking conditions: Factors affecting the loading conditions of docking conditions include: docking port position, docking speed of the visiting aircraft, aerodynamic force of the visiting aircraft engine plume, and target aircraft cabin configuration.

[0118] Transposition condition: Factors affecting the load conditions of the transposition condition include: the flight attitude of the cabin during the transposition, the transposition acceleration of the transposition mechanism, etc.

[0119] Evacuation conditions: Factors affecting the load conditions of the transfer conditions include: docking position, evacuation speed of the evacuation aircraft, aerodynamic force of the evacuation aircraft engine plume, target aircraft cabin configuration, etc.

[0120] S2, selects a solar orientation control strategy that matches the current configuration, flight attitude and working conditions of the combined spacecraft, controls the attitude of the dual-axis solar orientation system, and realizes dual-axis solar orientation control.

[0121] Experimental cabin Ⅰ / Ⅱ single cabin flight

[0122] When the experimental module I / II is flying alone, it has two flight attitudes: inertial flight and three-axis ground flight. The inertial flight of the experimental module I / II is used for long-term flight missions with stable flight in orbit. The solar orientation is achieved by the entire module during the orbital period, and the rotation of the solar cell wings only needs to compensate for the change in the solar altitude angle. The three-axis ground flight of the experimental module I / II is used for short-term flight missions of rendezvous and docking.

[0123] Select a solar orientation control strategy that matches the current configuration, flight attitude and working conditions of the combined spacecraft, control the attitude of the dual-axis solar orientation system, and realize dual-axis solar orientation control, including:

[0124] like Fig. 9 As shown, when the current flight attitude of the combined spacecraft is the single-cabin inertial system flight of the experimental cabin Ⅰ / Ⅱ, the A1 / A2 axis of the A-axis solar orientation subsystem Ⅰ / Ⅱ is controlled to be in a horizontal position and mechanically locked; at the same time, the solar cell wings of the experimental cabin Ⅰ / Ⅱ are driven to rotate intermittently around the B1 / B2 axis through the B-axis solar orientation subsystem Ⅰ / Ⅱ to compensate for the change in the solar altitude angle.

[0125] like Fig.10 As shown, when the current flight attitude of the combined spacecraft is the three-axis ground flight of the single-cabin experimental module I, the A1 / A2 axis of the A-axis solar orientation subsystem I / II is controlled to be in a horizontal position and mechanically locked; at the same time, the solar cell wings of the experimental module I / II are driven by the B-axis solar orientation subsystem I / II to continuously rotate around the B1 / B2 axis in the range of 0° to 360°, and the rotation speed is the current flight speed of the combined spacecraft, so as to realize orbital period solar tracking.

[0126] When the current flight attitude of the combined spacecraft is single-cabin flight of the experimental cabin I / II, and the current working condition is any one of the attitude control condition, orbit control condition, docking condition and evacuation condition, the A1 / A2 axis of the A-axis solar orientation subsystem I / II is controlled to be in a horizontal position and mechanically locked; at the same time, the B1 / B2 axis of the A-axis solar orientation subsystem I / II is controlled to be in a horizontal zero position or a vertical zero position.

[0127] Two-cabin flight

[0128] When the two-cabin combination flies, it has two flight attitudes: inertial flight and three-axis ground flight. The inertial flight of the two-cabin combination is used for long-term flight missions with stable flight in orbit. The solar orientation is achieved by the entire cabin during the orbital period, and the rotation of the solar cell wings only needs to compensate for the change in the solar altitude angle. The three-axis ground flight of the two-cabin combination is used for short-term flight missions of rendezvous and docking.

[0129] Select a solar orientation control strategy that matches the current configuration, flight attitude and working conditions of the combined spacecraft, control the attitude of the dual-axis solar orientation system, and realize dual-axis solar orientation control, including:

[0130] like Fig.11 As shown, when the current flight attitude of the combined spacecraft is the inertial system flight of the two-cabin inline combination, the A1 axis of the A-axis solar orientation subsystem Ⅰ is controlled to be in a horizontal position and mechanically locked; at the same time, the solar cell wings of the experimental cabin Ⅰ are driven to rotate intermittently around the B1 axis through the B-axis solar orientation subsystem Ⅰ to compensate for the change in the solar altitude angle.

[0131] like Fig.12 As shown, when the current flight attitude of the combined spacecraft is a three-axis ground-to-earth flight of a two-cabin inline combination, the A1 axis of the A-axis solar orientation subsystem Ⅰ is controlled to be in a horizontal position and mechanically locked; at the same time, the solar cell wing of the experimental cabin Ⅰ is driven by the B-axis solar orientation subsystem Ⅰ to continuously rotate around the B1 axis in the range of 0° to 360°, and the rotation speed is the current flight speed of the combined spacecraft, so as to realize orbital period solar tracking.

[0132] When the current flight attitude of the combined spacecraft is a two-cabin in-line combination flight, and the current working condition is any one of the attitude control condition and the orbit control condition, the A1 axis of the A-axis solar orientation subsystem I is controlled to be in a horizontal position and mechanically locked; at the same time, the B1 axis of the A-axis solar orientation subsystem I is controlled to be in a horizontal zero position.

[0133] Two-cabin L-shaped combination flight

[0134] The flight of the two-cabin L-shaped combination mainly includes: three-axis ground flight of the two-cabin L-shaped combination and docking preparation flight of the two-cabin L-shaped combination.

[0135] Select a solar orientation control strategy that matches the current configuration, flight attitude and working conditions of the combined spacecraft, control the attitude of the dual-axis solar orientation system, and realize dual-axis solar orientation control, including:

[0136] like Fig.13As shown, when the current flight attitude of the combined spacecraft is a three-axis ground flight of a two-cabin L-shaped combination, the solar cell wing of the experimental cabin Ⅰ is driven by the A-axis solar orientation subsystem Ⅰ to continuously rotate around the A1 axis in the range of 0° to 360°, and the rotation speed is the current flight speed of the combined spacecraft to achieve orbital periodic solar tracking; at the same time, the solar cell wing of the experimental cabin Ⅰ is driven by the B-axis solar orientation subsystem Ⅰ to intermittently rotate around the B1 axis to compensate for the change in the solar altitude angle.

[0137] like Fig.14 As shown, when the current flight attitude of the combined spacecraft is that the two-cabin L-shaped combination is docking and preparing for flight, in order to avoid the forward docking channel, the A1 axis of the A-axis solar orientation subsystem Ⅰ is controlled to be in a vertical position and mechanically locked; at the same time, the B1 axis of the A-axis solar orientation subsystem Ⅰ is controlled to be in a vertical position.

[0138] Three-cabin T-type combination flight

[0139] The flight of the three-cabin T-type combination mainly includes: three-axis ground flight of the three-cabin T-type combination, orbital flight of the three-cabin T-type combination, radial docking preparation flight of the three-cabin T-type combination and forward and backward docking preparation flight of the three-cabin T-type combination.

[0140] Select a solar orientation control strategy that matches the current configuration, flight attitude and working conditions of the combined spacecraft, control the attitude of the dual-axis solar orientation system, and realize dual-axis solar orientation control, including:

[0141] like Fig.15 As shown, when the current flight attitude of the combined spacecraft is three-cabin T-type combination three-axis ground flight / three-cabin T-type combination orbital flight, the solar cell wing of the experimental cabin I is driven by the A-axis solar orientation subsystem I to continuously rotate around the A1 axis in the range of 0° to 360°, and the rotation speed is the current flight speed of the combined spacecraft, so as to achieve orbital period solar tracking; the solar cell wing of the experimental cabin II is driven by the A-axis solar orientation subsystem II to continuously rotate around the A2 axis in the range of 0° to 360°, and the rotation speed is the current flight speed of the combined spacecraft, so as to achieve orbital period solar tracking; at the same time, the solar cell wing of the experimental cabin I is driven by the B-axis solar orientation subsystem I to intermittently rotate around the B1 axis to compensate for the change of the solar altitude angle; the solar cell wing of the experimental cabin II is driven by the B-axis solar orientation subsystem II to intermittently rotate around the B2 axis to compensate for the change of the solar altitude angle.

[0142] like Fig.16As shown, when the current flight attitude of the combined spacecraft is the radial docking preparation for flight of the three-cabin T-type combination, in order to avoid the radial docking channel, the A1 axis of the A-axis solar orientation subsystem I is controlled to be in a horizontal position and mechanically locked; the A2 axis of the A-axis solar orientation subsystem II is controlled to be in a horizontal position and mechanically locked; at the same time, the B1 axis of the A-axis solar orientation subsystem I is controlled to be in a vertical position, and the B2 axis of the A-axis solar orientation subsystem II is controlled to be in a vertical position.

[0143] like Fig.17 As shown, when the current flight attitude of the combined spacecraft is that the three-cabin T-type combination is in the forward and backward docking preparation for flight, in order to avoid the forward and backward docking channel, the A1 axis of the A-axis solar orientation subsystem I is controlled to be in a vertical position and mechanically locked; the A2 axis of the A-axis solar orientation subsystem II is controlled to be in a vertical position and mechanically locked; at the same time, the B1 axis of the A-axis solar orientation subsystem I is controlled to be in a vertical position, and the B2 axis of the A-axis solar orientation subsystem II is controlled to be in a vertical position.

[0144] In summary, the present invention discloses a combined dual-degree-of-freedom solar orientation system, which has the advantages of high pointing accuracy and strong carrying capacity, and is applied to the establishment and operation of the space station, effectively improving the power generation of the solar cell wing. During the establishment and operation of the space station, under different flight phases and flight attitudes, under the orbital conditions of the solar altitude angle of ±66°, the incident angle of the solar cell wing can be guaranteed to be between 0° and 14°, so that the power generation of the solar cell wing is in a relatively stable maximum output state. Compared with the single-degree-of-freedom solar orientation system, the average power generation of the solar cell wing is increased by 15%, and the extreme power generation is increased by 140% (when the solar altitude angle is 66°).

[0145] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0146] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A combined dual-degree-of-freedom solar system, characterized in that: include: An A-axis solar orientation subsystem (1), a B-axis solar orientation subsystem (2) and a truss assembly (3); wherein the A-axis solar orientation subsystem (1) and the B-axis solar orientation subsystem (2) are orthogonally mounted on a spacecraft cabin (5) via the truss assembly (3); the A-axis solar orientation subsystem (1) is used to drive the solar cell wing (4) to rotate around the A-axis to achieve A-axis rotation control of the solar cell wing (4), and the A-axis is the axis of the spacecraft cabin (5); the B-axis solar orientation subsystem is used to drive the solar cell wing (4) to rotate around the B-axis to achieve B-axis rotation control of the solar cell wing (4), and the B-axis is the axis of the solar cell wing (4).

2. The combined dual-degree-of-freedom solar tracking system according to claim 1, characterized in that: An A-axis sun-orientation subsystem (1) comprises: an A-axis sun-orientation mechanism (101), an A-axis primary drive controller (102), an external temperature control device (103) and an A-axis backup drive controller (104); An A-axis main drive controller (102) and an A-axis backup drive controller (104) are used to realize drive control of the A-axis sun orientation mechanism (101); wherein the A-axis main drive controller (102) is installed in a cabin of a spacecraft cabin (5), and the A-axis backup drive controller (104) is installed on the truss assembly (3); The fixed end of the A-axis solar orientation mechanism (101) is connected to the spacecraft cabin (5), and the rotating end is connected to the truss assembly (3); wherein the A-axis solar orientation mechanism (101) is used to drive the truss assembly (3), the B-axis solar orientation subsystem (2) and the solar cell wing (4) to rotate around the A-axis as a whole under the driving control of the A-axis main drive controller (102) or the A-axis backup drive controller (104), so as to realize the A-axis rotation control of the solar cell wing (4); The outboard temperature controller (103) is installed on the truss assembly (3) and is used to control the temperature of the A-axis solar orientation mechanism (101) so that the A-axis solar orientation mechanism (101) is within a required operating temperature range.

3. The combined dual-degree-of-freedom solar tracking system according to claim 2, characterized in that: The B-axis solar orientation subsystem (2) comprises: N B-axis solar orientation mechanisms (201) and N B-axis drive controllers (202); The number of B-axis solar orientation mechanisms (201) and B-axis drive controllers (202) is consistent with the number of solar cell wings (4); wherein each solar cell wing corresponds to one B-axis solar orientation mechanism and one B-axis drive controller; N≥2; The B-axis direction driving controller (202) is installed on the truss assembly (3) and is used to realize driving control of the B-axis direction solar orientation mechanism (201); and realize temperature control of the B-axis direction solar orientation mechanism (201) so that the B-axis direction solar orientation mechanism (201) is within a required operating temperature range; The fixed end of the B-axis solar orientation mechanism (201) is connected to the truss assembly (3), and the rotating end is connected to the solar cell wing (4); wherein the B-axis solar orientation mechanism (201) is used to drive the solar cell wing (4) to rotate around the B-axis under the drive control of the B-axis drive controller (202), thereby realizing the B-axis rotation control of the solar cell wing (4).

4. The combined dual-degree-of-freedom solar tracking system according to claim 3, characterized in that: A truss assembly (3), comprising: a truss structure (301) and a truss cable; The truss structure (301) is used to provide a fixed support connection for the A-axis solar orientation mechanism (101) and the B-axis solar orientation mechanism (201), and to provide a mounting platform for an external temperature control instrument (103), an A-axis backup drive controller (104), and a B-axis drive controller (202); The truss cable is laid and fixed on the truss structure (301) and is used to provide electrical connection between the A-axis solar orientation mechanism (101) and the A-axis main drive controller (102), the external temperature control device (103) and the A-axis backup drive controller (104); and to provide electrical connection between the B-axis solar orientation mechanism (201) and the B-axis drive controller (202).

5. The combined dual-degree-of-freedom solar tracking system according to claim 4, characterized in that: The truss structure (301) is assembled by rods and metal corner joints, and is covered with multiple layers of thermal control to insulate against external heat flow from the space environment.

6. The combined dual-degree-of-freedom solar tracking system according to claim 5, characterized in that: The truss structure (301) comprises: a large column section (3011) and a small column section (3012); The fixed end of the B-axial sun-orienting mechanism (201) is connected to the large column section (3011); A plurality of instrument mounting plates are arranged on the small column section (3012), and an outboard temperature controller (103), an A-axial backup drive controller (104) and a B-axial drive controller (202) are respectively mounted on corresponding instrument mounting plates.

7. The combined dual-degree-of-freedom solar tracking system according to claim 2, characterized in that: A axial sun-orienting mechanism (101), comprising: three sets of driving locking mechanisms, one set of TBA slewing support mechanism, four sets of switching locking mechanisms and one set of rotating electrical transmission device (1019); The TBA slewing support mechanism comprises: a TBA guide rail assembly, a main mode slewing support assembly, a cabin end flange (10183), a standby mode slewing support assembly and a truss end flange (10185); wherein the TBA guide rail assembly comprises: a cabin side guide rail (10181) and a truss side guide rail (10186), the cabin side guide rail (10181) and the truss side guide rail (10186) are arranged in parallel, and the inner sides of the cabin side guide rail (10181) and the inner sides of the truss side guide rail (10186) are both large gear rings; the main mode slewing support assembly is composed of 8 main mode TBA rolling units (10182), and the 8 main mode TBA rolling units (10182) are connected to the main mode slewing support assembly. The moving units (10182) are evenly distributed on the cabin side guide rail (10181) in the circumferential direction, and play a supporting and rotating role; the eight main mode TBA rolling units (10182) are connected to the spacecraft cabin (5) through the cabin end flange (10183); the standby mode slewing support assembly is composed of eight standby mode TBA rolling units (10184), and the eight standby mode TBA rolling units (10184) are evenly distributed on the truss side guide rail (10186) in the circumferential direction, and play a supporting and rotating role; the eight standby mode TBA rolling units (10184) are connected to the truss assembly (3) through the truss end flange (10185); The drive locking mechanism is used to control the rotation of the A-axis sun-orienting mechanism (101) or to electrically lock and stop the rotation; the three sets of drive locking mechanisms are respectively: a drive locking mechanism a (1011), a drive locking mechanism b (1012) and a drive locking mechanism c (1013); the three sets of drive locking mechanisms are in a backup relationship with each other, and at the same time, one set of drive locking mechanisms is working, and the other two sets of drive locking mechanisms are cold backup; wherein the drive locking mechanism a (1011) is located on the cabin side, and comprises: a brake a (10111), a motor a (10112), a reducer a (10113), a clutch a (10114) and a pinion a (10115) connected in sequence, and the pinion a (10115) is connected to the cabin side guide rail. (10181) is meshed with the inner large gear ring; the driving locking mechanism b (1012) is located on the cabin side, including: a brake b (10121), a motor b (10122), a reducer b (10123), a clutch b (10124) and a pinion b (10125) connected in sequence, and the pinion b (10125) is meshed with the inner large gear ring of the cabin side guide rail (10181); the driving locking mechanism c (1013) is located on the truss side, including: a brake c (10131), a motor c (10132), a reducer c (10133) and a pinion c (10135) connected in sequence, and the pinion c (10135) is meshed with the inner large gear ring of the truss side guide rail (10186); The four sets of switching locking mechanisms are: switching locking mechanism a (1014) and switching locking mechanism b (1015) located on the cabin side, and switching locking mechanism c (1016) and switching locking mechanism d (1017) located on the truss side; wherein, when the main mode slewing support assembly is working, the switching locking mechanism a (1014) and the switching locking mechanism b (1015) are unlocked, and the switching locking mechanism c (1016) and the switching locking mechanism d (1017) are locked; when the standby mode slewing support assembly is working, the switching locking mechanism a (1014) and the switching locking mechanism b (1015) are locked, and the switching locking mechanism c (1016) and the switching locking mechanism d (1017) are unlocked; A rotating electrical transmission device (1019) is used to realize the transmission of power / electrical signals between the fixed end and the rotating end of the A-axis solar orientation mechanism (101); wherein one end of the rotating electrical transmission device (1019) is connected to the cabin end flange (10183), and the power / electrical signals are transmitted to the electrical connector of the cabin end flange (10183) through a wire; and the other end of the rotating electrical transmission device (1019) is connected to the truss end flange (10185), and the power / electrical signals are transmitted to the electrical connector of the truss end flange (10185) through a wire.

8. The combined dual-degree-of-freedom solar tracking system according to claim 3, characterized in that: B axial drive controller (202), comprising: The CPU module is used to analyze the rotation control instructions sent by the spacecraft GNC subsystem and generate drive signals; A motor drive module is used to realize drive control of the B-axis sun orientation mechanism (201) based on a drive signal generated by the CPU module, so as to drive the solar cell wing (4) to rotate around the B-axis and realize rotation control of the B-axis of the solar cell wing (4); A temperature control module, used to realize temperature control of the B-axis solar orientation mechanism (201), so that the B-axis solar orientation mechanism (201) is within a required operating temperature range; The power module is used to supply power to the CPU module, the motor drive module and the temperature control module.

9. The combined dual-degree-of-freedom solar tracking system according to claim 8, characterized in that: The B-axis sun-orienting mechanism (201) comprises: a stepping motor, a harmonic reducer, a zero position sensor, a driving shaft and a power / signal transmission device; wherein, when in operation, the stepping motor drives the harmonic reducer to rotate, the harmonic reducer drives the driving shaft to rotate, and the driving shaft drives the solar cell wing (4) to rotate around the B-axis, thereby realizing the B-axis rotation control of the solar cell wing (4); the zero position sensor is used to measure the rotation position of the driving shaft, and feeds back the measured rotation position of the driving shaft to the B-axis drive controller (202); the power / signal transmission device rotates with the solar cell wing (4), thereby realizing the power and signal transmission of the solar cell wing (4).

10. The combined dual-degree-of-freedom solar tracking system according to claim 2, characterized in that: The A-axis and B-axis rotation of the solar cell wing (4) have five control modes, including tracking mode, capture mode, zeroing mode, angle servo mode and stop mode; The tracking mode includes: a normal tracking mode and an offset angle tracking mode. The normal tracking mode is used for the solar cell wing to generate electricity at full power, and the offset angle tracking mode is used for reducing the power of the solar cell wing to generate electricity. In the normal tracking mode, the solar incident angle is ensured to be 0°, one axis of the solar cell wing (4) is kept at 0°, and the other axis rotates at the flight orbit speed of the spacecraft. In the offset angle tracking mode, the solar incident angle is made to be a fixed angle, which is any angle greater than 0° and not ±90°. One axis of the solar cell wing (4) is kept at the fixed angle, and the other axis rotates at the flight orbit speed of the spacecraft. In the capture mode, the solar cell wings quickly rotate from the positive or negative direction to a fixed angle of incidence of the sun, with a rotation speed of 0.3° / s; In zeroing mode, the solar panel is controlled to quickly rotate from the forward or reverse direction to the desired zero position, with a rotation rate of 0.3° / s; the desired zero position includes: horizontal zero position and vertical zero position; In the angle servo mode, the sun-direction mechanism rotates to the required specific position and remains in a stopped state; In the stop mode, the sun-directing mechanism stops at any position.

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