Solar panel sun pointing control method and device, electronic equipment, computer readable medium and computer program product

Abstract

The application provides a sun tracking control method and device of a solar panel, electronic equipment and a computer readable medium, wherein the method comprises: acquiring a thrust direction of a satellite; determining a yaw angle of the satellite based on the thrust direction of the satellite; determining a working mode of the satellite based on the yaw angle; acquiring a sun elevation angle and / or a sun azimuth angle of the satellite; in response to the working mode of the satellite, determining a roll angle, a pitch angle and a rotation angle of a solar panel driving mechanism of the satellite based on the sun elevation angle and / or the sun azimuth angle; and driving the solar panel to continuously rotate and realize sun tracking based on the roll angle, the pitch angle and the rotation angle. The application realizes attitude control and continuous and accurate sun tracking of the satellite during on-orbit operation, and has the advantages of simple attitude control algorithm and sun tracking algorithm.

Description

Technical Field

[0001] This invention belongs to the technical field of satellite solar panel control, specifically relating to a solar panel sun-pointing control method, device, electronic equipment, computer-readable medium, and computer program product. Background Technology

[0002] For the orbital operation of low Earth Orbit (LEO) satellites, electric propulsion, as an actuator for orbital control, has the characteristics of long life and high specific impulse. However, due to its relatively small thrust, the satellite needs to provide sufficient energy supply to carry out continuous ignition.

[0003] Solar panels are a type of power supply device for satellites, converting solar energy into electrical energy through the photoelectric effect to continuously power the satellite. Since the angle between the orbital plane of a low-Earth orbit communication satellite and the solar vector (i.e., the solar altitude angle) often varies periodically between -90° and 90°, common design solutions to ensure continuous energy supply include: using a two-dimensional solar panel drive mechanism or a single-axis solar panel drive mechanism. For the former, the drive mechanism itself is relatively complex, which is detrimental to maintaining the reliability of the satellite's overall system; for the latter, the common practice is to achieve continuous energy supply through intermittent rotation of the drive mechanism, leading to frequent start-stop cycles. This is detrimental to the solar panel's alignment with the sun during satellite orbit, thus reducing the satellite's solar alignment accuracy. Summary of the Invention

[0004] The main objective of this application is to provide a method, device, electronic device, computer-readable medium, and computer program product for controlling the sun-pointing of a solar panel, in order to solve the problem of low sun-pointing accuracy of solar panels during satellite orbit operation in the prior art.

[0005] To address the aforementioned technical problems, in a first aspect, this application provides a method for controlling the solar panel's sun-pointing, comprising: acquiring the thrust direction of a satellite; determining the yaw angle ψ of the satellite based on the thrust direction; determining the operating mode of the satellite based on the yaw angle ψ; acquiring the solar altitude angle β and / or solar azimuth angle α of the satellite; in response to the operating mode of the satellite, determining the roll angle φ, the pitch angle θ of the satellite, and the rotation angle δ of the solar panel drive mechanism based on the solar altitude angle β and / or solar azimuth angle α; and driving the solar panel to rotate continuously and achieve sun-pointing based on the roll angle φ, the pitch angle θ, and the rotation angle δ.

[0006] Secondly, this application also provides a solar panel pointing control device, comprising: a first acquisition module configured to acquire the thrust direction of a satellite; a yaw module configured to determine the yaw angle ψ of the satellite based on the thrust direction of the satellite; a first determination module configured to determine the operating mode of the satellite based on the yaw angle ψ; a second acquisition module configured to acquire the solar altitude angle β and / or solar azimuth angle α of the satellite; a second determination module configured to, in response to the operating mode of the satellite, determine the roll angle φ, the pitch angle θ of the satellite, and the rotation angle δ of the solar panel drive mechanism based on the solar altitude angle β and / or the solar azimuth angle α; and a drive module configured to drive the solar panel to rotate continuously and achieve pointing towards the sun based on the roll angle φ, the pitch angle θ, and the rotation angle δ.

[0007] Thirdly, this application provides an electronic device, comprising: a memory configured to store a program or instructions executed by a processor; and a processor configured to execute the program or instructions to implement the steps of the solar panel sun-pointing control method as described in the first aspect.

[0008] Fourthly, this application provides a computer-readable medium storing a program or instructions that, when executed by a processor, implement the steps of the solar panel sun-pointing control method as described in the first aspect.

[0009] Fifthly, this application provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the solar panel sun-pointing control method as described in the first aspect.

[0010] Compared with the prior art, this application has the following advantages: by reasonably configuring the thrust direction of the thruster to determine the satellite's working mode, and controlling the satellite's attitude angle and the rotation angle of the solar panel drive mechanism according to different working modes, it avoids the complexity of the drive mechanism and the frequent start and stop of the drive mechanism, realizing attitude control and continuous and accurate sun pointing during the satellite's on-orbit operation, while ensuring the simplicity of the attitude control algorithm and the sun pointing algorithm. Attached Figure Description

[0011] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings:

[0012] Figure 1 This is a schematic diagram of the structure of a satellite according to an embodiment of this application;

[0013] Figure 2 This is a flowchart illustrating a method for controlling the sun orientation of a solar panel according to an embodiment of this application.

[0014] Figure 3 This is a schematic diagram illustrating the relationship between the solar altitude angle β and the solar azimuth angle α and the coordinate system of the satellite's orbit, according to an embodiment of this application.

[0015] Figure 4 This is a schematic diagram of the satellite's operational state along the positive direction (+x0 direction) of the flight direction, according to an embodiment of this application.

[0016] Figure 5 This is a schematic diagram of the satellite's operational state when the satellite thrust is in the negative direction (-x0 direction) of the flight direction, according to an embodiment of this application.

[0017] Figure 6 This is a schematic flowchart illustrating the process of determining the roll angle φ, pitch angle θ, and rotation angle δ of the solar panel drive mechanism of a satellite in the first mode according to an embodiment of this application.

[0018] Figure 7 This is a schematic diagram showing the changes in solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 10° and the thrust is in the positive direction of flight (ψ=0°) according to an embodiment of this application.

[0019] Figure 8 This is a schematic diagram showing the changes in solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 10° and the thrust is in the negative direction of flight (ψ=180°) according to an embodiment of this application.

[0020] Figure 9 This is a schematic diagram showing the changes in solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 59° and the thrust is in the positive direction of flight (ψ=0°) according to an embodiment of this application.

[0021] Figure 10 This application embodiment shows the variation curves of the solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 59° and the thrust is in the negative direction of flight (ψ=180°);

[0022] Figure 11 This is a schematic diagram showing the changes in solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 86° and the thrust is in the positive direction of flight (ψ=0°) according to an embodiment of this application.

[0023] Figure 12 This is a schematic diagram showing the changes in solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 86° and the thrust is in the negative direction of flight (ψ=180°) according to an embodiment of this application.

[0024] Figure 13This is a schematic diagram of the satellite's operational state along the positive normal direction (-y0 direction) of the orbital plane, as described in an embodiment of this application.

[0025] Figure 14 This is a schematic diagram of the satellite's operational state along the negative normal direction (+y0 direction) of the orbital plane, according to an embodiment of this application.

[0026] Figure 15 This is a schematic flowchart illustrating the process of determining the roll angle φ, pitch angle θ, and rotation angle δ of the solar panel drive mechanism when the satellite is in the second mode according to an embodiment of this application.

[0027] Figure 16 This is a schematic diagram showing the variation curves of the solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 10° and the thrust is along the positive normal direction of the running track surface (ψ=-90°).

[0028] Figure 17 This is a schematic diagram showing the variation curves of the solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 59° and the thrust is along the negative normal direction (ψ=90°) of the running track surface, according to an embodiment of this application.

[0029] Figure 18 This is a schematic diagram showing the variation curves of the solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 86° and the thrust is along the positive normal direction of the running track plane (ψ=-90°).

[0030] Figure 19 This is a schematic diagram showing the variation curves of the solar azimuth angle α, roll angle φ, and rotation angle δ when the solar altitude angle β is approximately 86° and the thrust is along the negative normal direction (ψ=90°) of the running track surface, according to an embodiment of this application.

[0031] Figure 20 This is a schematic diagram of the structure of a solar panel sun-pointing control device according to an embodiment of this application;

[0032] Figure 21 This is a schematic diagram of an electronic device shown in an embodiment of this application. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. However, the embodiments described below are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application. Unless obvious from the context or otherwise, the same reference numerals in the figures represent the same structures or operations.

[0034] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0035] Flowcharts are used in this application to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, various steps can be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more steps may be removed from these processes.

[0036] Please see Figure 1 Some embodiments of this application include a satellite 100. The satellite 100 includes a satellite body 101, a thruster 102, a solar panel 103, and a single-axis solar panel drive assembly 104 (SADA). For ease of subsequent description, the satellite body 101 of this application is defined as an axisymmetric structure, and a rectangular coordinate system with the center of mass of the satellite 100 as its origin is established, i.e., the center-of-mass coordinate system of the satellite 100; wherein, it is specified that... Figure 1 In the coordinate system, the upward arrow along the length of the satellite body 101 is the direction of the +X axis, the rightward arrow along the width of the satellite body 101 is the direction of the +Y axis, and the direction extending perpendicular to the XY plane and into the plane of the paper is the direction of the +Z axis. Unless otherwise specified, the coordinate axes represented by "X", "Y", and "Z" in this application all belong to the satellite's centroid coordinate system.

[0037] The thruster 102 of this application is located at the end of the satellite body 101 in the -X direction. A pair of solar panels 103 and a single-axis solar panel drive mechanism 104 are symmetrically arranged on both sides of the satellite body 101 in the Y direction. The single-axis solar panel drive mechanism 104 on each side connects the corresponding solar panel 103 to the satellite body 101. When the satellite 100 is in operation, the attitude of the satellite 100 is controlled by the thrust direction generated by the thruster 102. The attitude angles of the satellite body 101 (yaw angle ψ, roll angle φ, and pitch angle θ) and the rotation angle of the single-axis solar panel drive mechanism 104 must not only meet the attitude requirements of the satellite 100, but also achieve the sun-pointing of the solar panels 103.

[0038] In some embodiments of this application, the thrust generated by the thruster 102 is directed along the +X-axis or -X-axis, and the rotation axis of the single-axis solar panel drive mechanism 104 is parallel to the Y-axis. It is understood that the thrust direction should always remain perpendicular to the rotation axis of the single-axis solar panel drive mechanism 104.

[0039] In some embodiments of this application, the yaw angle ψ, roll angle φ, and pitch angle θ all represent the attitude angles of the satellite body 101 relative to the satellite's center of mass orbital coordinate system. The rotation sequence of the satellite body 101 is yaw-pitch-roll, where the yaw angle ψ represents the angle of rotation of the satellite body 101 around the Z-axis, the roll angle φ represents the angle of rotation of the satellite body 101 around the X-axis, and the pitch angle θ represents the angle of rotation of the satellite body 101 around the Y-axis.

[0040] In some embodiments of this application, the rotation angle δ represents the rotation angle of the single-axis solar panel drive mechanism 104 about the line containing the Y-axis. When the single-axis solar panel drive mechanism 104 is in the zero position (i.e., it does not rotate relative to the satellite body 101), that is, when the rotation angle δ of the solar panel drive mechanism is 0°, the positive normal direction of the solar panel 103 (the direction the battery surface faces) is set as the -Z-axis direction.

[0041] For ease of description, we define from Figure 1 When looking from the direction of the solar panel 103 on the +Y side of the satellite body 101 towards the single-axis solar panel drive mechanism 104 on the +Y side, the counterclockwise direction is the positive rotation direction of the single-axis solar panel drive mechanism 104, and the clockwise direction is the negative rotation direction of the single-axis solar panel drive mechanism 104. Similarly, when looking from the direction of the solar panel 103 on the -Y side of the satellite body 101 towards the single-axis solar panel drive mechanism 104 on the -Y side, the counterclockwise direction is the positive rotation direction of the single-axis solar panel drive mechanism 104, and the clockwise direction is the negative rotation direction of the single-axis solar panel drive mechanism 104. In other words, regardless of whether it is the +Y side or the -Y side of the single-axis solar panel drive mechanism 104, the counterclockwise direction is the positive rotation direction, and the clockwise direction is the negative rotation direction.

[0042] Furthermore, the rotation angle δ of the single-axis solar panel drive mechanism 104 is defined to be in the range of -180° to 180°. A rotation angle δ = -180° indicates that the single-axis solar panel drive mechanism 104 has rotated 180° clockwise relative to the zero position, and a rotation angle δ = 180° indicates that the single-axis solar panel drive mechanism 104 has rotated 180° counterclockwise relative to the zero position. It can be understood that "single-axis" indicates that the two single-axis solar panel drive mechanisms 104 rotate simultaneously around the same axis of rotation at all times. That is, from the perspective of an external observer, the solar panels 103 on both sides always maintain the same direction of rotation. Moreover, the positions of the solar panels 103 in the satellite's center-of-mass coordinate system are the same in both cases of δ = -180° and δ = 180°.

[0043] It is understandable that, since the single-axis solar panel drive mechanisms 104 on the +Y and -Y sides of the satellite body 101 are symmetrically installed, when the rotation angle of the single-axis solar panel drive mechanism 104 on the +Y side and the rotation angle of the single-axis solar panel drive mechanism on the -Y side are the same in magnitude but opposite in direction (relative to their respective reference directions), the positive normal directions of the solar panels 103 on both sides are the same. That is, the rotation angle of the solar panel drive mechanism on the -Y side is equal to the negative of the rotation angle of the solar panel drive mechanism on the +Y side. To avoid ambiguity, the rotation angle δ of the solar panel drive mechanism described below refers to the rotation angle of the single-axis solar panel drive mechanism 104 on the +Y side. Please refer to... Figure 2 This application provides a solar panel sun-pointing control method 200, comprising:

[0044] Step S210: Obtain the thrust direction of the satellite;

[0045] Step S220: Determine the satellite's yaw angle ψ based on the satellite's thrust direction;

[0046] Step S230: Determine the satellite's operating mode based on the yaw angle ψ;

[0047] Step S240: Obtain the satellite's solar elevation angle β and / or solar azimuth angle α;

[0048] Step S250, in response to the satellite's operating mode, determine the satellite's roll angle φ, the satellite's pitch angle θ, and the rotation angle δ of the solar panel drive mechanism based on the solar altitude angle β and / or the solar azimuth angle α.

[0049] Step S260: Based on the roll angle φ, pitch angle θ, and rotation angle δ, drive the solar panel to rotate continuously and achieve sun orientation.

[0050] Please see Figure 3In some embodiments, the solar altitude angle β and the solar azimuth angle α represent the relative positional relationship between the satellite and the sun during operation. Specifically, the satellite's center-of-mass orbital coordinate system is defined as a three-dimensional coordinate system of x0-y0-z0, where the origin represents the satellite's center of mass, the x0-z0 plane represents the satellite's orbital plane, and the y0 axis is parallel to and opposite in direction to the normal of the orbital plane. Then: the solar altitude angle β is the angle between the solar vector vector and the satellite's orbital plane. When the y0 component of the solar vector vector is negative (i.e., the projection of the solar vector vector onto the y0 axis points in the -y0 direction), the solar altitude angle β is positive; otherwise, it is negative. The solar azimuth angle α is the angle between the projection vector' of the solar vector vector onto the x0-z0 plane of the satellite's orbital plane and the z0 axis of the satellite's center-of-mass orbital coordinate system. The solar azimuth angle α in the +z0 / +x0 / -z0 half-plane is defined as positive, while the solar azimuth angle α in the +z0 / -x0 / -z0 half-plane is negative. The solar azimuth angle α characterizes the change in the relative position between the sun and the satellite.

[0051] Generally, during the satellite's on-orbit operation relative to the Earth, the solar altitude angle β varies periodically between -90° and 90°, and the solar azimuth angle α varies periodically between -180° and 180°. Unless otherwise specified, the coordinate axes represented by "x0", "y0", and "z0" in this application all belong to the satellite's center-of-mass orbital coordinate system; and when the satellite maintains its Earth-pointing orientation, that is, when the satellite's roll angle φ, pitch angle θ, and yaw angle ψ are all 0, the directions of +x0, +y0, and +z0 in the satellite's center-of-mass orbital coordinate system are in the same direction as the directions of +X, +Y, and +Z in the satellite's center-of-mass body coordinate system, respectively.

[0052] This application proposes a solar panel sun-pointing control method, which, compared to the traditional dual-axis solar panel control method (where the satellite's attitude angles are kept constant by maintaining its Earth-pointing orientation, i.e., roll angle φ=0, pitch angle θ=0, yaw angle ψ=0) and manipulating two solar panel rotation mechanisms separately to maintain the satellite's sun-pointing), and compared to the traditional single-axis solar panel control method (where the lack of continuous solar panel energy acquisition leads to frequent start-stop of the solar panel drive mechanism), this application determines the satellite's corresponding operating mode by rationally configuring the thruster's thrust direction. Based on different operating modes, it controls the satellite's attitude angle and the rotation angle of the solar panel drive mechanism accordingly. This avoids both the complexity of the drive mechanism and frequent start-stop of the drive mechanism, achieving attitude control and continuous, precise sun-pointing during satellite on-orbit operation. It also has the advantages of simple attitude control and sun-pointing algorithms.

[0053] The steps S210 to S260 described above will be explained in detail below with reference to specific embodiments.

[0054] In some embodiments, in step S240, the solar altitude angle β and / or solar azimuth angle α of the satellite are calculated based on the sun's position and preset satellite orbital data. For low-Earth orbit satellites, their trajectory can generally be considered as an elliptical orbit around the Earth, which can be described by six Kepler orbital parameters, including: right ascension of the ascending node Ω, orbital inclination i, argument of perigee ω, semi-major axis a, eccentricity e, and the satellite's true anomaly v.

[0055] It is understandable that during the satellite's orbit around the Earth, the relative position between the satellite and the sun changes constantly, and the solar altitude angle β and solar azimuth angle α also change in real time. Therefore, it is necessary to calculate in real time and select appropriate solar altitude angle β and / or solar azimuth angle α according to the conditions, so as to ensure that the satellite body is always within the set orbital range.

[0056] In some embodiments, in step S230, the satellite's operating mode includes a first mode, and the yaw angle of the satellite body corresponding to the first mode is 0° or 180°.

[0057] Please see Figure 4 and Figure 5 When a satellite needs to accelerate in the positive direction (+x0 direction of the orbital plane) during its operation, it is in the ascending process. The thrust is continuously output in the x0 direction of the orbital plane, so the yaw angle ψ of the satellite body is 0°, that is, the satellite body remains in the direction of the Earth. When the satellite needs to accelerate in the negative direction (-x0 direction of the orbital plane), it is in the descending process. Since the thruster cannot directly generate a backward traction force, the satellite body needs to turn. That is, the XY plane in which the satellite body is located rotates 180° clockwise or counterclockwise around the Z axis in its plane, so that the yaw angle ψ of the satellite body becomes 180°, the satellite becomes yawed, and thus the thrust is continuously output in the -X direction of the orbital plane.

[0058] Please see Figure 6 In some embodiments, after determining that the satellite is in the first mode, step S250 further includes the following steps:

[0059] Step S251, in response to the first mode, set a first solar altitude angle β1 and a second solar altitude angle β2, wherein the first solar altitude angle β1 and the second solar altitude angle β2 satisfy... ;

[0060] Step S253: Based on the first solar altitude angle β1 and the second solar altitude angle β2, divide the satellite's controlled angle range. The controlled angle range includes a first controlled angle range, a second controlled angle range, and a third controlled angle range. The first controlled angle range includes... The second controlled angle range includes The third controlled angle range includes ;

[0061] In step S255, in response to the first controlled angle interval, the second controlled angle interval, and the third controlled angle interval, the roll angle φ, pitch angle θ, and rotation angle δ are determined accordingly.

[0062] Understandably, by dividing the range of solar altitude angle β, corresponding control methods for satellite attitude control and solar panel rotation are set for different ranges of solar altitude angle β. That is, segmented control is carried out for different solar altitude angles β, thereby ensuring that the attitude control of the satellite body meets the requirements during the forward / backward flight along the orbit, and also achieving high solar alignment accuracy of the solar panels.

[0063] In some embodiments, step S255 further includes:

[0064] In the first angle control step, in response to the first controlled angle range, the roll angle φ, pitch angle θ, and rotation angle δ are determined according to the following formulas:

[0065] ,

[0066] or .

[0067] Specifically, when the thrust direction is positive along the satellite's flight direction ( ) or negative ( In some embodiments, this corresponds to the solar altitude angle. In this case, the first solar altitude angle β1 is set to an angle with a small absolute value (<30°), which also means that the solar incidence angle on the solar panels is relatively large. Since the charge of the solar panels is positively correlated with the solar incidence angle, the satellite body only needs to maintain a relatively stable motion state to ensure the minimum required energy supply. Therefore, the roll angle of the satellite body is set accordingly. And pitch angle .

[0068] In addition, the single-axis solar panel drive mechanism rotates at a set angle. ( )or ( The solar panel is driven to rotate continuously. At this time, the rotation angle δ is only related to the solar azimuth angle α. Therefore, the single-axis solar panel drive mechanism rotates in an approximately linear motion mode, which meets the requirements of satellite attitude during on-orbit operation and realizes the precise alignment of the solar panel with the sun.

[0069] In some embodiments, for a low-Earth orbit satellite in a circular orbit with an altitude of 800 km and an inclination of 89°, in response to a first mode (yaw angle ψ = 0° or 180°), a first solar altitude angle β1 = 20° can be set, and the corresponding first controlled angle range is: During this stage, the change curves of the satellite's attitude angle control and the rotation angle control of the drive mechanism are as follows.

[0070] Please see Figure 7 When the solar altitude angle β during satellite operation is approximately 10° (9.92°~10°), if the thrust is in the positive direction of flight (ψ=0°), within one orbital period (e.g., T=6052s): Since the low-Earth orbit satellite is in a circular orbit, the curve of the solar azimuth angle α is a linear function with a slope greater than 0, ranging from -180° to 180°; the roll angle φ of the satellite body is always 0°, and its curve is a constant function; the curve of the rotation angle δ of the single-axis solar panel drive mechanism is a linear function, specifically, between t=0~3026s and between t=3026~6052s, the curve of the rotation angle δ is a linear function with a slope greater than 0. It is understood that due to scale limitations, the coordinates of some function graphs and extreme points are not fully shown in the figure, and the same applies below.

[0071] It should be noted that the embodiments of this application have made some adjustments to the variation curve of the rotation angle δ between time t=0~6052s. Specifically, for the original variation curve portion where the rotation angle δ is less than -180°, the entire curve is shifted "up" by 360° (2π) along the vertical axis; for the original variation curve portion where the rotation angle δ is greater than 180°, the entire curve is shifted "down" by 360° (2π) along the vertical axis. It can be understood that a single-axis solar panel drive mechanism rotating a certain angle in the positive direction (counterclockwise) is equivalent to rotating 360° minus that angle in the negative direction (clockwise), and vice versa. That is, only the range of the function is adjusted with a period of 2π, without affecting the overall trend of the function's variation.

[0072] Please see Figure 8When the solar altitude angle β during satellite operation is approximately 10° (9.92°~10°), if the thrust is in the negative direction of flight (ψ=180°), within one orbital cycle: the curves of the change of solar azimuth angle α and the roll angle φ of the satellite body are the same as the curves of the change when the thrust is in the positive direction of flight (ψ=0°); while the curve of the change of rotation angle δ is symmetrical about the linear axis with respect to the curve of the change of δ when the thrust is in the positive direction of flight. That is, between t=0~3026s and between t=3026~6052s, the curve of the change of rotation angle δ is a linear function with a slope less than 0.

[0073] In some embodiments, step S255 further includes:

[0074] The second angle control step, in response to the second controlled angle range, determines the roll angle φ, pitch angle θ, and rotation angle δ according to the following formulas:

[0075] ,

[0076] or

[0077] ,

[0078] in, For symbolic functions, specifically:

[0079] .

[0080] Specifically, when the thrust direction is positive along the satellite's flight direction ( ) or negative ( In some embodiments, this corresponds to the solar altitude angle. In this case, the second solar altitude angle β2 is chosen to be a relatively large absolute value (45°≤β2≤60°), which means that the solar incidence angle on the solar panel is relatively small. Relying solely on the rotation of the solar panel drive mechanism cannot guarantee the satellite's energy supply. At this time, the satellite's pitch angle θ=0, while the satellite's roll angle φ and the rotation angle δ of the single-axis solar panel drive mechanism can be controlled in a more complex way. This ensures that the thrust direction meets the expectations, while maintaining the satellite's attitude angle control and the solar panel's precise alignment with the sun during on-orbit operation.

[0081] It is understandable that the function F(y, x) = atan2(y, x) represents the arctangent function in the four quadrants, that is, solving for the arctangent value of y / x. The result represents the angle from the positive x-axis to the coordinate point (x, y), that is, the angle between the vector (x, y) and the positive x-axis, and its range is... .

[0082] In some embodiments, for a low-Earth orbit satellite in a circular orbit with an altitude of 800 km and an inclination of 89°, in response to a first mode (yaw angle ψ = 0° or 180°), a first solar altitude angle β1 = 20° and a second solar altitude angle β2 = 60° are set. The corresponding second controlled angle range is then... During this stage, the change curves of the satellite's attitude angle control and the rotation angle control of the drive mechanism are as follows.

[0083] Please see Figure 9 When the solar altitude angle β is approximately 59° (58.92°~59°), if the thrust is in the positive direction of flight (ψ=0°), within one orbital cycle: the solar azimuth angle α changes as a linear function, ranging from -180° to 180°; the satellite's roll angle φ changes as a trigonometric function, ranging from -121° to -59°, reaching a minimum of -121° at t=3026s and a maximum of -59° at t=0 or 6052s; the rotation angle δ of the single-axis solar panel drive mechanism changes as a piecewise linear function, ranging from -31° to 31°, reaching a maximum of 31° at t=1513s and a minimum of -31° at t=4539s.

[0084] Please see Figure 10 When the solar altitude angle β is approximately 59° (58.92°~59°), if the thrust is in the negative direction of flight (ψ=180°), within one orbital cycle: the variation curve of the solar azimuth angle α is a linear function, ranging from -180° to 180°; the variation curve of the satellite body's roll angle φ is a trigonometric function, ranging from 59° to 121°, reaching a maximum value of 121° at t=3026s and a minimum value of 59° at t=0 or 6052s; the variation curve of the rotation angle δ of the single-axis solar panel drive mechanism is a piecewise linear function, ranging from -31° to 31°, reaching a minimum value of -31° at t=1513s and a maximum value of 31° at t=4539s.

[0085] In some embodiments, step S255 further includes:

[0086] The third angle control step, in response to the third controlled angle range, determines the roll angle φ, pitch angle θ, and rotation angle δ according to the following formulas:

[0087] ,

[0088] or

[0089] ,

[0090] in, For symbolic functions, specifically:

[0091] .

[0092] Specifically, when the thrust direction is positive along the satellite's flight direction ( ) or negative ( In some embodiments, this corresponds to the solar altitude angle. In this scenario, the angle between the satellite's orbital plane and the solar vector gradually approaches its maximum value, and the sun illuminates the satellite's orbital plane almost perpendicularly. At this point, the satellite's pitch angle θ = 0° is maintained, and the rotation angle δ = 0° of the single-axis solar panel drive mechanism is also maintained. On the other hand, the absolute value of the satellite's roll angle φ is set to 90°, and the satellite rotates 90° clockwise or counterclockwise around the X-axis, thereby making the Y-axis of the satellite parallel to the normal direction of the orbital plane. During the satellite's on-orbit operation, attitude angle control and precise solar panel alignment are maintained.

[0093] In some embodiments, for a low-Earth orbit satellite in a circular orbit with an altitude of 800 km and an inclination of 89°, in response to a first mode (yaw angle ψ = 0° or 180°), a first solar altitude angle β1 = 20° and a second solar altitude angle β2 = 60° are set, then the corresponding third controlled angle range is... During this stage, the change curves of the satellite's attitude angle control and the rotation angle control of the drive mechanism are as follows.

[0094] Please see Figure 11 When the solar altitude angle β is approximately 86° (85.92°~86°), if the thrust is in the positive direction of flight (ψ=0°), within one orbital cycle: the variation curve of the solar azimuth angle α is a linear function, with a value range between -180° and 180°; the roll angle φ of the satellite body is always -90°, and the variation curve is a constant function image; the rotation angle δ of the single-axis satellite solar panel drive mechanism is always 0°, and the variation curve is a constant function image.

[0095] Please see Figure 12 When the solar altitude angle β is approximately 86° (85.92°~86°), if the thrust is in the negative direction of flight (ψ=180°), within one orbital cycle: the variation curve of the solar azimuth angle α is a linear function, with a value range between -180° and 180°; the roll angle φ of the satellite body is always 90°, and the variation curve is a constant function image; the rotation angle δ of the single-axis satellite solar panel drive mechanism is always 0°, and the variation curve is a constant function image.

[0096] In some embodiments, in the solar panel solar pointing control method of the present invention, the first solar altitude angle β1 is determined according to the following formula:

[0097] ,

[0098] in, Let T be the satellite's roll angular velocity and T be the satellite's orbital period. It can be understood that if we set... ° / s, T=6052s, then The corresponding first solar altitude angle β1 is ≥ 16.69°.

[0099] In some embodiments, the solar panel pointing control method of the present invention further includes: determining a first energy balance strategy for the satellite, the first energy balance strategy being characterized based on the average charging efficiency η of the solar panel during a single orbital operating cycle.

[0100] Understandably, during the satellite's on-orbit operation, regardless of whether the solar elevation angle β corresponds to the first, second, or third controlled angle interval, the solar panels must ensure that their charging efficiency is greater than or equal to the average charging efficiency η within a single orbital cycle (e.g., T=6052s) to meet the minimum energy requirements for on-orbit operation.

[0101] Specifically, determining the satellite's primary energy balance strategy further includes:

[0102] The first average charging efficiency determination step, in response to the first controlled angle range, determines the first average charging efficiency η1 of the solar panel within the orbital cycle of a single satellite. Specifically,

[0103] ,

[0104] Where ε is the ratio of the illumination period to the orbital period of the satellite in a single orbital cycle;

[0105] The second average charging efficiency determination step, in response to the second controlled angle range, determines the second average charging efficiency η2 of the solar panel within a single orbital operating cycle. Specifically,

[0106] ,

[0107] λ is the angle between the normal to the solar panel and the sun, and λ is determined according to the following formula:

[0108] ,

[0109] ,

[0110] ;

[0111] The third average charging efficiency determination step, in response to the third controlled angle range, determines the third average charging efficiency η3 of the solar panel within a single orbital operating cycle. Specifically...

[0112] ,

[0113] The steps for determining the average charging efficiency of a solar panel involve determining the average charging efficiency η based on the minimum value among the first average charging efficiency η1, the second average charging efficiency η2, and the third average charging efficiency η3. Specifically...

[0114] ,

[0115] in, This represents the minimum average charging efficiency of the solar panel during a single orbital cycle. It is generally a set value; in some embodiments, it is used as a reference value. .

[0116] Specifically, this can be done by targeting the aforementioned first controlled angle range. Second controlled angle range and the third controlled angle range The charging efficiency is calculated using the formula above. The ratio ε of the illumination period to the orbital period is determined by the satellite orbit. Each solar altitude angle β corresponds to a specific ε; for example, ε = 0.65 when β = 0°, ε = 0.66 when β = 20°, and ε = 0.86 when β = 60°. The final calculated first average charging efficiency η1, second average charging efficiency η2, and third average charging efficiency η3 are respectively... , , ,but ,but This indicates that the set first solar altitude angle β1 = 20° and the second solar altitude angle β2 = 60° satisfy the satellite's first energy balance strategy. It is understandable that the function... This represents solving for the arcsine function value of x. This indicates the solution for the inverse cosine function value of x. The specific calculation process for charging efficiency will not be elaborated here.

[0117] In some embodiments, in step S230, the satellite's operating mode further includes a second mode, wherein the yaw angle of the satellite body corresponding to the second mode is 90° or -90°.

[0118] Please see Figure 13 and 14Specifically, at certain moments during satellite operation, such as when adjusting the orbital inclination or the right ascension of the ascending node, the thrust direction may be along the normal direction of the orbital plane: When the thrust direction is along the positive normal direction (-y0 axis direction) of the satellite's orbital plane, the satellite's yaw angle ψ = -90°, and the satellite is in a yaw state, which is equivalent to the satellite rotating around the Z-axis until the +X axis direction of the satellite is parallel to the -y0 direction of the orbital plane; when the thrust direction is along the negative normal direction (+y0 axis direction) of the satellite's orbital plane, the satellite's yaw angle ψ = 90°, and the satellite is in a yaw state, which is equivalent to the satellite rotating around the Z-axis until the +X axis direction of the satellite is parallel to the +y0 axis direction of the orbital plane.

[0119] Please see Figure 15 In some embodiments, after determining that the solar panel is in the second mode, step S250 further includes the following steps:

[0120] Step S252, in response to the second mode, set the third solar altitude angle β3, the third solar altitude angle β3 satisfies ;

[0121] Step S254: Based on the third solar altitude angle β3, divide the satellite's controlled angle range. The controlled angle range includes the fourth controlled angle range and the fifth controlled angle range. The fourth controlled angle range includes... The fifth controlled angle range includes ;

[0122] In step S256, in response to the fourth controlled angle interval and the fifth controlled angle interval respectively, the roll angle φ, pitch angle θ and rotation angle δ are determined accordingly.

[0123] It is understandable that when the thrust direction of the satellite body is along the positive or negative normal direction of the orbital plane, similarly, by dividing the range of solar altitude angle β, corresponding satellite attitude control and solar panel rotation control methods are adopted for different ranges of solar altitude angle β. That is, segmented control is carried out for different solar altitude angles β to meet the requirements of satellite attitude during on-orbit operation, while achieving high solar alignment accuracy of the solar panels.

[0124] In some embodiments, step S256 further includes:

[0125] The fourth angle control step, in response to the fourth controlled angle range, determines the roll angle φ, pitch angle θ, and rotation angle δ according to the following formulas:

[0126] ,

[0127] ;

[0128] or

[0129] ,

[0130] ;

[0131] in, This represents the difference in angular intervals. , and Determine according to the following formula:

[0132] .

[0133] Specifically, when the thrust direction is along the positive normal direction of the running track plane ( ) or negative normal direction ( In some embodiments, this corresponds to the solar altitude angle. In this case, by setting the third solar altitude angle β3 to a value whose absolute value is close to 90°, and using the angular interval difference Δβ, The range is divided into n+1 sub-intervals at equal intervals, thereby enabling segmented control of the satellite's attitude angle and the rotation angle of the single-axis solar panel drive mechanism based on the solar altitude angle β in different sub-intervals, achieving better solar panel pointing accuracy.

[0134] In some embodiments, for a low-Earth orbit satellite in a circular orbit with an altitude of 800 km and an inclination of 89°, in response to the second mode (yaw angle ψ = 90° or -90°), a third solar altitude angle β3 = 85° can be set, and the corresponding fourth controlled angle range is... Meanwhile, setting Δβ=5° and n=16, correspondingly,

[0135] ,

[0136] ,

[0137] And satisfy

[0138] During this stage, the change curves of the satellite's attitude angle control and the rotation angle control of the drive mechanism are as follows.

[0139] Please see Figure 16When the solar β during satellite operation is approximately 10° (9.92°~10°), if the thrust is along the positive normal direction of the orbital plane (ψ=-90°), within one orbital period (T=6052s): the curve of the solar azimuth angle α is a linear function with a slope greater than 0, ranging from -180° to 180°; the curve of the satellite's roll angle φ is a piecewise function, where the curves of φ are monotonically decreasing between t=0~3026s and t=3026~6052s; for the rotation angle δ of the single-axis solar panel drive mechanism, since... , that is Therefore, δ= = .

[0140] Please see Figure 17 When the solar β during satellite operation is approximately 59° (58.92°~59°), if the thrust is along the negative normal direction of the orbital plane (ψ=90°), within one orbital cycle: the curve of the solar azimuth angle α is a linear function with a slope greater than 0, ranging from -180° to 180°; the curve of the satellite's roll angle φ is a piecewise function, where the curves of φ are monotonically increasing between t=0~3026s and t=3026~6052s; for the rotation angle δ of the single-axis solar panel drive mechanism, since... , that is Therefore, δ= = .

[0141] It should be noted that in the embodiments of this application, some adjustments were made to the variation curve of the roll angle φ of the satellite body between time t=0~6052s. Specifically, for the portion of the original variation curve of the roll angle φ less than -180°, the entire curve was shifted "up" by 360° (2π) along the vertical axis; for the portion of the original variation curve of the roll angle φ greater than 180°, the entire curve was shifted "down" by 360° (2π) along the vertical axis. It can be understood that rotating the roll angle φ in the positive direction by a certain angle is equivalent to rotating it in the negative direction by 360° minus that angle, and vice versa. That is, only the range of the function was adjusted with a period of 2π, without affecting the overall trend of the function.

[0142] In some embodiments, step S256 further includes:

[0143] The fifth angle control step, in response to the fifth controlled angle range, determines the roll angle φ, pitch angle θ, and rotation angle δ according to the following formulas:

[0144] ,

[0145] or

[0146] ,

[0147] in, For symbolic functions, specifically:

[0148] .

[0149] In some embodiments, for a low-Earth orbit satellite in a circular orbit with an altitude of 800 km and an inclination of 89°, in response to the second mode (yaw angle ψ = 90° or -90°), a third solar altitude angle β3 = 85° can be set, corresponding to a fifth controlled angle range. During this stage, the change curves of the satellite's attitude angle control and the rotation angle control of the drive mechanism are as follows.

[0150] Please see Figure 18 When the solar altitude angle β is approximately 86° (85.92°~86°), if the thrust is along the positive normal direction of the orbital plane at this time ( Within one orbital cycle: the variation curve of the solar azimuth angle α is a linear function, with a value range between -180° and 180°; the roll angle φ of the satellite body is always 0°, and the variation curve is a constant function image; the rotation angle δ of the single-axis solar panel drive mechanism is always -90°.

[0151] Please see Figure 19 When the solar altitude angle β is approximately 86° (85.92°~86°), if the thrust is along the negative normal direction of the orbital plane at this time ( Within one orbital cycle: the variation curve of the solar azimuth angle α is a linear function, with a value range between -180° and 180°; the roll angle φ of the satellite body is always 0°, and the variation curve is a constant function image; the rotation angle δ of the single-axis solar panel drive mechanism is always 90°.

[0152] In some embodiments, the solar panel pointing control method of the present invention further includes: determining a second energy balance strategy for the satellite, the second energy balance strategy being characterized by the average charging efficiency of the solar panel over a single orbital cycle.

[0153] Specifically, determining the satellite's second energy balance strategy further includes:

[0154] The fourth charging efficiency determination step, in response to the fourth controlled angle interval, determines the fourth average charging efficiency η4 of the solar panel over the orbital period of a single satellite. Specifically,

[0155] ,

[0156] Where ε is the ratio of the illumination period to the orbital period within a single orbital cycle of the satellite. This represents the difference in angular intervals.

[0157] The fifth charging efficiency determination step, in response to the fifth controlled angle interval, determines the fifth average charging efficiency η5 of the solar panel over the orbital period of a single satellite. Specifically,

[0158] ,

[0159] The steps for determining the average charging efficiency of the solar panel involve determining the average charging efficiency of the solar panel within a single orbital operating cycle based on the fourth average charging efficiency η4 and the fifth average charging efficiency η5.

[0160] .

[0161] in, This represents the minimum average charging efficiency of the solar panel during a single orbital cycle. It is generally a set value; in some embodiments, it is used as a reference value. .

[0162] Specifically, this can be addressed separately for the aforementioned fourth controlled angle range. and the fifth controlled angle range The charging efficiency is calculated using the formula above. The ratio ε of the illumination period to the orbital period is determined by the satellite orbit. Each solar altitude angle β corresponds to a specific ε; for example, ε = 0.65 when β = 0°, ε = 0.66 when β = 20°, ε = 0.86 when β = 60°, and ε = 1 when β = 85°. The final calculated fourth average charging efficiency η4 and fifth average charging efficiency η5 are respectively... , ,but , In other words, both the fourth average charging efficiency η4 and the fifth average charging efficiency η5 simultaneously meet the condition of being greater than the minimum average charging efficiency. Under the given conditions, the average charging efficiencies corresponding to the fourth and fifth controlled angle intervals can be determined, which also indicates that the set third solar altitude angle β3 = 85° satisfies the satellite's second energy balance strategy. The specific calculation process will not be elaborated here.

[0163] The solar panel alignment control method described in this application determines the satellite's operating mode based on the thrust direction of the thruster. By using preset first solar altitude angle β1, second solar altitude angle β2, and third solar altitude angle β3, the satellite's on-orbit operation is divided into different solar altitude angle intervals. A segmented control method is adopted for the attitude angle of the satellite body and the rotation angle of the single-axis solar panel drive mechanism corresponding to different solar altitude angles β, thereby achieving high solar alignment accuracy of the solar panel and simultaneously satisfying the energy balance strategy for satellite on-orbit operation.

[0164] It is understood that, unless otherwise specified, the solar panel pointing control method of this application is applicable to all low-Earth orbit satellites, and also to satellites in orbital insertion and operational orbits.

[0165] Please see Figure 20 Another embodiment of this application provides a solar panel sun-pointing control device 300. The device 300 mainly includes: a first acquisition module 310 configured to acquire the thrust direction of a satellite; a yaw module 320 configured to determine the yaw angle ψ of the satellite based on the thrust direction of the satellite; a first determination module 330 configured to determine the working mode of the satellite based on the yaw angle ψ; a second acquisition module 340 configured to acquire the solar altitude angle β and / or solar azimuth angle α of the satellite; a second determination module 350 configured to determine the roll angle φ, the pitch angle θ, and the rotation angle δ of the solar panel drive mechanism of the satellite based on the solar altitude angle β and / or solar azimuth angle α in response to the working mode of the satellite; and a drive module 360 ​​configured to drive the solar panel to rotate continuously and achieve sun-pointing based on the roll angle φ, the pitch angle θ, and the rotation angle δ.

[0166] For details of other operations performed by each module in this embodiment, please refer to the foregoing embodiments, which will not be elaborated here.

[0167] This application proposes a solar panel sun-pointing control device. By rationally configuring the thrust direction of the thruster to determine the corresponding working mode of the satellite, the attitude angle of the satellite and the rotation angle of the solar panel drive mechanism are controlled according to different working modes. This avoids the complexity of the drive mechanism and the frequent start and stop of the drive mechanism, realizing attitude control and continuous and accurate sun-pointing during the satellite's on-orbit operation. It also has the advantages of simple attitude control algorithm and sun-pointing algorithm.

[0168] The solar pointing control device for a solar panel in this application embodiment can be a device, or a component, integrated circuit, or chip in a terminal. The solar pointing control device for a solar panel in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit its application.

[0169] This application also provides an electronic device, including: a memory configured to store a program or instructions executable by a processor; and a processor configured to execute the program or instructions to implement the various processes of the above-described embodiment of the solar panel's sun-pointing control method, and to achieve the same technical effect. To avoid repetition, it will not be described in detail here.

[0170] Figure 21 This is a schematic diagram of an electronic device according to an embodiment of this application. The electronic device 400 may include an internal communication bus 401, a processor 402, a read-only memory (ROM) 403, a random access memory (RAM) 404, and a communication port 405. When applied to a personal computer, the electronic device 400 may also include a hard disk 406. The internal communication bus 401 enables data communication between components of the electronic device 400. The processor 402 can perform judgments and issue prompts. In some embodiments, the processor 402 may consist of one or more processors. The communication port 405 enables data communication between the electronic device 400 and external devices. In some embodiments, the electronic device 400 can send and receive information and data from a network through the communication port 405. The electronic device 400 may also include different forms of program storage units and data storage units, such as the hard disk 406, read-only memory (ROM) 403, and random access memory (RAM) 404, capable of storing various data files used for computer processing and / or communication, as well as possible programs or instructions executed by the processor 402. The result processed by processor 402 is transmitted to the user equipment through communication port 405 and displayed on the user interface.

[0171] The above-mentioned solar panel sun-pointing control method can be implemented as a computer program, stored in hard disk 406, and recorded in processor 402 for execution, so as to implement any of the solar panel sun-pointing control methods in this application.

[0172] This application also provides a computer-readable medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described embodiment of the solar panel sun-pointing control method and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0173] This application also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes a computer program that, when executed by a processor, implements the various processes of the above-described embodiment of the solar panel sun-pointing control method and achieves the same technical effect. To avoid repetition, further details are omitted here.

[0174] Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by a data processing apparatus or for controlling the operation of a data processing apparatus. Alternatively or additionally, the program instructions may be encoded on artificially generated propagation signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information and transmit it to a suitable receiving device for execution by the data processing apparatus.

[0175] When the solar panel sun-pointing control method of this application is implemented as a computer program, it can also be stored as an article of manufacture in a computer-readable storage medium. For example, a computer-readable storage medium may include, but is not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic stripes), optical discs (e.g., compact discs (CDs), digital multifunction discs (DVDs)), smart cards, and flash memory devices (e.g., electrically erasable programmable read-only memory (EEPROM), cards, sticks, key drives). Furthermore, the various storage media described herein can represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media (and / or storage media) capable of storing, containing, and / or carrying code and / or instructions and / or data.

[0176] Suitable computers for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both. However, a computer is not required to have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0177] For those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0178] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0179] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the scope of the essential spirit of this application will fall within the scope of this application.

Claims

1. A method for controlling the sun-pointing of a solar panel, characterized in that, include: Obtain the direction of the satellite's thrust; Based on the thrust direction of the satellite, determine the yaw angle ψ of the satellite; Based on the yaw angle ψ, the operating mode of the satellite is determined, wherein when the yaw angle ψ is 0° or 180°, the operating mode of the satellite is determined to be the first mode; Obtain the solar elevation angle β and / or solar azimuth angle α of the satellite; In response to the satellite's operating mode, based on the solar altitude angle β and / or the solar azimuth angle α, the satellite's roll angle φ, the satellite's pitch angle θ, and the rotation angle δ of the solar panel drive mechanism are determined, wherein this determination step includes: In response to the first mode, a first solar altitude angle β1 and a second solar altitude angle β2 are set, wherein the first solar altitude angle β1 and the second solar altitude angle β2 satisfy... , Based on the first solar altitude angle β1 and the second solar altitude angle β2, the controlled angle range of the satellite is divided. The controlled angle range includes a first controlled angle range, a second controlled angle range, and a third controlled angle range. The first controlled angle range includes... The second controlled angle range includes The third controlled angle range includes ,as well as Responding to the first controlled angle range, the second controlled angle range, and the third controlled angle range respectively, the roll angle φ, the pitch angle θ, and the rotation angle δ are determined accordingly; and Based on the roll angle φ, the pitch angle θ, and the rotation angle δ, the solar panel is driven to rotate continuously and achieve sun orientation.

2. The solar panel sun-pointing control method according to claim 1, characterized in that, In response to the first controlled angle range, the roll angle φ, the pitch angle θ, and the rotation angle δ are determined according to the following formula: ， or 。 3. The solar panel sun-pointing control method according to claim 1, characterized in that, In response to the second controlled angle range, the roll angle φ, the pitch angle θ, and the rotation angle δ are determined according to the following formula: ， or ， in, For symbolic functions, specifically: 。 4. The solar panel sun-pointing control method according to claim 1, characterized in that, In response to the third controlled angle range, the roll angle φ, the pitch angle θ, and the rotation angle δ are determined according to the following formula: ， or ， in, For symbolic functions, specifically: 。 5. The method for controlling the sun-pointing of a solar panel according to any one of claims 1-4, characterized in that, The first solar altitude angle β1 is determined according to the following formula: ， in, Let T be the roll angular velocity of the satellite, and T be the orbital period of the satellite.

6. The method for controlling the sun-pointing of a solar panel according to any one of claims 1-4, characterized in that, It also includes determining a first energy balance strategy for the satellite, the first energy balance strategy being characterized based on the average charging efficiency η of the solar panels over a single orbital cycle, specifically including: In response to the first controlled angle range, the first average charging efficiency η1 of the solar panel during a single orbital cycle of the satellite is determined, specifically, ， Wherein, ε is the ratio of the illumination period of the satellite in a single orbital cycle to the orbital cycle itself; In response to the second controlled angle range, the second average charging efficiency η2 of the solar panel within a single orbital operating cycle is determined, specifically, ， Wherein, λ is the angle between the normal of the solar panel and the sun, and λ is determined according to the following formula. ， ， ； In response to the third controlled angle range, the third average charging efficiency η3 of the solar panel within a single orbital cycle is determined, specifically, ； The average charging efficiency η is determined based on the minimum value among the first average charging efficiency η1, the second average charging efficiency η2, and the third average charging efficiency η3. Specifically, ， in, The minimum average charging efficiency of the solar panel during a single orbital operating cycle.

7. A method for controlling the sun-pointing of a solar panel, characterized in that, include: Obtain the direction of the satellite's thrust; Based on the thrust direction of the satellite, determine the yaw angle ψ of the satellite; Based on the yaw angle ψ, the operating mode of the satellite is determined, wherein when the yaw angle ψ is 90° or -90°, the operating mode of the satellite is determined to be the second mode; Obtain the solar elevation angle β and / or solar azimuth angle α of the satellite; In response to the satellite's operating mode, based on the solar altitude angle β and / or the solar azimuth angle α, the satellite's roll angle φ, the satellite's pitch angle θ, and the rotation angle δ of the solar panel drive mechanism are determined, wherein this determination step includes: In response to the second mode, a third solar altitude angle β3 is set, the third solar altitude angle β3 satisfying , Based on the third solar altitude angle β3, the controlled angle range of the satellite is divided. This controlled angle range includes a fourth controlled angle range and a fifth controlled angle range. The fourth controlled angle range includes... The fifth controlled angle range includes ,as well as Responding to the fourth controlled angle range and the fifth controlled angle range respectively, the roll angle φ, the pitch angle θ, and the rotation angle δ are determined accordingly; and Based on the roll angle φ, the pitch angle θ, and the rotation angle δ, the solar panel is driven to rotate continuously and achieve sun orientation.

8. The solar panel sun-pointing control method according to claim 7, characterized in that, In response to the fourth controlled angle range, the roll angle φ, the pitch angle θ, and the rotation angle δ are determined according to the following formula: ， ； or ， ； in, This represents the difference in angular intervals. The and Determine according to the following formula: 。 9. The solar panel sun-pointing control method according to claim 7, characterized in that, In response to the fifth controlled angle range, the roll angle φ, the pitch angle θ, and the rotation angle δ are determined according to the following formula: ， or ， in, For symbolic functions, specifically: 。 10. The method for controlling the sun-pointing of a solar panel according to any one of claims 7-9, characterized in that, It also includes determining a second energy balance strategy for the satellite, the second energy balance strategy being characterized by the average charging efficiency of the solar panels over a single orbital cycle, specifically including: In response to the fourth controlled angle range, the fourth average charging efficiency η4 of the solar panel during a single orbital cycle of the satellite is determined, specifically, ， Wherein, ε is the ratio of the illumination period of the satellite in a single orbital cycle to the orbital cycle itself. This represents the difference in angular intervals. In response to the fifth controlled angle range, the fifth average charging efficiency η5 of the solar panel during a single orbital cycle of the satellite is determined, specifically, ； Based on the fourth average charging efficiency η4 and the fifth average charging efficiency η5, the average charging efficiency of the solar panel within a single orbital operating cycle is determined. Specifically, ， in, The minimum average charging efficiency of the solar panel during a single orbital operating cycle.

11. A solar panel sun-pointing control device, characterized in that, include: The first acquisition module is configured to acquire the thrust direction of the satellite; The yaw module is configured to determine the yaw angle ψ of the satellite based on the thrust direction of the satellite; The first determining module is configured to determine the operating mode of the satellite based on the yaw angle ψ, wherein when the yaw angle ψ is 0° or 180°, the operating mode of the satellite is determined to be the first mode; The second acquisition module is configured to acquire the solar altitude angle β and / or solar azimuth angle α of the satellite; A second determining module is configured to, in response to the satellite's operating mode, determine the satellite's roll angle φ, the satellite's pitch angle θ, and the rotation angle δ of the solar panel drive mechanism based on the solar altitude angle β and / or the solar azimuth angle α. The second determining module includes: The setting module is configured to, in response to the first mode, set a first solar altitude angle β1 and a second solar altitude angle β2, wherein the first solar altitude angle β1 and the second solar altitude angle β2 satisfy... , The segmentation module is configured to segment the satellite into a controlled angle range based on the first solar altitude angle β1 and the second solar altitude angle β2. The controlled angle range includes a first controlled angle range, a second controlled angle range, and a third controlled angle range. The first controlled angle range includes... The second controlled angle range includes The third controlled angle range includes ,as well as An angle determination module is configured to respond to the first controlled angle range, the second controlled angle range, and the third controlled angle range, respectively, and correspondingly determine the roll angle φ, the pitch angle θ, and the rotation angle δ; and The drive module is configured to drive the solar panel to rotate continuously and achieve sun orientation based on the roll angle φ, the pitch angle θ, and the rotation angle δ.

12. A solar panel sun-pointing control device, characterized in that, include: The first acquisition module is configured to acquire the thrust direction of the satellite; The yaw module is configured to determine the yaw angle ψ of the satellite based on the thrust direction of the satellite; The first determining module is configured to determine the operating mode of the satellite based on the yaw angle ψ, wherein when the yaw angle ψ is 90° or -90°, the operating mode of the satellite is determined to be the second mode; The second acquisition module is configured to acquire the solar altitude angle β and / or solar azimuth angle α of the satellite; A second determining module is configured to, in response to the satellite's operating mode, determine the satellite's roll angle φ, the satellite's pitch angle θ, and the rotation angle δ of the solar panel drive mechanism based on the solar altitude angle β and / or the solar azimuth angle α. The second determining module includes: The setting module is configured to, in response to the second mode, set a third solar altitude angle β3, the third solar altitude angle β3 satisfying , The segmentation module is configured to segment the satellite into controlled angle intervals based on the third solar altitude angle β3. These controlled angle intervals include a fourth controlled angle interval and a fifth controlled angle interval. The fourth controlled angle interval includes... The fifth controlled angle range includes ,as well as An angle determination module is configured to respond to the fourth controlled angle range and the fifth controlled angle range respectively, and correspondingly determine the roll angle φ, the pitch angle θ, and the rotation angle δ; and The drive module is configured to drive the solar panel to rotate continuously and achieve sun orientation based on the roll angle φ, the pitch angle θ, and the rotation angle δ.

13. An electronic device, characterized in that, include: Memory is configured to store programs or instructions executed by the processor; A processor is configured to execute the program or instructions to implement the method as described in any one of claims 1-10.

14. A computer-readable medium, characterized in that, The computer-readable medium stores a program or instructions that, when executed by a processor, implement the method as described in any one of claims 1-10.

15. A computer program product, the computer program product comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-10.

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