High-reliability autonomous unfolding control method for circular solar wing

Abstract

The invention discloses a high-reliability autonomous unfolding control method for a circular solar wing, and the method carries out the modeling of a driving control process of a single solar wing, comprises module design, mode design and parameter configuration, generates a plurality of control objects through a model, carries out the independent control, and achieves the in-orbit fault isolation. A high-real-time important data storage and recovery mechanism is designed, millisecond-level state recovery is realized, a software state machine is designed for a main control node, it is ensured that the state machine can be recovered when a controller is reset / cut, and it is ensured that the whole autonomous deployment control process is recoverable without ground intervention; through high real-time interaction with a bottom-layer driving control component, autonomous fault detection and fault handling are realized, ground intervention is not needed, and a one-button service is provided for expansion control.

Description

Technical Field

[0001] This invention relates to the field of spacecraft control, and in particular to a highly reliable autonomous deployment control method for a circular solar array. Background Technology

[0002] For long-distance deep space exploration, the energy supply of the probe requires high stability and timeliness, while also meeting the high requirement of lightweight probe. The new generation of circular flexible solar arrays can provide stable and efficient energy support for the probe and meet the requirements of lightweight. Compared with traditional solar arrays, the control process of circular flexible solar arrays is more complex and delicate in ground verification tests and in-orbit deployment. Therefore, it is necessary to design a deployment mechanism controller to complete the precise control of the entire deployment process.

[0003] Traditional solar array motion control designs are relatively simple, and their configuration parameters cannot meet the diverse needs of parameter adjustments during the ground verification phase of new solar arrays, as well as the real-time performance and flexibility of normal deployment procedures and fault handling during on-orbit deployment. There is an urgent need for a deployment control method suitable for circular solar arrays to solve the problem of high real-time performance and high reliability deployment control for solar arrays. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a highly reliable autonomous deployment control method for circular solar arrays. This method addresses the issues of high real-time performance and high reliability in solar array deployment control. High real-time performance is mainly reflected in the position control accuracy of the solar array. Even if the control computer malfunctions during deployment, the position recovery accuracy of the solar array is ensured through timely and important data recovery methods. High reliability is reflected in the ability to detect and recover from faults, enabling full recovery in the event of a fault. The invention also enables synchronous and asynchronous control of multiple solar arrays, satisfying both the requirements for synchronous deployment of multiple solar arrays and the requirements for individual fault handling of faulty solar arrays.

[0005] The technical solution of this invention is: to provide a highly reliable autonomous deployment control method for a circular solar array, comprising: Step 1: Construct an autonomous deployment control model for a single solar array; The model consists of: a motion mode conversion control module, a primary deployment detection module, a secondary deployment control module, a jog control module, a motor motion control module, and a fault detection module; The control modes include: jog control mode, secondary deployment control mode, and speed curve control mode based on specified points; Step 2: Based on the autonomous deployment control model in Step 1, instantiate one or more solar arrays, clarify the correlation between solar arrays, and configure and initialize the parameters; Step 3: Use the instantiated solar array autonomous deployment control model to control the deployment of the solar array; specifically including: Step 3-1: Input the control mode into the motion mode conversion control module and enable the corresponding mode control; if it is the secondary expansion control mode, proceed to step 3-2; if it is the speed curve control mode at a specified point, proceed to step 3-3; if it is the jog control mode, proceed to step 3-4. Step 3-2: Execute the deployment detection module to detect the deployment effect of the solar array once. Based on the detection result, proceed to step 3-3 or exit the control mode. Step 3-3: Execute the secondary deployment control module, use the speed value of the current speed curve as the input parameter to call the motor motion control module, and proceed to step 3-5; then, according to the position switch and actual position output by the motor motion control module, switch the state in the deployment process state machine set in the module. The states in the state machine of the unfolding process are designed with important data to ensure the continuity of unfolding. By periodically saving the important data, when the controller is reset or the machine is switched off, the system can directly jump to the interrupted state to continue running by restoring the important data. Step 3-4: Execute the solar wing jog control module, using the desired position and speed, or desired speed and time, as input parameters to call the motor motion control module, and proceed to step 3-5; then, based on the actual position output by the motor motion control module, determine whether the movement is in place, and exit the control mode after it is in place; Steps 3-5: The motor motion control module is called by the upper-level module and interacts with the lower-level motor drive control component at a fixed cycle, sending input parameters to it and receiving the output parameters returned by it. During the execution of the above three expansion modes, the fault detection module is called to perform fault detection. Furthermore, in step 2, the configurable parameters are: The jog control module has configuration parameters including: desired speed, desired position, and desired time. The single-expansion detection module has the following configuration parameters: single-expansion in place switch and in place threshold, and maximum detection time for sequential expansion. The secondary deployment control module includes the following configuration parameters: solar array operating speed curve table, secondary deployment positioning switch and positioning threshold; The fault detection module has the following configuration parameters: current over-limit threshold, position over-limit threshold, and speed over-limit threshold.

[0006] Furthermore, in step 3-2, If the test result is: this solar array is effective in one deployment, and the related solar arrays are effective in one deployment, then proceed to step 3-3; If the test result is: this solar panel is effective when deployed once, but the related solar panels are ineffective when deployed once, after reaching the maximum test time, proceed to step 3-3; If the test result is: the solar panel fails to deploy once and the maximum test duration is reached, then exit the control mode.

[0007] Furthermore, in step 3-3, the process state machine is expanded, specifically including: Secondary Deployment State 1: Perform a primary deployment effect test. If the system automatically switches to the secondary deployment control module after executing the primary deployment test module from the secondary deployment control mode, it will enter secondary deployment state 2 if the primary deployment indicator of the solar array is valid. If the system switches to the secondary deployment control module from the control mode based on the speed curve at a specified point, it will directly enter secondary deployment state 3. Secondary unfolding state 2: Perform waiting delay processing after the first unfolding, count the waiting delay, and save it as important data; Secondary Deployment State 3: Perform a health check on the secondary deployment position switch; if it is currently in position, set it to unhealthy; otherwise, maintain its healthy state and save the health status of the position switch as important data. Secondary Deployment State 4: Execute the power-on command sequence for the solar panel control motors, and autonomously enable secondary deployment, autonomous fault diagnosis, and handling; Secondary Deployment State 5: Running speed curve, incrementing the number of curve movement steps per second by 1, using the number of curve movement steps as an index to obtain the speed in the solar wing running speed curve table, and outputting the obtained speed and desired direction to the motor motion control module to control the motor to start moving according to the desired speed and direction; Each control cycle checks whether the current number of motor revolutions is greater than the preset number of revolutions: If the value is less than 1, continue to determine the motor movement fault. If there is no fault, continue to check the position switch. If a fault occurs, enter the secondary deployment state 10. If the value is greater than 1, the motor stall judgment is performed in each control cycle. If it is, the second deployment state 18 is entered; otherwise, the position switch detection is continued. If any healthy position switch is in position, the second deployment state 6 is entered. In this state, the number of curve motion steps and the number of motor rotations are saved as important data; Secondary Deployment State 6: Set the motor speed to the low-speed range. Check if the motor is stalled in each control cycle. If yes, enter Secondary Deployment State 7; otherwise, maintain this state and continue operation. Secondary unfolding state 7: The number of revolutions when the motor is stalled is used as the starting position for motor reversal. The motor speed is set to the reversal speed value, and the motor is started to enter the reversal state. Each control cycle determines the difference between the current number of motor rotations and the initial number of rotations when the motor is stalled. If this difference reaches the reverse rotation threshold, the motor is controlled to remain at the current number of rotations and enters the secondary unfolding state 8. In this state, the initial number of motor rotations after the motor stalls, as well as the current number of motor rotations, are saved as important data. Secondary Deployment State 8: The position status of the position switches is detected. If any healthy position switch is in position, the system enters Secondary Deployment State 9; if all position switches are not in position, the system enters Secondary Deployment State 19.

[0008] Secondary Deployment Status 9: The secondary deployment process has been completed normally; Secondary Deployment State 10: Secondary deployment resolver fault handling begins. If the autonomous fault diagnosis and handling of secondary deployment is enabled, then proceed to secondary deployment state 11; if the autonomous fault diagnosis and handling of secondary deployment is disabled, proceed to secondary deployment state 20. Secondary Deployment State 11: Perform secondary deployment resolver fault handling, control the motor to test rotate in the retracting direction. If the test rotation is successful, control the motor to continue rotating in the deployment direction in resolver mode, and enter the secondary deployment state 5. If the test rotation fails, enter the secondary deployment state 12. Secondary Deployment State 12: Perform secondary deployment resolver fault handling, set the motor to non-resolver mode, obtain the desired speed value based on the current number of curve movement steps, perform step code acceleration in non-resolver mode until the speed reaches the desired speed value, and enter secondary deployment state 13. Secondary Deployment State 13: Perform secondary deployment resolver fault handling, increment the number of curve motion steps per second by 1, obtain the speed in the curve table and the speed in the solar wing running speed curve table using the number of curve motion steps as the index, and output the obtained speed and desired direction to the motor motion control module to control the motor to start moving according to the desired speed and direction in non-resolver mode. In each control cycle, if any healthy position switch is detected to be in position, the system enters the secondary deployment state 14. In this state, the number of curve motion steps, the number of motor rotations, and the motor non-rotation mode are saved as important data; Secondary Deployment Status 14: Perform secondary deployment resolver fault handling - position switch is in position, switch to low speed range; The motor is controlled to run at a low speed for a preset time, and the accumulated low-speed running time is saved as important data before entering the secondary unfolding state 15. Secondary Deployment State 15: Perform secondary deployment resolver fault handling. The control process is the same as in Secondary Deployment State 7. After the reversal is completed, enter Secondary Deployment State 16. Secondary Deployment State 16: The position status of the position switches is detected. If any healthy switch is in position, the secondary deployment process ends normally and enters the secondary deployment state 17; if all position switches are not in position, the process enters the secondary deployment state 22. Secondary Deployment Status 17: After handling the secondary deployment resolver fault, the secondary deployment process ends normally; Secondary Deployment Status 18: The fault is that the motor is stalled but the solar panel positioning switch is not triggered; record the fault information and end the secondary deployment process; Secondary Deployment Status 19: The fault is that during the secondary deployment locking process, the position switch becomes ineffective after reversal; record the fault information and end the secondary deployment process; Secondary Deployment Status 20: The fault is that the autonomous fault diagnosis status of secondary deployment is prohibited, and the second revolver fault process is entered; the fault information is recorded and the secondary deployment process ends. Secondary Deployment Status 22: The fault is that in non-rotating mode, during the secondary deployment locking process, the position switch becomes ineffective after reversal; record the fault information and end the secondary deployment process.

[0009] Furthermore, the motor motion control module interacts sequentially with the underlying motor drive control component every 10~100ms.

[0010] Furthermore, the important data is saved every 100-500ms.

[0011] Furthermore, the fault detection module detects faults, including solar wing overcurrent detection, current limiting detection, temperature over-limit detection, deployment timeout detection, and deployment position over-limit detection. After detecting the corresponding fault, it outputs a fault icon; when other modules detect the fault icon, they stop the deployment action.

[0012] The present invention also relates to a computer program product that, when executed by a processor, implements the steps of the method as described above.

[0013] The advantages of this invention compared to the prior art are: 1) This invention models the drive control process of a single solar array, including module design, mode design, parameter configuration, etc. Multiple solar arrays can use this model to generate multiple control objects and control them independently, which can realize on-orbit fault isolation and ensure that a single wing failure does not affect the overall deployment effect. 2) This invention achieves millisecond-level state recovery through a high real-time important data saving and recovery mechanism. A software state machine is designed for the main control nodes to ensure that the state machine can be recovered when the controller is reset / switched, and to ensure that the entire autonomous deployment control process can be recovered without ground intervention. 3) This invention achieves autonomous fault detection and fault handling through high real-time interaction with the underlying drive control components, without ground intervention, providing one-click service for deployment control, and achieving millisecond-level timeliness for interaction and fault handling. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the autonomous deployment control model of the solar array of the present invention; Figure 2 This is a schematic diagram of the single-stage detection process of the present invention; Figure 3 This is a schematic diagram of the secondary deployment control process of the present invention. Detailed Implementation

[0015] To better understand the technical solution of the present invention, the specific embodiments of the present invention are described below.

[0016] The highly reliable autonomous deployment control method for circular solar panels proposed in this invention specifically includes the following steps: Step 1: Model the autonomous deployment control process of a single solar array.

[0017] like Figure 1 As shown, the autonomous deployment control model of a single solar array is abstracted into the following modules: solar array motion mode conversion control module, solar array primary deployment detection module, solar array secondary deployment control module, solar array jog control module, solar array motor motion control module, and solar array fault detection module. Based on the usage scenario of spacecraft circular solar array deployment, the designed solar array control modes include solar array secondary control mode, solar array jog control mode, solar array speed curve control mode at a specified point, and shutdown mode. To exit any mode, it is necessary to first enter the shutdown mode and then enter the new control mode.

[0018] The solar array motion mode conversion control module, as the initial trigger module for the deployment process, enters the corresponding mode based on the control mode set by the ground or spacecraft program and calls the corresponding module to control the deployment: The solar wing jog control mode executes the solar wing jog control module, which in turn calls the solar wing motor motion control module. It is suitable for ground tests of deploying and retracting solar wings, as well as for handling on-orbit faults of spacecraft. It controls the motor to run in a speed loop for a specified time, or controls the motor to run in a position loop to a specified position. The solar wing secondary control mode executes the solar wing primary deployment detection module and the solar wing secondary deployment control module in sequence. The solar wing secondary deployment control module calls the solar wing motor motion control module. It is suitable for solar wing deployment under normal conditions and includes a complete primary deployment process and a secondary deployment process. In the solar array speed curve control mode, the primary deployment detection module is not executed, and the system directly jumps to the secondary deployment control module and the solar array motor motion control module. This mode is suitable for ground tests or in-orbit primary deployment failure scenarios. It only includes the secondary deployment process, and the deployment start point can be set arbitrarily. Other control processes are the same as the normal secondary deployment process.

[0019] In all three motion modes, the solar wing fault detection module is invoked to detect faults in the solar wing motor motion control module.

[0020] Step 2: Instantiate one or more solar wings based on the solar wing autonomous deployment control model in Step 1, and configure and initialize their parameters.

[0021] Configurable parameters include: motor motion parameters, solar array running speed curve table, solar array fault protection parameter thresholds, primary and secondary deployment position switches and position thresholds; Initialization includes: motion control state, motion control timing variables, fault judgment cumulative count variables, and fault judgment parameter cache clearing operations. An initialization operation is performed each time the solar array motion mode is switched. When different solar arrays are related, such as needing to deploy synchronously, especially for single deployment effect detection, the instantiation pointers of the related solar arrays need to be initialized as configuration parameters for this solar array.

[0022] Step 3: Use the instantiated solar array autonomous deployment control model to control the deployment of the solar array.

[0023] Specifically, it includes: Step 3-1: The solar array motion mode conversion control module receives the control mode sent by the ground or the spacecraft's autonomous program. If the current mode is shutdown, it receives the command normally; otherwise, it reports an error code. When receiving the command normally, if the mode is set to solar array secondary control mode, proceed to step 3-2; if the mode is set to solar array speed curve control mode, set the desired speed curve start point, and proceed to step 3-3; if the mode is set to solar array jog control mode, set and store the desired motion parameters, and proceed to step 3-4. Step 3-2: The solar wing primary deployment detection module completes the primary deployment effect detection of the solar wing. If it is determined that the primary deployment of this solar wing is effective and the primary deployment of related solar wing units is also effective, then proceed to the secondary deployment stage (Step 3-3). If the primary deployment of related solar wing units is consistently ineffective, after reaching the maximum detection time, it also proceeds to the secondary deployment stage (Step 3-3). If the primary deployment of this solar wing unit is consistently ineffective, after reaching the maximum detection time, the fault information is recorded and the secondary control mode of the solar wing unit is exited.

[0024] Specifically, the detection process is carried out in one step, such as Figure 2 As shown, the specific process is as follows: a) Determine if the single deployment indicator for this solar array is valid. If not, proceed to step b); otherwise, proceed to step f). b) Accumulate the time of each unfolding operation, store the important data of the updated unfolding time, and proceed to step c). c) Determine if the detection time for a single deployment has reached the maximum detection time. If so, set a fault for this solar array deployment and exit this process; otherwise, proceed to step d). d) Determine if the telemetry value of a single deployment indication exceeds the threshold. If yes, increment the number of valid deployment indications by 1 and proceed to step e); otherwise, clear the number of valid deployment indications to 0 and proceed to step e). e) Determine if the number of valid deployment indications is greater than the threshold N. If yes, set the one-time deployment indicator of this solar array to be valid. Otherwise, do not update the status and wait for the next cycle to run this process again from a). f) Accumulate the time of each unfolding operation, store the important data of the updated unfolding time, and proceed to step g). g) Determine if the duration of a single unfolding detection has reached the maximum detection duration. If yes, end this process; otherwise, proceed to step h). h) Determine if the deployment flag of the related solar array (other solar arrays that need to be deployed synchronously with this solar array) is valid. If yes, end this process; if no, wait for the next cycle to run this process again from a).

[0025] Step 3-3: Initiate the secondary deployment process of the solar wing. Considering the motor motion characteristics of the circular solar wing deployment, a state machine is designed for the deployment process, including the following states. Each state in this state machine can directly jump to the interrupted state to continue operation if important data is successfully restored during controller reset or machine shutdown. Important data to ensure motion continuity are designed for each state to ensure that the motor can continue normal operation after the state is restored. During the secondary deployment of the solar wing, the current velocity curve value is used as an input parameter to call the solar wing motor motion control module (Step 3-5). The state is switched based on the position, position switch, and other information output by the motor motion control module.

[0026] Specifically, the state design in the expanded process state machine is as follows: Secondary Deployment State 1: Perform a first deployment effect test; Case 1: After the first deployment process of the solar wing is completed, it will automatically enter the secondary deployment control process. If the first deployment mark of this solar wing is valid, it will enter the secondary deployment state 2; Case 2: When the solar wing is received from the ground as moving at a specified point according to the speed curve pattern, the number of steps already run will be updated to the ground setting motion starting point, and then it will enter the secondary deployment state 3. Secondary Deployment State 2: After locking and delaying once; after the solar array is marked as deployed once, a waiting delay is initiated. The waiting delay is counted and saved as important data. If a reset / shutdown failure occurs in the software during this step, the system can continue the delay operation based on the important data value of the waiting delay count after restarting.

[0027] Secondary Deployment State 3: Perform a health check on the secondary deployment position switch; perform a health check on the secondary deployment position switch that is in a healthy state. If it is currently in position, set it to unhealthy; otherwise, maintain its healthy state. The health status of the position switch is saved as important data. If a reset / switching failure occurs in the software during this step, a health check will be performed again based on the important health status data after restarting.

[0028] Secondary Deployment State 4: Power on control motors; execute the sequence of power-on commands for the solar array control motors, and autonomously enable secondary deployment, including fault diagnosis and handling. Read the secondary deployment state from the critical data; if this state is a subsequent step of State 4, but The sequence of power-on commands for the solar panel control motors must be executed first, and then other states must be restored.

[0029] Secondary Deployment State 5: Start running speed curve; The secondary deployment process enters the curve motion process. The number of curve motion steps is incremented by 1 every second. The speed in the curve table is obtained by using the number of curve motion steps as an index. The obtained speed and desired direction are output to the solar wing motor motion control module to control the motor to start moving according to the desired speed and direction. Each control cycle checks whether the current number of laps (position) is greater than 3500 laps: If the number of rotations is less than 3500, continue to judge the motor movement fault. Determine whether the number of rotations of the motor in the latest 10 seconds is greater than 0.5 rotations and less than 166 rotations. If yes, it means that the motor movement is normal and there is no fault. Then continue to the position switch detection step. If no, it means that the motor movement is faulty. Then enter the second deployment state 10 of the solar panel and start the fault handling process. If the number of revolutions is greater than or equal to 3500, a motor stall judgment will be performed in each control cycle. If the motor rotates no more than 0.5 revolutions within 10 seconds, the process will enter the secondary deployment state 18 (secondary deployment fault, motor stall but the secondary deployment position switch of the solar wing is not in position), and exit the secondary deployment process; otherwise, the position switch detection step will continue. If any healthy position switch is in position, the process will enter the secondary deployment state 6 and start the low-speed operation segment.

[0030] In this state, important data on the number of curve motion steps and the number of motor rotations are stored. If a reset / shutdown failure occurs in the software at this step, it can continue running the speed curve from the point of interruption after restarting, based on the important data on the number of curve motion steps.

[0031] Secondary Deployment State 6: The secondary deployment switch is in position, and the low-speed operation segment is started. The motor speed is set to the low-speed segment speed value. The motor is checked for stalling in each control cycle. That is, the motor rotates no more than 0.5 revolutions within 10 seconds. If so, the solar panel secondary deployment state 7 is entered. Otherwise, this state is maintained and operation continues.

[0032] Secondary Deployment State 7: Secondary deployment is stalled and reversing; First, obtain the current number of motor rotations after the motor stalls, use it as the starting position for motor reversal, and save this value as important data; Set the motor speed to the reversal speed value, start the motor to enter reversal; Each control cycle judges the difference between the current number of rotations and the initial number of rotations when the motor stalls. If this difference reaches the reversal rotation threshold, control the motor to enter position mode, maintain the current number of rotations (position), and enter the secondary deployment state 8 of the solar array.

[0033] In this state, the initial motor rotation value after the motor stalls, as well as the current motor rotation value, are stored as important data. If the software experiences a reset / shutdown failure in this step, it will restart and re-enter this state to continue reverse control at the reverse speed. The initial and current rotation values ​​of the important data can be used to determine whether the number of reverse rotations has been reached. The storage of important data ensures the accuracy of the number of reverse rotations.

[0034] Secondary Deployment State 8: Secondary deployment reversal ends, check the position switches; after reversal, check the position status of the position switches again. If any healthy switch is in position, the secondary deployment process ends normally and enters State 9; if all position switches are not in position, enter State 19, record fault information, and end the secondary deployment process.

[0035] Secondary Deployment Status 9: The secondary deployment process has been completed normally; Secondary Deployment State 10: Secondary deployment resolver fault handling begins; if secondary deployment autonomous fault diagnosis and handling is enabled, then proceed to secondary deployment State 11; if secondary deployment autonomous fault diagnosis and handling is disabled, then proceed to secondary deployment State 20.

[0036] Secondary Deployment State 11: Secondary Deployment Resolver Fault Handling - Trial Run; Set the autonomous fault diagnosis and handling for secondary deployment to prohibited, control the motor to rotate 2.5 revolutions in the retracting direction, and after the start of the movement is completed, judge the number of revolutions after 10 seconds. If it is greater than 1.5 revolutions, it means that the trial run is successful, and the motor can continue to rotate in the deployment direction in resolver mode, and re-enter the secondary deployment state 5; if it is less than 1.5 revolutions, it means that the trial run has failed, and enter the secondary deployment state 12.

[0037] Secondary Deployment State 12: Secondary Deployment Resolver Fault Handling - Non-Resolver Mode Startup; Set the motor to non-resolver mode, obtain the desired speed value based on the current number of curve movement steps, accelerate in non-resolver mode using step code until the speed reaches the desired speed value, and then enter Secondary Deployment State 13.

[0038] Secondary Deployment State 13: Secondary Deployment Resolver Fault Handling - No Resolver Running Speed ​​Curve; The curve movement step count is incremented by 1 every second. The speed in the curve table is obtained using the curve movement step count as an index. The obtained speed, movement mode (speed mode), and movement direction are output to the solar wing motor motion control module to control the motor to start moving in the desired speed and direction in the no resolver mode. In each control cycle, if any healthy position switch is found to be in place, the system enters Secondary Deployment State 14 and enters the low-speed operation segment.

[0039] In this state, important data such as the number of steps of the stored curve movement, the number of motor rotations, and the motor non-rotating mode are stored. If the software experiences a reset / shutdown failure in this step, it needs to enter state 12 again after restarting. After completing the step code acceleration in the motor non-rotating mode, it will enter the secondary unfolding state 13 and continue running the speed curve from the point of interruption.

[0040] Secondary Deployment State 14: Secondary Deployment Resolver Fault Handling - The position switch is in position and the machine is switched to low speed; the control motor runs at low speed for 200 seconds, the low speed running time is accumulated and stored as important data; if the software experiences a reset / switching fault in this step, after restarting, it will continue to move until 200 seconds are reached based on the accumulated low speed running time important data, and then enter the secondary deployment state 15.

[0041] Secondary Deployment State 15: Secondary Deployment Resolver Fault Handling - Reversing in progress; The control process in this state is the same as in Secondary Deployment State 7. After the reversal is completed, it enters Secondary Deployment State 16.

[0042] Secondary Deployment State 16: Secondary Deployment Resolver Fault Handling - Reversal End, Check Position Switches; After reversal is completed, the position status of the position switches is checked again. If any healthy switch is in position, the secondary deployment process ends normally and enters State 17; If all position switches are not in position, enter State 22, record fault information, and end the secondary deployment process.

[0043] Secondary Deployment Status 17: Secondary Deployment Rotor Fault Handling - Deployment Completed.

[0044] Secondary Deployment Status 18: The fault is that the motor is stalled but the solar panel positioning switch is not triggered; record the fault information and end the secondary deployment process.

[0045] Secondary Deployment Status 19: The fault is that during the secondary deployment locking process, the position switch becomes ineffective after reversal; record the fault information and end the secondary deployment process.

[0046] Secondary Deployment Status 20: The fault is that the autonomous fault diagnosis status of secondary deployment is prohibited. The second entry into the resolver fault process is performed; the fault information is recorded and the secondary deployment process ends.

[0047] Secondary Deployment Status 21: The fault is that in non-rotating mode, during the secondary deployment locking process, the position switch becomes ineffective after reversal; record the fault information and end the secondary deployment process.

[0048] Step 3-4: After receiving the solar wing jog control mode setting command, use the desired position and speed, or desired speed and time in the setting command as input parameters to call the solar wing motor motion control module (Step 3-5). After the motion starts, determine the position output by the motor motion control module to determine whether the motion is in place. After it is in place, exit the motion mode.

[0049] Steps 3-5: The solar panel motor motion control module interacts with the underlying motor drive control component. The motor motion control module communicates with the underlying motor drive control component every 50ms. The communication content includes motor motion control data frames (including desired motion mode, desired motion speed, desired motion position, desired motion time, etc.) and motor motion return data (actual motion speed, actual motion position, actual motion current, motion completion switch, and drive component fault indicator). In addition, when the motor is initially powered on, after determining that the power-on is complete, the motor motion control module autonomously sends motor motion parameter setting frames (motor position loop, speed loop, and current loop control parameters) to the drive component, and simultaneously sets important data for the motor motion position.

[0050] During the above process, the solar wing fault detection module is called in all modes. It mainly performs solar wing overcurrent detection (the solar wing motor motion control module outputs a motor motion fault flag), current limiting detection (the average current of the solar wing motor operating current in the latest 1 minute exceeds the current limiting threshold), temperature over-limit detection (detecting that the solar wing operating temperature exceeds the limit), deployment timeout detection (in the running speed curve stage, determining that the number of curve movement steps exceeds the maximum running time), and deployment position over-limit detection (the current number of movement revolutions of the solar wing motor exceeds the maximum number of motor revolutions). After detecting the corresponding fault, it outputs a fault flag. When other modules detect the fault flag, they either set it to stop the deployment action or send an event report to the ground.

[0051] During the above process, only the normal secondary deployment mode of the solar wing can be restored. When the controller computer resets or switches off, it checks whether the solar wing movement mode in the critical data is the secondary control mode. If so, it checks the secondary deployment state of the solar wing in the critical data (the state in step 3-3). If it is not the initial state, it autonomously sends a sequence of power-on commands to the solar wing motion control motor to complete the power-on operation of the solar wing motion control motor and the setting of the solar wing motion control motor motion parameters. After the motor state is restored, the secondary deployment process is restarted. During the solar wing movement, the controller computer stores critical data every 200ms to ensure the accuracy of the current movement position recovery of the solar wing.

[0052] It is understood that this invention has been described through embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this invention. Furthermore, under the teachings of this invention, these features and embodiments can be modified to adapt to specific circumstances without departing from the spirit and scope of this invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are protected by this invention.

[0053] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A highly reliable autonomous deployment control method for a circular solar array, characterized in that, include: Step 1: Construct an autonomous deployment control model for a single solar array; The model consists of: a motion mode conversion control module, a primary deployment detection module, a secondary deployment control module, a jog control module, a motor motion control module, and a fault detection module; The control modes include: jog control mode, secondary deployment control mode, and speed curve control mode based on specified points; Step 2: Based on the autonomous deployment control model in Step 1, instantiate one or more solar arrays, clarify the correlation between solar arrays, and configure and initialize the parameters; Step 3: Use the instantiated solar array autonomous deployment control model to control the deployment of the solar array; specifically including: Step 3-1: Input the control mode into the motion mode conversion control module and enable the corresponding mode control; if it is the secondary expansion control mode, proceed to step 3-2; if it is the speed curve control mode at a specified point, proceed to step 3-3; if it is the jog control mode, proceed to step 3-4. Step 3-2: Execute the deployment detection module to detect the deployment effect of the solar array once. Based on the detection result, proceed to step 3-3 or exit the control mode. Step 3-3: Execute the secondary deployment control module, use the speed value of the current speed curve as the input parameter to call the motor motion control module, and proceed to step 3-5; then, according to the position switch and actual position output by the motor motion control module, switch the state in the deployment process state machine set in the module. The states in the state machine of the unfolding process are designed with important data to ensure the continuity of unfolding. By periodically saving the important data, when the controller is reset or the machine is switched off, the system can directly jump to the interrupted state to continue running by restoring the important data. Step 3-4: Execute the solar wing jog control module, using the desired position and speed, or desired speed and time, as input parameters to call the motor motion control module, and proceed to step 3-5; then, based on the actual position output by the motor motion control module, determine whether the movement is in place, and exit the control mode after it is in place; Steps 3-5: The motor motion control module is called by the upper-level module and interacts with the lower-level motor drive control component at a fixed cycle, sending input parameters to it and receiving the output parameters returned by it. During the execution of the above three expansion modes, the fault detection module is called to perform fault detection.

2. The highly reliable autonomous deployment control method for circular solar arrays according to claim 1, characterized in that: In step 2, the configurable parameters are: The jog control module has configuration parameters including: desired speed, desired position, and desired time. The single-expansion detection module has the following configuration parameters: single-expansion in place switch and in place threshold, and maximum detection time for sequential expansion. The secondary deployment control module includes the following configuration parameters: solar array operating speed curve table, secondary deployment positioning switch and positioning threshold; The fault detection module has the following configuration parameters: current over-limit threshold, position over-limit threshold, and speed over-limit threshold.

3. The highly reliable autonomous deployment control method for a circular solar array according to claim 1, characterized in that: In step 3-2, If the test result is: this solar array is effective in one deployment, and the related solar arrays are effective in one deployment, then proceed to step 3-3; If the test result is: this solar panel is effective when deployed once, but the related solar panels are ineffective when deployed once, after reaching the maximum test time, proceed to step 3-3; If the test result is: the solar panel fails to deploy once and the maximum test duration is reached, then exit the control mode.

4. The highly reliable autonomous deployment control method for circular solar arrays according to claim 1, characterized in that: In step 3-3, the process state machine is expanded, specifically including: Secondary Deployment State 1: Perform a primary deployment effect test. If the system automatically switches to the secondary deployment control module after executing the primary deployment test module from the secondary deployment control mode, it will enter secondary deployment state 2 if the primary deployment indicator of the solar array is valid. If the system switches to the secondary deployment control module from the control mode based on the speed curve at a specified point, it will directly enter secondary deployment state 3. Secondary unfolding state 2: Perform waiting delay processing after the first unfolding, count the waiting delay, and save it as important data; Secondary Deployment State 3: Perform a health check on the secondary deployment position switch; if it is currently in position, set it to unhealthy; otherwise, maintain its healthy state and save the health status of the position switch as important data. Secondary Deployment State 4: Execute the power-on command sequence for the solar panel control motors, and autonomously enable secondary deployment, autonomous fault diagnosis, and handling; Secondary Deployment State 5: Running speed curve, incrementing the number of curve movement steps per second by 1, using the number of curve movement steps as an index to obtain the speed in the solar wing running speed curve table, and outputting the obtained speed and desired direction to the motor motion control module to control the motor to start moving according to the desired speed and direction; Each control cycle checks whether the current number of motor revolutions is greater than the preset number of revolutions: If the value is less than 1, continue to determine the motor movement fault. If there is no fault, continue to check the position switch. If a fault occurs, enter the secondary deployment state 10. If the value is greater than 1, the motor stall judgment is performed in each control cycle. If it is, the second deployment state 18 is entered; otherwise, the position switch detection is continued. If any healthy position switch is in position, the second deployment state 6 is entered. In this state, the number of curve motion steps and the number of motor rotations are saved as important data; Secondary Deployment State 6: Set the motor speed to the low-speed range. Check if the motor is stalled in each control cycle. If yes, enter Secondary Deployment State 7; otherwise, maintain this state and continue operation. Secondary unfolding state 7: The number of revolutions when the motor is stalled is used as the starting position for motor reversal. The motor speed is set to the reversal speed value, and the motor is started to enter the reversal state. Each control cycle determines the difference between the current number of motor rotations and the initial number of rotations when the motor is stalled. If this difference reaches the reverse rotation threshold, the motor is controlled to remain at the current number of rotations and enters the secondary unfolding state 8. In this state, the initial number of motor rotations after the motor stalls, as well as the current number of motor rotations, are saved as important data. Secondary Deployment State 8: The position status of the position switches is detected. If any healthy position switch is in position, the system enters Secondary Deployment State 9; if all position switches are not in position, the system enters Secondary Deployment State 19.

5. Secondary Deployment Status 9: The secondary deployment process has completed normally; Secondary Deployment State 10: Secondary deployment resolver fault handling begins. If autonomous fault diagnosis and handling for secondary deployment is enabled, then proceed to secondary deployment state 11. If the autonomous fault diagnosis and handling for secondary deployment is prohibited, enter the secondary deployment state 20; Secondary Deployment State 11: Perform secondary deployment resolver fault handling, control the motor to test rotate in the retracting direction. If the test rotation is successful, control the motor to continue rotating in the deployment direction in resolver mode, and enter the secondary deployment state 5. If the test rotation fails, enter the secondary deployment state 12. Secondary Deployment State 12: Perform secondary deployment resolver fault handling, set the motor to non-resolver mode, obtain the desired speed value based on the current number of curve movement steps, perform step code acceleration in non-resolver mode until the speed reaches the desired speed value, and enter secondary deployment state 13. Secondary Deployment State 13: Perform secondary deployment resolver fault handling, increment the number of curve motion steps per second by 1, obtain the speed in the curve table and the speed in the solar wing running speed curve table using the number of curve motion steps as the index, and output the obtained speed and desired direction to the motor motion control module to control the motor to start moving according to the desired speed and direction in non-resolver mode. In each control cycle, if any healthy position switch is detected to be in position, the system enters the secondary deployment state 14. In this state, the number of curve motion steps, the number of motor rotations, and the motor non-rotation mode are saved as important data; Secondary Deployment Status 14: Perform secondary deployment resolver fault handling - position switch is in position, switch to low speed range; The motor is controlled to run at a low speed for a preset time, and the accumulated low-speed running time is saved as important data before entering the secondary unfolding state 15. Secondary Deployment State 15: Perform secondary deployment resolver fault handling. The control process is the same as in Secondary Deployment State 7. After the reversal is completed, enter Secondary Deployment State 16. Secondary Deployment State 16: The position status of the position switches is detected. If any healthy switch is in position, the secondary deployment process ends normally and enters the secondary deployment state 17; if all position switches are not in position, the process enters the secondary deployment state 22. Secondary Deployment Status 17: After handling the secondary deployment resolver fault, the secondary deployment process ends normally; Secondary deployment status 18: The fault is that the motor is stalled but the solar panel positioning switch is not triggered; Record the fault information and end the secondary unfolding process; Secondary Deployment Status 19: The fault is that during the secondary deployment locking process, the return switch becomes ineffective after reversal; Record the fault information and end the secondary unfolding process; Secondary Deployment Status 20: The fault is that the autonomous fault diagnosis status of secondary deployment is prohibited, and the second entry into the resolver fault process occurs. Record the fault information and end the secondary unfolding process; Secondary Deployment Status 22: The fault is that in non-rotating mode, during the secondary deployment locking process, the return switch becomes ineffective after reversal; Record the fault information and end the secondary unfolding process.

6. The highly reliable autonomous deployment control method for a circular solar array according to claim 1, characterized in that: The motor motion control module interacts with the underlying motor drive control component every 10~100ms.

7. The highly reliable autonomous deployment control method for a circular solar array according to claim 1, characterized in that: The important data is saved every 100-500ms.

8. The highly reliable autonomous deployment control method for a circular solar array according to claim 1, characterized in that: The fault detection module detects faults, including solar panel overcurrent detection, current limiting detection, temperature over-limit detection, deployment timeout detection, and deployment position over-limit detection. After detecting the corresponding fault, it outputs a fault identifier. If other modules detect a fault indicator, they will stop the deployment process.

9. A computer program product, characterized in that: When the computer program product is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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