A biaxial solar wing control method and device considering flexibility suppression

Abstract

The application discloses a kind of dual-axis solar wing control method and device giving consideration to flexibility inhibition, belong to spacecraft control technical field.Method includes: according to the unit vector of sun in satellite orbit system, the nominal angle of A axis and B axis is calculated respectively;Wherein, the nominal angle of B axis is after discretization processing and according to the flexible vibration inhibition interval determined;The flexible vibration inhibition interval is the angle avoidance interval set to avoid resonance frequency;According to the nominal angle and the rotation angle measurement value of A axis and B axis, the control error of A axis and B axis is calculated;According to satellite imaging state and the state of dual-axis solar wing, the rotation of A axis and B axis is controlled using control error, to eliminate the sun error of dual-axis solar wing.The application can avoid the resonance interval of driving frequency and axial vibration frequency, reduce resonance risk.

Description

Technical Field

[0001] This invention relates to the field of spacecraft control technology, and in particular to a dual-axis solar array control method and device that takes into account both flexibility suppression. Background Technology

[0002] Satellites using dual-axis solar arrays can capture more solar energy. However, compared to the motion control of single-axis solar arrays, the control principles of dual-axis solar arrays are more complex. The A-axis of a dual-axis solar array is aligned with the rotation axis of a single-axis solar array, while the B-axis is a oscillation axis perpendicular to the A-axis. During orbital changes, the B-axis of the solar array faces the risk of resonance between the drive frequency and the axial vibration frequency due to load variations.

[0003] Therefore, there is an urgent need to provide a dual-axis solar array control method that takes into account both flexibility suppression and flexibility control. Summary of the Invention

[0004] This invention provides a dual-axis solar panel control method and device that also considers flexibility suppression. The technical solution is as follows:

[0005] On the one hand, a control method for a dual-axis solar array that also considers flexibility suppression is provided, wherein the dual-axis solar array includes an A-axis and a B-axis; the method includes:

[0006] Based on the unit vector of the sun in the satellite orbit system, the nominal angles of the A-axis and B-axis are calculated respectively; wherein, the nominal angle of the B-axis is determined after discretization based on the flexible vibration suppression interval; the flexible vibration suppression interval is an angle avoidance interval set to avoid the resonance frequency;

[0007] Calculate the control error of the A-axis and B-axis based on the nominal angle and rotation angle measurements of the A-axis and B-axis;

[0008] Based on the satellite imaging status and the status of the dual-axis solar array, the rotation of the A-axis and B-axis is controlled using control errors to eliminate the solar alignment error of the dual-axis solar array.

[0009] On the other hand, a dual-axis solar array control device that also considers flexibility suppression is provided, wherein the dual-axis solar array includes an A-axis and a B-axis; the device includes:

[0010] The first calculation unit is used to calculate the nominal angles of the A-axis and B-axis respectively based on the unit vector of the sun in the satellite orbit system; wherein, the nominal angle of the B-axis is determined according to the flexible vibration suppression interval after discretization; the flexible vibration suppression interval is an angle avoidance interval set to avoid the resonance frequency;

[0011] The second calculation unit is used to calculate the control error of the A-axis and B-axis based on the nominal angle and rotation angle measurements of the A-axis and B-axis;

[0012] The control unit is used to control the rotation of the A-axis and B-axis based on the satellite imaging status and the status of the dual-axis solar array, thereby eliminating the solar alignment error of the dual-axis solar array.

[0013] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing a computer program, and the processor for executing the computer program stored in the memory to implement the steps of the dual-axis solar array control method with consideration of flexibility suppression described above.

[0014] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when executed by a processor, the computer program implements the steps of the dual-axis solar array control method described above, which takes into account flexibility suppression.

[0015] The technical solution provided by this invention can bring at least the following beneficial effects:

[0016] For dual-axis solar array satellites, based on the control logic of single-axis solar arrays, discretization processing and pre-biasing function of B-axis rotation angle have been added. This can avoid frequent switching of B-axis rotation angle, which can cause attitude fluctuations of the entire satellite, and can avoid the resonance range of drive frequency and axial vibration frequency, reducing the risk of resonance. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a dual-axis solar array control method that takes into account flexibility suppression, according to an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the rotation directions of the A and B axes of a dual-axis solar array drive mechanism provided in an embodiment of the present invention;

[0020] Figure 3 This is an example diagram showing the measured values ​​and nominal angles of the rotation angles of the A-axis and B-axis of a dual-axis solar array according to an embodiment of the present invention;

[0021] Figure 4 This is an example diagram illustrating the rotation control mode and direction of the A-axis and B-axis rotation angles of a dual-axis solar array according to an embodiment of the present invention;

[0022] Figure 5This is a schematic diagram of the angle between the normal of a dual-axis solar array and the solar vector, provided in an embodiment of the present invention;

[0023] Figure 6 This is a structural diagram of a dual-axis solar array control device that also takes into account flexibility suppression, according to an embodiment of the present invention;

[0024] Figure 7 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0026] Please refer to Figure 1 This invention provides a dual-axis solar array control method that also considers flexibility suppression. The dual-axis solar array includes an A-axis and a B-axis. The method includes:

[0027] Step 100: Calculate the nominal angles of the A-axis and B-axis based on the unit vector of the sun in the satellite orbit system; wherein, the nominal angle of the B-axis is determined after discretization based on the flexible vibration suppression interval; the flexible vibration suppression interval is an angle avoidance interval set to avoid the resonance frequency.

[0028] Step 102: Calculate the control errors of the A-axis and B-axis based on the nominal angle and rotation angle measurements of the A-axis and B-axis;

[0029] Step 104: Based on the satellite imaging status and the status of the dual-axis solar array, control the rotation of the A-axis and B-axis using control errors to eliminate the solar alignment error of the dual-axis solar array.

[0030] In this embodiment of the invention, for a dual-axis solar array satellite, based on the control logic of a single-axis solar array, discretization processing and pre-biasing function of the B-axis rotation angle are added. This can avoid frequent switching of the B-axis rotation angle, which could cause attitude fluctuations of the entire satellite, and can also avoid the resonance range between the drive frequency and the axial vibration frequency, thus reducing the risk of resonance.

[0031] The following description Figure 1 The execution method for each step is shown.

[0032] First, for step 100, calculate the nominal angles of the A-axis and B-axis based on the unit vector of the sun in the satellite orbit system.

[0033] In this embodiment of the invention, for a dual-axis solar array, axis A is the same as the rotation axis of a single-axis solar array, and axis B is a oscillation axis perpendicular to axis A. Please refer to... Figure 2 This is a schematic diagram showing the rotation directions of the A and B axes of the dual-axis solar panel drive mechanism when the solar panel is in the zero position. Figure 2 In the diagram, the rotation direction of the A-axis is along the -Y axis of the celestial body. B Axis direction. When axis A rotates, it drives axis B to rotate as a whole. When axis A is at zero position, the direction of rotation of axis B is parallel to the +X axis of the celestial body. B The axes are in the same direction. During on-orbit operation, the load and drive characteristics of the A-axis change due to the B-axis angle offset and the A-axis rotation of the dual-axis solar array drive mechanism.

[0034] In this embodiment of the invention, the nominal angle α of axis A is calculated using the following formula. B (unit: rad)

[0035] α B =arctan2(-S Ox ,-S Oz )

[0036] Among them, S Ox S Oy and S Oz S is the unit vector of the Sun in the satellite's orbital system. O Components along the X, Y, and Z axes.

[0037] When calculating the nominal angle of the B-axis, since the drive frequency and axial vibration frequency are prone to resonance due to load changes during the B-axis's orbital movement, the rotation angle of the B-axis can be discretized to remove the flexural vibration suppression range that needs to be avoided. Specifically, the nominal angle of the B-axis is calculated as follows:

[0038] First, the discretized angle of the B-axis is calculated based on the discretized equivalent and the unit vector of the sun in the satellite orbit system.

[0039] The discretized angle of the B-axis is calculated using the following formula:

[0040]

[0041] Where, β B1 The discretized angle of the B-axis, in rad; m StepB `int()` is the discretization equivalent; `int()` is the integer function. In one implementation, this discretization equivalent can be 1° or 2°.

[0042] Then, determine the discretization angle β of the B-axis. B1 With the first angle β P1Second angle β P2 The size relationship; first angle β P1 Second angle β P2 The angles are the two endpoints of the flexible vibration suppression range; and the first angle β P1 Less than the second angle β P2 ;

[0043] If the discretization angle β of the B-axis B1 Not less than 0 and not greater than the first angle β P1 Alternatively, the discretization angle of the B-axis is not less than the second angle β. P2 Then the discretized angle of the B-axis is determined as the nominal angle of the B-axis;

[0044] If the discretization angle β of the B-axis B1 Greater than the first angle β P1 And less than the second angle β P2 Then the first angle β P1 The nominal angle is determined as the B-axis.

[0045] This size relationship and the nominal angle β B The value of can be expressed by the following formula:

[0046]

[0047] In this embodiment of the invention, the nominal angles of both the A-axis and B-axis are calculated based on the unit vector of the sun in the satellite's orbital system, and need to be calculated in real time for updates. Furthermore, the nominal angle of the B-axis is obtained after discretization, which avoids frequent switching of the B-axis rotation angle and the resulting fluctuations in the overall satellite attitude. The nominal angle is determined by the relationship between the discretized angle and the angle avoidance interval, thus pre-biasing the B-axis angle and avoiding the resonance interval between the driving frequency and the axial vibration frequency.

[0048] Then, explanations will be given for step 102, "Calculate the control error of the A-axis and B-axis based on the nominal angle and rotation angle measurement values ​​of the A-axis and B-axis" and step 104, "Control the angular velocity and rotation direction of the dual-axis solar array using the control error based on the satellite imaging state and the state of the dual-axis solar array, so as to eliminate the solar alignment error of the dual-axis solar array".

[0049] In this embodiment of the invention, the control errors of axis A and axis B are calculated based on the difference between the nominal angle and the measured value of the rotation angle.

[0050] Specifically, the control error E of axis A A The value (in rad) is calculated using the following formula:

[0051] E A =MainValue(α)B -α M )

[0052] The function MainValue() performs a modulo operation on the variable, making the function value range from -π to π; α M This is the measured angle of rotation along axis A.

[0053] B-axis control error E B The value (in rad) is calculated using the following formula:

[0054] E B =MainValue(β) B -β M )

[0055] Where, β M This is the measured angle of rotation along the B-axis.

[0056] Please refer to Figure 3 This is an example diagram showing the measured and nominal angles of the rotation angles of the A and B axes of a dual-axis solar array.

[0057] In this embodiment of the invention, after calculating the control error of the A-axis and the control error of the B-axis, a hysteresis feedback method is specifically used to perform cruise control on the A-axis and discrete incremental control on the B-axis to achieve two-dimensional alignment of the solar array normal to the sun.

[0058] In this embodiment of the invention, the control logic for the A-axis and B-axis needs to be determined based on the satellite's imaging state. The satellite's imaging state can be determined using the satellite imaging flag FlgImg. When the satellite imaging flag FlgImg equals 0, the satellite is not in imaging mode; when the satellite imaging flag FlgImg equals 1, the satellite is in imaging mode.

[0059] If the satellite is not in imaging mode, the control logic for axis A is as follows:

[0060] When the A-axis is in positive cruise mode, if the control error E of the A-axis A Greater than threshold m A3 Then the A-axis switches to positive incremental control, continuously controlling int(|E A | / (m AI After ×T)) control cycles, it switches to forward cruise control; if the control error E of axis A... A Less than threshold - m A1 Then the A-axis will rotate to the negative direction to maintain control;

[0061] When the A-axis is in negative cruise mode, if the control error E of the A-axis A Less than threshold - m A3Then the A-axis switches to negative incremental control, continuously controlling int(|E A | / (m AI After ×T)) control cycles, it switches to negative cruise control; if the control error E of axis A... A Greater than threshold m A1 Then the A-axis rotates to the positive direction to maintain control;

[0062] When the A-axis is in a positive or negative hold state, if the control error E of the A-axis A Greater than threshold m A2 Then the A-axis switches to forward cruise control. If the control error of the A-axis E A Less than threshold - m A2 Then the A-axis switches to negative cruise control;

[0063] Where, m AI The A-axis rotational angular velocity under incremental control is expressed in rad / s; T is the control period, expressed in seconds; m A1 m A2 m A3 This is the threshold value for the A-axis control logic, and 0 < m. A1 <m A2 <m A3 ;

[0064] If the satellite is in imaging mode, the control logic for the A-axis is as follows: when the rotation mode of the A-axis is in non-cruising mode, the rotation mode of the A-axis is controlled to change to positive cruising mode.

[0065] If the satellite is not in imaging mode, the control logic for the B-axis is as follows:

[0066] When the B-axis is in a positive hold state, if the control error E of the B-axis B Greater than threshold m B2 Then the B-axis switches to positive incremental control, continuously controlling int(|E B | / (m BI After ×T)) control cycles, it switches to positive hold control; if the control error E of the B-axis B Less than threshold - m B1 Then the B-axis will rotate to the negative direction to maintain control;

[0067] When the B-axis is in a negative hold state, if the control error E of the B-axis B Less than threshold - m B2 Then the B-axis switches to negative incremental control, continuously controlling int(|E B | / (m BI After ×T)) control cycles, it switches to negative hold control; if the control error E of the B-axis B Greater than threshold m B1 Then the B-axis rotates to the positive direction to maintain control;

[0068] Where, m BI The angular velocity of the B-axis under incremental control, in rad / s; m B1 m B2 This is the threshold value for the B-axis control logic, and 0 < m. B1 <m B2 .

[0069] If the satellite is in imaging mode, the control logic for axis A is as follows: when axis B is not in positive incremental control or negative incremental control, the control logic for axis B is followed as when the satellite is not in imaging mode.

[0070] Please refer to Figure 4 and Figure 5 ,in Figure 4 The rotation control mode and direction for the A-axis and B-axis rotation angles of the dual-axis solar array. Figure 5 Let be the angle between the normal to the dual-axis solar array and the solar vector. Calculation results show that the relevant control logic can achieve two-dimensional solar alignment of the solar array normal through cruise control via the A-axis and discrete incremental control via the B-axis of the dual-axis solar array.

[0071] Please refer to Figure 6 This invention provides a dual-axis solar array control device that also considers flexibility suppression. The device includes:

[0072] The first calculation unit 600 is used to calculate the nominal angles of the A-axis and B-axis respectively based on the unit vector of the sun in the satellite orbit system; wherein, the nominal angle of the B-axis is determined according to the flexible vibration suppression interval after discretization; the flexible vibration suppression interval is an angle avoidance interval set to avoid the resonance frequency.

[0073] The second calculation unit 602 is used to calculate the control error of the A-axis and B-axis based on the nominal angle and rotation angle measurement values ​​of the A-axis and B-axis;

[0074] The control unit 604 is used to control the rotation of the A-axis and B-axis based on the satellite imaging status and the status of the dual-axis solar array, using control errors to eliminate the solar alignment error of the dual-axis solar array.

[0075] In one embodiment of the present invention, the nominal angle of the B-axis is calculated as follows:

[0076] Calculate the discretized angle of the B-axis based on the discretized equivalent and the unit vector of the sun in the satellite orbit system;

[0077] Determine the relationship between the discretized angle of the B-axis and the magnitudes of the first and second angles; the first and second angles are the two endpoint angles of the flexible vibration suppression interval; and the first angle is smaller than the second angle.

[0078] If the discretization angle of the B-axis is not less than 0 and not greater than the first angle, or if the discretization angle of the B-axis is not less than the second angle, then the discretization angle of the B-axis is determined as the nominal angle of the B-axis.

[0079] If the discretized angle of the B-axis is greater than the first angle and less than the second angle, then the first angle is determined as the nominal angle of the B-axis.

[0080] In one embodiment of the present invention, the discretized angle of the B-axis is calculated using the following formula:

[0081]

[0082] Where, β B1 The discretized angle of the B-axis, in rad; m StepB S is the discretized equivalent; Ox S Oy and S Oz S is the unit vector of the Sun in the satellite's orbital system. O Components along the X, Y, and Z axes; int() is the floor function.

[0083] In one embodiment of the present invention, if the satellite is not in imaging mode, the control logic for the A-axis is as follows:

[0084] When the A-axis is in positive cruise mode, if the control error E of the A-axis A Greater than threshold m A3 Then the A-axis switches to positive incremental control, continuously controlling int(|E A | / (m AI After ×T)) control cycles, it switches to forward cruise control; if the control error E of axis A... A Less than threshold - m A1 Then the A-axis will rotate to the negative direction to maintain control;

[0085] When the A-axis is in negative cruise mode, if the control error E of the A-axis A Less than threshold - m A3 Then the A-axis switches to negative incremental control, continuously controlling int(|E A | / (m AI After ×T)) control cycles, it switches to negative cruise control; if the control error E of axis A... A Greater than threshold m A1 Then the A-axis rotates to the positive direction to maintain control;

[0086] When the A-axis is in a positive or negative hold state, if the control error E of the A-axis A Greater than threshold m A2 Then the A-axis switches to forward cruise control. If the control error of the A-axis E ALess than threshold - m A2 Then the A-axis switches to negative cruise control;

[0087] Where, m AI The A-axis rotational angular velocity under incremental control is expressed in rad / s; T is the control period, expressed in seconds; m A1 m A2 m A3 This is the threshold value for the A-axis control logic, and 0 < m. A1 <m A2 <m A3 .

[0088] In one embodiment of the present invention, if the satellite is in imaging mode, the control logic for the A-axis is as follows: when the rotation mode of the A-axis is in non-cruising mode, the rotation mode of the A-axis is controlled to change to positive cruising mode.

[0089] In one embodiment of the present invention, if the satellite is not in imaging mode, the control logic for the B-axis is as follows:

[0090] When the B-axis is in a positive hold state, if the control error E of the B-axis B Greater than threshold m B2 Then the B-axis switches to positive incremental control, continuously controlling int(|E B | / (m BI After ×T)) control cycles, it switches to positive hold control; if the control error E of the B-axis B Less than threshold - m B1 Then the B-axis will rotate to the negative direction to maintain control;

[0091] When the B-axis is in a negative hold state, if the control error E of the B-axis B Less than threshold - m B2 Then the B-axis switches to negative incremental control, continuously controlling int(|E B | / (m BI After ×T)) control cycles, it switches to negative hold control; if the control error E of the B-axis B Greater than threshold m B1 Then the B-axis rotates to the positive direction to maintain control;

[0092] Where, m BI The angular velocity of the B-axis under incremental control, in rad / s; m B1 m B2 This is the threshold value for the B-axis control logic, and 0 < m. B1 <m B2 .

[0093] In one embodiment of the present invention, if the satellite is in imaging mode and the B-axis is not under positive incremental control or negative incremental control, then the B-axis is controlled according to the control logic for the satellite when it is not in imaging mode.

[0094] It should be noted that the dual-axis solar array control device with flexibility suppression provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the dual-axis solar array control device with flexibility suppression provided in the above embodiments and the dual-axis solar array control method embodiment with flexibility suppression belong to the same concept. The specific implementation process is detailed in the method embodiment, and will not be repeated here.

[0095] Embodiments of this application also provide a computer device, please refer to... Figure 7 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the dual-axis solar array control method with flexible suppression provided in the above-described method embodiments.

[0096] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the dual-axis solar array control method with flexible suppression provided in the above-described method embodiments.

[0097] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform the dual-axis solar array control method with flexible suppression as described in any of the above embodiments.

[0098] For ease of description, the above systems or devices are described separately as various modules or units based on their functions. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware components.

[0099] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0100] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used only 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. Without further limitations, 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 said element.

[0101] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control method for a dual-axis solar array that also considers flexibility suppression, characterized in that, The dual-axis solar array includes an A-axis and a B-axis; the method includes: Based on the unit vector of the sun in the satellite orbit system, the nominal angles of the A-axis and B-axis are calculated respectively; wherein, the nominal angle of the B-axis is determined after discretization based on the flexible vibration suppression interval; the flexible vibration suppression interval is an angle avoidance interval set to avoid the resonance frequency; Calculate the control error of the A-axis and B-axis based on the nominal angle and rotation angle measurements of the A-axis and B-axis; Based on the satellite imaging status and the status of the dual-axis solar array, the rotation of the A-axis and B-axis is controlled using control errors to eliminate the solar alignment error of the dual-axis solar array; The nominal angle of axis A is calculated using the following formula. α B Unit: rad in, S Ox , S Oy and S Oz The unit vector of the Sun in the satellite's orbital system S O Components along the X, Y, and Z axes; The nominal angle of the B-axis is calculated as follows: Calculate the discretized angle of the B-axis based on the discretized equivalent and the unit vector of the sun in the satellite orbit system; Determine the relationship between the discretized angle of the B-axis and the magnitudes of the first and second angles; the first and second angles are the two endpoint angles of the flexible vibration suppression interval; and the first angle is smaller than the second angle. If the discretization angle of the B-axis is not less than 0 and not greater than the first angle, or if the discretization angle of the B-axis is not less than the second angle, then the discretization angle of the B-axis is determined as the nominal angle of the B-axis. If the discretized angle of the B-axis is greater than the first angle and less than the second angle, then the first angle is determined as the nominal angle of the B-axis. The discretized angle of the B-axis is calculated using the following formula: in, β B1 The discretized angle of the B-axis is expressed in rad. m StepB `int()` is the discretization equivalent; `int()` is the integer function.

2. The method according to claim 1, characterized in that, If the satellite is not in imaging mode, the control logic for axis A is as follows: When the A-axis is in positive cruise mode, if the control error of the A-axis E A Greater than the threshold m A3 Then the A-axis switches to positive incremental control, continuously controlling int(| E A | / ( m AI × T After 10 control cycles, it switches to forward cruise control; if the control error of axis A is... E A Less than threshold - m A1 Then the A-axis will rotate to the negative direction to maintain control; When the A-axis is in negative cruise mode, if the control error of the A-axis E A Less than threshold - m A3 Then the A-axis switches to negative incremental control, continuously controlling int(| E A | / ( m AI × T After 10 control cycles, it switches to negative cruise control; if the control error of axis A... E A Greater than the threshold m A1 Then the A-axis rotates to the positive direction to maintain control; When the A-axis is in a positive or negative hold state, if the control error of the A-axis... E A Greater than the threshold m A2 Then the A-axis switches to forward cruise control; if the control error of the A-axis... E A Less than threshold - m A2 Then the A-axis switches to negative cruise control; in, m AI The angular velocity of axis A under incremental control, in rad / s; T The control period is expressed in seconds (s). m A1 , m A2 , m A3 This is the judgment threshold for the A-axis control logic, and .

3. The method according to claim 1, characterized in that, If the satellite is in imaging mode, the control logic for the A-axis is as follows: when the rotation mode of the A-axis is in non-cruising mode, the rotation mode of the A-axis is controlled to change to positive cruising mode.

4. The method according to claim 1, characterized in that, If the satellite is not in imaging mode, the control logic for the B-axis is as follows: When the B-axis is in a positive hold state, if the control error of the B-axis E B Greater than the threshold m B2 Then the B-axis switches to positive incremental control, continuously controlling int(| E B | / ( m BI × T After 10 control cycles, it switches to positive hold control; if the control error of the B-axis... E B Less than threshold - m B1 Then the B-axis will rotate to the negative direction to maintain control; When the B-axis is in a negative hold state, if the control error of the B-axis E B Less than threshold - m B2 Then the B-axis switches to negative incremental control, continuously controlling int(| E B | / ( m BI × T After 10 control cycles, it switches to negative hold control; if the control error of the B-axis... E B Greater than the threshold m B1 Then the B-axis rotates to the positive direction to maintain control; in, m BI The angular velocity of the B-axis under incremental control, in rad / s; m B1 , m B2 The threshold value for the B-axis control logic is [value], and .

5. The method according to claim 4, characterized in that, If the satellite is in imaging mode, and the B-axis is not under positive or negative incremental control, then the control logic for the B-axis will be followed as when the satellite is not in imaging mode.

6. A dual-axis solar array control device that also considers flexibility suppression, characterized in that, For performing the method as described in any one of claims 1-5 above, the dual-axis solar array includes an A-axis and a B-axis; the device comprises: The first calculation unit is used to calculate the nominal angles of the A-axis and B-axis respectively based on the unit vector of the sun in the satellite orbit system; wherein, the nominal angle of the B-axis is determined according to the flexible vibration suppression interval after discretization; the flexible vibration suppression interval is an angle avoidance interval set to avoid the resonance frequency; The second calculation unit is used to calculate the control error of the A-axis and B-axis based on the nominal angle and rotation angle measurements of the A-axis and B-axis; The control unit is used to control the rotation of the A-axis and B-axis based on the satellite imaging status and the status of the dual-axis solar array, thereby eliminating the solar alignment error of the dual-axis solar array.

7. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-5.

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