Angle-limited large elliptical orbit sailboard driving control method

Abstract

The invention relates to an angle-limited large elliptical orbit sailboard driving control method. The method comprises the following steps: establishing a geocentric orientation-sun orientation coordinate system according to a working mode and a mounting position of an angle-limited sailboard driving mechanism; selecting a sailboard tracking angle difference reference according to a sailboard simulation solar sensitive measurement value, a sailboard mechanism feedback angle and a solar azimuth; driving a sailboard to rapidly and roughly capture the sun according to the selected polarity of the tracking angle difference reference; different driving control laws are adopted to drive the sailboard to track the sun in a closed loop mode according to high and low orbit characteristics. The solar panel is guaranteed to face the sun to the maximum extent, and therefore sufficient energy is guaranteed.

Description

Technical Field

[0001] This invention belongs to the field of aircraft attitude control and relates to a method for driving and controlling a solar panel on a large elliptical track with limited angles, for driving and controlling the solar panel mechanism on a large elliptical track. Background Technology

[0002] Existing solar panel drive control methods are primarily designed for non-fixed-wing solar panels operating on circular tracks. These tracks have relatively stable angular velocities with limited variation, and the rotation angle of the solar panel mechanism is usually unrestricted. The method only requires guiding the solar panel to a near-aligned position before using a hysteresis loop for closed-loop solar alignment. However, this approach is unsuitable for elliptical tracks with significant angular velocity variations or for solar panel mechanisms with limited angles. In practical applications, limitations such as the angle of the installed solar panel drive mechanism or the non-circular track necessitate a comprehensive approach that considers various factors to maximize solar alignment with limited resources and ensure sufficient energy supply. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a method for driving and controlling a large elliptical track sail with limited angle.

[0004] The solution of the present invention is: A method for controlling the drive of a large elliptical orbit with limited angles includes: Establish a geocentric-sun orientation coordinate system based on the working mode and installation position of the angle-limited sail drive mechanism; The reference for the tracking angle difference of the solar panel is selected based on the solar panel simulation measurement value, the feedback angle of the solar panel mechanism, and the solar azimuth. The polarity of the selected tracking angle difference benchmark drives the sail to quickly and coarsely capture the sun. Different drive control laws are used to drive the sail in closed-loop tracking of the sun based on the characteristics of high and low orbits.

[0005] Preferred operating modes of the angle-limited windsurfing drive mechanism include: stop-and-hold mode, positive 70° zeroing mode, negative 70° zeroing mode, and 0° zeroing mode; The windsurfing drive mechanism can only rotate between -70° and +70°, and there is no angle drive mode, only angular velocity drive mode. The positive 70° zeroing mode indicates positive windsurfing, and the negative 70° zeroing mode indicates negative windsurfing. The angular velocity is divided into 24 levels, two of which are fast levels for rapid coarse acquisition, and the remaining 22 are low-speed levels for closed-loop tracking control. The initial photosensitive surface normal of the windsurfing is aligned with the -Xb direction of this system, corresponding to the initial 0° position of the windsurfing drive mechanism.

[0006] Preferably, a geocentric pointing-to-sun pointing coordinate system is established, as follows: 1) Determine the spatial pointing axis of the geocentric-sun pointing coordinate system. : Pointing towards the Earth's center; 2) Determine the spatial constraint axes Oriented towards the negative direction of the solar vector, and normalized accordingly; 3) Determine the geocentric-sun orientation coordinate system axis: And perform normalization processing; 4) Determine the geocentric-sun orientation coordinate system axis: And then normalize it.

[0007] Preferably, the reference for the tracking angle difference of the sailboard is selected, and the method is as follows: S1 calculates the tracking angle difference of the sail based on the simulated solar sensor measurement values ​​of the sail; S2 calculates the difference in the tracking angle of the sail based on the feedback angle of the sail drive mechanism and the solar altitude angle of the system. S3 selects the benchmark for the sailboard tracking angle difference; Preferably, the specific implementation method of step S1 is as follows: 1) Calculate the solar angle in the simulated solar sensitivity measurement coordinate system using the following formula. ,

[0008]

[0009]

[0010] in, , , , To simulate the current value output by the Taisen sensor; 2) Calculate the representation of the solar vector in the simulated solar sensitivity measurement coordinate system.

[0011]

[0012] 3) Solar panel simulation and sensitive calculation of the representation of the solar vector in the solar panel system. and tracking angle difference

[0013]

[0014]

[0015] in, The transformation matrix from the solar sensor measurement coordinate system to the solar panel system for solar panel simulation; Representation of the solar vector in the solar array system The Z-axis component.

[0016] Preferably, the specific implementation method of step S2 is as follows: 1) Calculate the solar altitude angle of this system. :

[0017] in, and These are the Xb and Zb axis components of the solar unit vector in this system, respectively; 2) Calculate the tracking angle difference of the sailboard :

[0018] in, The feedback angle is for the windsurfing drive mechanism.

[0019] Preferably, step S3 selects the sailboard tracking angle difference reference, as follows: 1) If the ground-specified tracking angle difference reference is valid, then the specified reference shall be followed; 2) If the self-selected or designated ground reference is invalid, the following logic will be applied: ① Let the left and right windshields be windshield A and windshield B, respectively. The analog thermocouple corresponding to windshield A is denoted as analog thermocouple A, and the analog thermocouple corresponding to windshield B is denoted as analog thermocouple B. If the tracking angle difference is calculated by the simulated sensitive A... Calculated value of tracking angle difference with sailboard A Mutual judgment consistency, the tracking angle difference benchmark for the sailboard is selected based on the tracking angle difference calculated by the simulated Taimin A solution. If the tracking angle difference is calculated by the simulated sensitive B solution... Calculated value of tracking angle difference with sailboard B Mutual judgment consistency, the tracking angle difference benchmark for the sailboard is selected based on the tracking angle difference calculated by the simulated Taimin B. ; ②Otherwise, if the internal judgment of the left and right sides of the sailboard has not been mutually judged or no benchmark has been selected, the tracking angle difference of the sailboard on this side with the same mutual judgment as the opposite side and higher priority is selected as the tracking angle difference benchmark. ③ Otherwise, if it is allowed to select the opposite side, the tracking angle difference between the mutually consistent internal solar panels on the opposite side shall be used as the benchmark for the tracking angle difference of the solar panels on this side. ④ Otherwise, if no mutual judgment has been made, select the valid and high-priority tracking angle difference as the benchmark for the sailboard tracking angle difference; ⑤ Otherwise, if the benchmark for the tracking angle difference of the sailboard is not selected, the closest one will be used. Driven by the gear. The orbital angular velocity is the Yb-axis component of this system.

[0020] Preferably, the polarity-driven solar panel, based on the selected tracking angle difference reference, rapidly and coarsely captures the sun, using the following method: 1) Drive the sailboard to capture the sun in the forward direction: When the selected windsurf tracking angle difference reference is less than 0, the windsurf mechanism needs to be driven in the forward direction. Select the positive 70° zeroing mode and drive the windsurf mechanism to rotate in the forward direction at the maximum speed setting of the windsurf mechanism. 2) Drive the solar panels to capture the sun in the negative direction: When the selected sailboard tracking angle difference reference is greater than 0, the sailboard mechanism needs to be driven in the negative direction. Select the -70° zeroing mode and drive the sailboard mechanism to rotate in the negative direction at the maximum speed setting of the sailboard mechanism.

[0021] Preferably, different drive control laws are used to drive the solar panel in closed-loop tracking to the sun based on the characteristics of high and low orbits, as follows: 1) If currently at a low orbit, then use the closest... The gear shift tap driver is used for tracking. The orbital angular velocity is the Yb-axis component of this system; 2) When transitioning from low orbit to high orbit or from capture to tracking, the current orbital angular velocity is used to determine the Yb axis component of this system. Record the current drive gear and use a hysteresis switching method for closed-loop tracking; 3) When the polarity of the calculated driving angular velocity changes, the sail mechanism enters the capture mode.

[0022] Preferably, a hysteresis switching method is used for closed-loop tracking, with the hysteresis region being [a_min, b_max]. The strategy is as follows: When calculated When the time is positive, a positive fly-hysteresis switching method is used during closed-loop tracking, and the following procedures are followed: If the windsurf tracking angle difference reference is greater than a_min for 10 consecutive seconds, the gear is downgraded to tap-1 until the windsurf tracking angle difference reference is greater than b_max for 3 consecutive cycles, then it switches to capture mode; otherwise, if the windsurf tracking angle difference reference is less than -a_min for 10 consecutive seconds, the gear is upgraded to tap+1 until the windsurf tracking angle difference reference is less than (-b_max) for 3 consecutive cycles, then it switches to capture mode. When calculated When the value is negative, the inverted flight hysteresis switching method is adopted during closed-loop tracking, and the following procedures are followed: If the windsurf tracking angle difference reference is greater than a_min for 10 consecutive seconds, the gear is increased to tap+1 until the windsurf tracking angle difference reference is greater than b_max for 3 consecutive cycles, then it switches to capture mode; otherwise, if the windsurf tracking angle difference reference is less than -a_min for 10 consecutive seconds, the gear is decreased to tap-1 until the windsurf tracking angle difference reference is less than (-b_max) for 3 consecutive cycles, then it switches to capture mode.

[0023] The beneficial effects of this invention compared to the prior art are: This invention is based on the stable control of the established geocentric pointing-to-sun orientation coordinate system. Based on the selected solar panel tracking angle difference benchmark, the solar panel is driven to quickly and coarsely capture the sun and perform closed-loop tracking to the sun, ensuring the solar panel is aligned with the sun to the maximum extent, thereby ensuring sufficient energy.

[0024] The solar panel drive mechanism of this invention has a simple function; it adjusts the attitude of the solar panel by combining with the celestial body to drive the solar panel to track the sun, and is suitable for elliptical orbits; the drive control method has a clear concept and is easy to apply in engineering. Attached Figure Description

[0025] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0026] The invention will now be further described with reference to the accompanying drawings.

[0027] This invention establishes a geocentric-sun orientation coordinate system based on the working mode and installation position of the angle-limited solar panel drive mechanism; selects a solar panel tracking angle difference reference based on the simulated solar sensitivity measurement value on the solar panel, the feedback angle of the solar panel mechanism, and the sun's azimuth; drives the solar panel to quickly and coarsely capture the sun based on the polarity of the selected tracking angle difference reference; and uses different drive control laws to drive the solar panel to perform closed-loop tracking of the sun based on the characteristics of high and low orbits.

[0028] like Figure 1 As shown, the specific steps include the following: Step 1: Establish a geocentric-sun orientation coordinate system based on the working mode and installation position of the angle-limited sail drive mechanism.

[0029] Step 2: Select the solar tracking angle difference benchmark based on the simulated solar sensitivity measurement value, the solar panel mechanism feedback angle, and the solar azimuth. - Calculate the sail tracking angle difference based on the simulated solar sensor measurements; - Calculate the difference in the tracking angle of the sailboard based on the feedback angle of the sailboard drive mechanism and the solar altitude angle of this system; - Select the baseline for the sailboard tracking angle difference; Step 3: Drive the solar panel to quickly and coarsely capture the sun based on the polarity of the selected tracking angle difference reference. - Drive the sailboard to capture the sun in the forward direction; - Drive the solar panels to capture the sun in the negative direction; Step 4: Based on the characteristics of high and low orbits, different drive control laws are used to drive the solar panel in a closed-loop tracking manner to track the sun. - Low-Earth orbit drive solar panel closed-loop tracking for sun observation; - High-orbit section drive solar panel closed-loop tracking for sun observation.

[0030] Step 1 specifically includes the following: 1) The operating modes of the windsurfing drive mechanism include: stop and hold mode, positive 70° zeroing mode, negative 70° zeroing mode, and 0° zeroing mode. The windsurfing mechanism can only rotate within the range of -70° to +70°, and there is no angle drive mode, only angular velocity drive mode. The positive 70° zeroing mode indicates positive drive of the windsurfing mechanism, and the negative 70° zeroing mode indicates negative drive of the windsurfing mechanism. The angular velocity is divided into 24 levels, of which two are fast levels for rapid coarse capture, and the remaining 22 are low-speed levels mainly used for closed-loop tracking control.

[0031] 2) The initial photosensitive surface normal of the solar panel is aligned with the direction of the star -Xb, corresponding to the initial 0° position of the solar panel mechanism.

[0032] The method for establishing a geocentric-sun orientation coordinate system is as follows: 1) Determine the spatial pointing axis of the coordinate system : Pointing towards the Earth's center; 2) Determine the spatial constraint axes Oriented towards the negative direction of the solar vector, and normalized accordingly; 3) Determine the coordinate system axis: And perform normalization processing; 4) Determine the coordinate system axis: And perform normalization processing; 5) Based on this, the geocentric pointing-to-sun pointing coordinate system is determined. On the basis of controlling the three axes of the celestial body to be consistent with the three axes of the established geocentric pointing-to-sun pointing coordinate system and maintaining attitude stability, the closed-loop drive of the solar panel mechanism is performed.

[0033] Step 2 specifically includes the following steps: Step 2.1, calculate the tracking angle difference of the sail based on the simulated solar sensor measurement values: 1) Calculate the solar angle in the simulated solar sensitivity measurement coordinate system ,

[0034]

[0035]

[0036] in, , , , To simulate the current value output by the Taisen sensor; 2) Calculate the representation of the solar vector in the simulated solar sensitivity measurement coordinate system.

[0037]

[0038] 3) Solar panel simulation and sensitive calculation of the representation of the solar vector in the solar panel system. and tracking angle difference

[0039]

[0040]

[0041] in, The transformation matrix from the solar sensor measurement coordinate system to the solar panel system for solar panel simulation; This represents the Z-axis component of the solar vector in the solar array system.

[0042] Step 2.2, based on the feedback angle from the windsurfing drive mechanism and the solar altitude angle of this system Calculate the tracking angle difference of the sail: 1) Calculate the solar altitude angle β of this system:

[0043] in, and The solar unit vector represents the Xb and Zb axis components of this system.

[0044] 2) Calculate the tracking angle difference of the sailboard :

[0045] Step 2.3, Select the benchmark for the tracking angle difference of the sailboard: 1) If the ground-specified tracking angle difference reference is valid, then the specified reference shall be followed; 2) If the ground-based self-selected or ground-designated benchmark is invalid, the following logic will be applied: ① Let the left and right windshields be windshield A and windshield B, respectively. The simulated thermocouple corresponding to windshield A is denoted as simulated thermocouple A, and the simulated thermocouple corresponding to windshield B is denoted as simulated thermocouple B. If the tracking angle difference is calculated by the simulated sensitive A... Calculated value of tracking angle difference with sailboard A Mutual judgment consistency, the tracking angle difference benchmark for the sailboard is selected based on the tracking angle difference calculated by the simulated Taimin A solution. If the tracking angle difference is calculated by the simulated sensitive B solution... Calculated value of tracking angle difference with sailboard B Mutual judgment consistency, the tracking angle difference benchmark for the sailboard is selected based on the tracking angle difference calculated by the simulated Taimin B. ; ②Otherwise, if the internal judgment of the left and right sides of the sailboard has not been mutually judged or no benchmark has been selected, the tracking angle difference of the sailboard on this side with the same mutual judgment as the opposite side and higher priority is selected as the tracking angle difference benchmark. ③ Otherwise, if it is allowed to select the opposite side, the tracking angle difference between the mutually consistent internal solar panels on the opposite side shall be used as the benchmark for the tracking angle difference of the solar panels on this side. ④ Otherwise, if no mutual judgment has been made, select the valid and high-priority tracking angle difference as the benchmark for the sailboard tracking angle difference; ⑤ Otherwise, if the benchmark for the tracking angle difference of the sailboard is not selected, the closest one will be used. Driven by the gear. The orbital angular velocity is the Yb-axis component of this system.

[0046] Step 3 specifically includes the following steps: Step 3.1, drive the sailboard to capture the sun in a positive direction: If the selected reference sail tracking angle difference is less than 0, the sail mechanism needs to be driven in the forward direction. Select the positive 70° zeroing mode and drive the sail mechanism to rotate in the forward direction at the maximum speed setting of the sail mechanism. Step 3.2, drive the solar panels to capture the sun in the negative direction: If the selected reference sail tracking angle difference is greater than 0, the sail mechanism needs to be driven in the negative direction. Select the -70° zeroing mode and drive the sail mechanism to rotate in the negative direction at the maximum speed setting of the sail mechanism. Step 4 specifically includes the following steps: Step 4.1, Low-Earth Orbit Drive Solar Panel Closed-Loop Tracking for Sun Alignment: The angular velocity changes relatively quickly in the lower orbit segment. Since we are currently in lower orbit, we will use the closest angular velocity. The gear shift tap driver is used for tracking. The orbital angular velocity is the Yb-axis component of this system; Step 4.2, High-orbit section drive solar panel closed-loop tracking for sun observation: 1) The angular velocity changes relatively slowly in the high-orbit section. When switching from low-orbit to high-orbit or from capture to tracking, the angular velocity is adjusted according to the current orbital angular velocity in the Yb-axis component of this system. Record the current drive gear and use a hysteresis switching method. The hysteresis region is [a_min, b_max], and the strategy is as follows: When calculated When the time is positive, a positive fly-hysteresis switching method is used during closed-loop tracking, and the following procedures are followed: If the windsurf tracking angle difference reference is greater than a_min for 10 consecutive seconds, the gear is downgraded to tap-1 until the windsurf tracking angle difference reference is greater than b_max for 3 consecutive cycles, then it switches to capture mode; otherwise, if the windsurf tracking angle difference reference is less than -a_min for 10 consecutive seconds, the gear is upgraded to tap+1 until the windsurf tracking angle difference reference is less than (-b_max) for 3 consecutive cycles, then it switches to capture mode. When calculated When the value is negative, the inverted flight hysteresis switching method is adopted during closed-loop tracking, and the following procedures are followed: If the windsurf tracking angle difference reference is greater than a_min for 10 consecutive seconds, the gear is increased to tap+1 until the windsurf tracking angle difference reference is greater than b_max for 3 consecutive cycles, then it switches to capture mode; otherwise, if the windsurf tracking angle difference reference is less than -a_min for 10 consecutive seconds, the gear is decreased to tap-1 until the windsurf tracking angle difference reference is less than (-b_max) for 3 consecutive cycles, then it switches to capture mode. 2) When the polarity of the calculated driving angular velocity changes, the sail mechanism enters the capture mode.

[0047] This invention, based on the established geocentric pointing-to-sun orientation coordinate system and subsequent stable control, utilizes a selected solar panel tracking angle difference benchmark to drive the solar panel for rapid coarse solar capture and closed-loop solar tracking. This results in a solar panel drive control method capable of achieving angle-constrained large elliptical orbit solar panel drive control. This angle-constrained large elliptical orbit solar panel drive control method is conceptually clear and easy to apply in engineering.

[0048] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. A method for driving and controlling a sail on a highly elliptical track with limited angle, characterized in that, include: Establish a geocentric-sun orientation coordinate system based on the working mode and installation position of the angle-limited sail drive mechanism; The reference for the tracking angle difference of the solar panel is selected based on the solar panel simulation measurement value, the feedback angle of the solar panel mechanism, and the solar azimuth. The polarity of the selected tracking angle difference benchmark drives the sail to quickly and coarsely capture the sun. Different drive control laws are used to drive the sail in closed-loop tracking of the sun based on the characteristics of high and low orbits.

2. The angle-limited large elliptical track sail drive control method according to claim 1, characterized in that, The operating modes of the angle-limited windsurfing drive mechanism include: stop and hold mode, positive 70° zeroing mode, negative 70° zeroing mode, and 0° zeroing mode. The windsurfing drive mechanism can only rotate between -70° and +70°, and there is no angle drive mode, only angular velocity drive mode. The positive 70° zeroing mode indicates positive windsurfing, and the negative 70° zeroing mode indicates negative windsurfing. The angular velocity is divided into 24 levels, two of which are fast levels for rapid coarse acquisition, and the remaining 22 are low-speed levels for closed-loop tracking control. The initial photosensitive surface normal of the windsurfing is aligned with the -Xb direction of this system, corresponding to the initial 0° position of the windsurfing drive mechanism.

3. The angle-limited large elliptical track sail drive control method according to claim 1, characterized in that, The method for establishing a geocentric-sun orientation coordinate system is as follows: 1) Determine the spatial pointing axis of the geocentric-sun pointing coordinate system. : Pointing towards the Earth's center; 2) Determine the spatial constraint axes Oriented towards the negative direction of the solar vector, and normalized accordingly; 3) Determine the geocentric-sun orientation coordinate system axis: And perform normalization processing; 4) Determine the geocentric-sun orientation coordinate system axis: And then normalize it.

4. The angle-limited large elliptical track sail drive control method according to claim 2, characterized in that, The method for selecting the sailboard tracking angle difference reference is as follows: S1 calculates the tracking angle difference of the sail based on the simulated solar sensor measurement values ​​of the sail; S2 calculates the difference in the tracking angle of the sail based on the feedback angle of the sail drive mechanism and the solar altitude angle of the system. S3 selects the sailboard tracking angle difference benchmark.

5. The angle-limited large elliptical track sail drive control method according to claim 4, characterized in that, The specific implementation method of step S1 is as follows: 1) Calculate the solar angle in the simulated solar sensitivity measurement coordinate system using the following formula. , in, , , , To simulate the current value output by the Taisen sensor; 2) Calculate the representation of the solar vector in the simulated solar sensitivity measurement coordinate system. 3) Solar panel simulation and sensitive calculation of the representation of the solar vector in the solar panel system. and tracking angle difference in, The transformation matrix from the solar sensor measurement coordinate system to the solar panel system for solar panel simulation; Representation of the solar vector in the solar array system The Z-axis component.

6. The angle-limited large elliptical track sail drive control method according to claim 4, characterized in that, The specific implementation method of step S2 is as follows: 1) Calculate the solar altitude angle of this system. : in, and These are the Xb and Zb axis components of the solar unit vector in this system, respectively; 2) Calculate the tracking angle difference of the sailboard : in, The feedback angle is for the windsurfing drive mechanism.

7. The angle-limited large elliptical track sail drive control method according to claim 4, characterized in that, Step S3 selects the benchmark for the tracking angle difference of the sailboard, as follows: 1) If the ground-specified tracking angle difference reference is valid, then the specified reference shall be followed; 2) If the self-selected or designated ground reference is invalid, the following logic will be applied: ① Let the left and right windshields be windshield A and windshield B, respectively. The analog thermocouple corresponding to windshield A is denoted as analog thermocouple A, and the analog thermocouple corresponding to windshield B is denoted as analog thermocouple B. If the tracking angle difference is calculated by the simulated sensitive A... Calculated value of tracking angle difference with sailboard A Mutual judgment consistency, the tracking angle difference benchmark for the sailboard is selected based on the tracking angle difference calculated by the simulated Taimin A solution. If the tracking angle difference is calculated by the simulated sensitive B solution... Calculated value of tracking angle difference with sailboard B Mutual judgment consistency, the tracking angle difference benchmark for the sailboard is selected based on the tracking angle difference calculated by the simulated Taimin B. ; ②Otherwise, if the internal judgment of the left and right sides of the sailboard has not been mutually judged or no benchmark has been selected, the tracking angle difference of the sailboard on this side with the same mutual judgment as the opposite side and higher priority is selected as the tracking angle difference benchmark. ③ Otherwise, if it is allowed to select the opposite side, the tracking angle difference between the mutually consistent internal solar panels on the opposite side shall be used as the benchmark for the tracking angle difference of the solar panels on this side. ④ Otherwise, if no mutual judgment has been made, select the valid and high-priority tracking angle difference as the benchmark for the sailboard tracking angle difference; ⑤ Otherwise, if the benchmark for the tracking angle difference of the sailboard is not selected, the closest one will be used. Driven by the gear. The orbital angular velocity is the Yb-axis component of this system.

8. The angle-limited large elliptical track sail drive control method according to claim 1, characterized in that, The method for rapidly and coarsely capturing the sun using a solar panel driven by the polarity of the selected tracking angle difference reference is as follows: 1) Drive the sailboard to capture the sun in the forward direction: When the selected windsurf tracking angle difference reference is less than 0, the windsurf mechanism needs to be driven in the forward direction. Select the positive 70° zeroing mode and drive the windsurf mechanism to rotate in the forward direction at the maximum speed setting of the windsurf mechanism. 2) Drive the solar panels to capture the sun in the negative direction: When the selected sailboard tracking angle difference reference is greater than 0, the sailboard mechanism needs to be driven in the negative direction. Select the -70° zeroing mode and drive the sailboard mechanism to rotate in the negative direction at the maximum speed setting of the sailboard mechanism.

9. The angle-limited large elliptical track sail drive control method according to claim 2, characterized in that, Based on the characteristics of high and low orbits, different drive control laws are used to drive the solar panel in closed-loop tracking towards the sun, as follows: 1) If currently at a low orbit, then use the closest... The gear shift tap driver is used for tracking. The orbital angular velocity is the Yb-axis component of this system; 2) When transitioning from low orbit to high orbit or from capture to tracking, the current orbital angular velocity is used to determine the Yb axis component of this system. Record the current drive gear and use a hysteresis switching method for closed-loop tracking; 3) When the polarity of the calculated driving angular velocity changes, the sail mechanism enters the capture mode.

10. The angle-limited large elliptical track sail drive control method according to claim 9, characterized in that, Closed-loop tracking is performed using a hysteresis switching method, with the hysteresis region being [a_min, b_max]. The strategy is as follows: When calculated When the time is positive, a positive fly-hysteresis switching method is used during closed-loop tracking, and the following procedures are followed: If the windsurf tracking angle difference reference is greater than a_min for 10 consecutive seconds, the gear is downgraded to tap-1 until the windsurf tracking angle difference reference is greater than b_max for 3 consecutive cycles, then it switches to capture mode; otherwise, if the windsurf tracking angle difference reference is less than -a_min for 10 consecutive seconds, the gear is upgraded to tap+1 until the windsurf tracking angle difference reference is less than (-b_max) for 3 consecutive cycles, then it switches to capture mode. When calculated When the value is negative, the inverted flight hysteresis switching method is adopted during closed-loop tracking, and the following procedures are followed: If the windsurf tracking angle difference reference is greater than a_min for 10 consecutive seconds, the gear is increased to tap+1 until the windsurf tracking angle difference reference is greater than b_max for 3 consecutive cycles, then it switches to capture mode; otherwise, if the windsurf tracking angle difference reference is less than -a_min for 10 consecutive seconds, the gear is decreased to tap-1 until the windsurf tracking angle difference reference is less than (-b_max) for 3 consecutive cycles, then it switches to capture mode.

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