Satellite solar panel sun pointing control method and device and storage medium

Abstract

The application discloses a satellite solar panel sun orientation control method and device and a storage medium, and relates to the technical field of satellite attitude control. The roll axis feedforward target angle and the pitch axis feedforward target angle of a solar panel are determined according to a first attitude conversion matrix from an inertial coordinate system to a satellite body coordinate system and a second attitude conversion matrix from a panel coordinate system of the solar panel to the satellite body coordinate system. The first output torque is determined according to the roll axis feedforward target angle and the pitch axis feedforward target angle. The roll angle error and the pitch angle error are determined according to the roll axis feedforward target angle and the pitch axis feedforward target angle respectively, and the second output torque is determined according to the roll angle error and the pitch angle error. The third output torque is determined according to the first output torque and the second output torque. The solar panel is driven to complete sun orientation according to the third output torque. Thus, the sun orientation control of the satellite solar panel in the atmospheric disturbance environment is realized.

Description

Technical Field

[0001] This application relates to the field of satellite attitude control technology, and in particular to a method, device, and storage medium for controlling the solar orientation of a satellite solar panel. Background Technology

[0002] With the large-scale deployment of low-Earth orbit (LEO) satellite constellations, satellite energy systems place stringent requirements on the solar panel's orientation accuracy, attitude stability, and environmental adaptability. LEO orbit altitudes typically range from 200km to 2000km, and the space environment experiences continuous disturbances such as collisions with rarefied atmospheric molecules and non-uniform atmospheric density distribution. These disturbances create periodic and random torques on deployable solar panels, directly affecting their pointing accuracy and power generation efficiency.

[0003] Existing two-degree-of-freedom solar panel drive mechanisms (SADA) generally suffer from defects such as coupling between the tilt and pitch axes, weak disturbance compensation capabilities, and insufficient anti-interference design. Low-Earth orbit atmospheric disturbances change in real time with variations in solar panel attitude, orbital position, and space temperature, generating fluctuating disturbance torques. Relying solely on feedback adjustment would significantly increase the motor load, reduce control bandwidth and positioning accuracy, causing the solar panel to deviate from the solar incidence direction for extended periods. This results in insufficient satellite energy output, attitude coupling disturbances, and even affects payload operation and on-orbit lifespan. Therefore, existing technologies struggle to simultaneously achieve the coordinated control objectives of rapid tracking, high-precision pointing, and high-stability disturbance resistance under strong disturbances.

[0004] For example, the invention with publication number CN106428640A and titled "Automatic Sun Orienter for Satellite Solar Panels" includes a shading cantilever beam, a column mounted on a solar panel frame, a solar panel rotatably fixed to the lower end of the solar panel frame, a shading cantilever beam fixed to the top of the column, and three circular hinges respectively hinged to the first, second, third, and fourth cylindrical hinge shafts. The first and second cylindrical hinge shafts are fixed to both ends of the shading cantilever beam, and the third and fourth cylindrical hinge shafts are fixed to the solar panel.

[0005] For example, the invention with publication number CN116986019A, entitled "A Method for Solar Panel Orientation Control of an On-orbit Satellite," includes: detecting the illuminance of sunlight to determine whether the solar panel is being illuminated by sunlight; if the solar panel is not being illuminated by sunlight, acquiring the satellite's attitude relative to the Earth; acquiring Earth's attitude data relative to the Sun, and combining the Earth's attitude data relative to the Sun with the satellite's attitude relative to the Earth to determine the satellite's attitude relative to the Sun; monitoring the satellite's attitude relative to the Sun in real time, and adjusting the attitude of the satellite or solar panel when a trigger condition is met, in order to perform solar orientation control of the solar panel.

[0006] There is currently no effective solution to the technical problem in the existing technology that low-orbit satellites cannot accurately and stably orient their solar panels to the sun under atmospheric disturbances, resulting in reduced power supply efficiency and attitude loss. Summary of the Invention

[0007] The embodiments of this disclosure provide a method, apparatus, and storage medium for controlling the solar orientation of a satellite solar panel, in order to at least solve the technical problem in the prior art where low-orbit satellites cannot accurately and stably orient their solar panels to the sun under atmospheric disturbances, resulting in reduced power supply efficiency and attitude loss.

[0008] According to one aspect of the present disclosure, a method for controlling the solar orientation of a satellite solar panel is provided, comprising: determining a target angle for the flip axis and a target angle for the pitch axis of the solar panel based on a first attitude transformation matrix from an inertial coordinate system to a satellite body coordinate system and a second attitude transformation matrix from the solar panel's coordinate system to the satellite body coordinate system; and determining a first output torque for driving a motor to overcome atmospheric drag based on the flip axis and pitch axis target angles, wherein the first output torque includes a first flip axis corresponding to the flip axis of the solar panel. The system outputs a torque and a first pitch axis output torque corresponding to the pitch axis of the solar panel; it determines the flip angle error and pitch angle error of the solar panel based on the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively, and determines a second output torque based on the flip angle error and pitch angle error, wherein the second output torque includes a second flip axis output torque corresponding to the flip axis of the solar panel and a second pitch axis output torque corresponding to the pitch axis of the solar panel; it determines a third output torque based on the first output torque and the second output torque; and it drives the solar panel to complete solar orientation based on the third output torque.

[0009] According to another aspect of the present disclosure, a storage medium is also provided, the storage medium including a stored program, wherein, when the program is executed, a processor performs any of the methods described above.

[0010] According to another aspect of the present disclosure, a satellite solar panel orientation control device is also provided, comprising: a feedforward target angle determination module, configured to determine the flip axis feedforward target angle and the pitch axis feedforward target angle of the solar panel based on a first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and a second attitude transformation matrix from the solar panel coordinate system to the satellite body coordinate system; and a first output torque determination module, configured to determine a first output torque for driving a motor of the solar panel to overcome atmospheric drag based on the flip axis feedforward target angle and the pitch axis feedforward target angle, wherein the first output torque includes a first flip axis output torque corresponding to the flip axis of the solar panel. The system includes a first pitch axis output torque corresponding to the pitch axis of the solar panel; a second output torque determination module, used to determine the flip angle error and pitch angle error of the solar panel based on the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively, and to determine the second output torque based on the flip angle error and pitch angle error, wherein the second output torque includes the second flip axis output torque corresponding to the flip axis of the solar panel and the second pitch axis output torque corresponding to the pitch axis of the solar panel; a third output torque determination module, used to determine the third output torque based on the first output torque and the second output torque; and a solar orientation module, used to drive the solar panel to complete solar orientation based on the third output torque.

[0011] According to another aspect of the present disclosure, a satellite solar panel sun-orientation control device is also provided, comprising: a processor; and a memory connected to the processor, configured to provide the processor with instructions for processing the following steps: determining the flip axis feedforward target angle and the pitch axis feedforward target angle of the solar panel based on a first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and a second attitude transformation matrix from the solar panel coordinate system to the satellite body coordinate system; determining a first output torque for driving the motor of the solar panel to overcome atmospheric drag based on the flip axis feedforward target angle and the pitch axis feedforward target angle, wherein the first output torque includes... The system includes a first flip axis output torque corresponding to the flip axis of the solar panel and a first pitch axis output torque corresponding to the pitch axis of the solar panel; it determines the flip angle error and pitch angle error of the solar panel based on the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively, and determines a second output torque based on the flip angle error and pitch angle error, wherein the second output torque includes a second flip axis output torque corresponding to the flip axis of the solar panel and a second pitch axis output torque corresponding to the pitch axis of the solar panel; it determines a third output torque based on the first output torque and the second output torque; and it drives the solar panel to complete solar orientation based on the third output torque.

[0012] This application addresses the sun-orientation control requirements of satellite solar panels. Based on ephemeris information, it calculates the satellite's position, velocity, and solar azimuth to determine its attitude. A first attitude transformation matrix is ​​generated from the inertial coordinate system to the satellite's body coordinate system, and a second attitude transformation matrix is ​​generated from the solar panel's coordinate system to the satellite's body coordinate system. This allows for the calculation of the solar panel's flip-axis and pitch-axis feedforward target angles. Next, based on these target angles, a first output torque is calculated to overcome atmospheric drag. Simultaneously, a second output torque is calculated to correct attitude deviations. The first and second output torques are then superimposed to obtain a third output torque used to drive the solar panels. Finally, the third output torque is sent to the two-degree-of-freedom solar panel drive mechanism, driving the solar panels to achieve precise and stable sun-orientation, effectively mitigating the effects of atmospheric disturbances and ensuring a stable and reliable satellite energy supply.

[0013] This application achieves solar orientation control of low-Earth orbit satellite solar panels in complex atmospheric disturbance environments by calculating the target angles of the flip axis and the pitch axis, as well as the output torque of the solar panels. This solves the technical problem in the prior art where low-Earth orbit satellites cannot accurately and stably orient their solar panels to the sun under atmospheric disturbances, leading to reduced power supply efficiency and attitude loss. Attached Figure Description

[0014] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings: Figure 1 This is a hardware structure block diagram of a satellite system for implementing the method described in Embodiment 1 of this disclosure; Figure 2 This is a schematic diagram of the overall structure of a satellite equipped with a dual-degree-of-freedom solar panel according to the method described in Embodiment 1 of this disclosure; Figure 3 This is a schematic diagram illustrating the definition of the satellite body in the satellite body coordinate system according to the method described in Embodiment 1 of this disclosure; Figure 4 This is a schematic diagram illustrating the definition of a solar panel in the solar panel coordinate system according to the method described in Embodiment 1 of this disclosure; Figure 5 This is a flowchart illustrating the satellite solar panel solar orientation control method according to Embodiment 1 of this disclosure; Figure 6 This is a schematic diagram of the satellite solar panel sun-oriented control device according to Embodiment 2 of this disclosure; Figure 7This is a schematic diagram of the satellite solar panel sun-oriented control device according to Embodiment 3 of this disclosure. Detailed Implementation

[0015] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0016] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] Example 1

[0018] According to this embodiment, a method for controlling the sun orientation of a satellite solar panel is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0019] Figure 1 This is a schematic diagram of the hardware architecture of satellite system 10. (Reference) Figure 1 As shown, satellite system 10 includes an integrated electronic system, which includes a processor, a memory, a bus management module, and a communication interface. The memory is connected to the processor, allowing the processor to access the memory, read program instructions stored in the memory, read data from the memory, or write data to the memory. The bus management module is connected to the processor and also to a bus such as a CAN bus. Thus, the processor can communicate with onboard peripherals connected to the bus through the bus managed by the bus management module. Furthermore, the processor also communicates with devices such as cameras, star sensors, telemetry and command transponders, and data transmission equipment via the communication interface. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, a satellite may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0020] It is worth noting that the aforementioned spaceborne peripherals connected to the CAN bus can be one or multiple. These spaceborne peripherals include, but are not limited to, GNSS modules, fiber optic gyroscopes, and high-torque flywheels. Further details will not be elaborated upon here.

[0021] It should be noted that, Figure 1 One or more processors and / or other data processing circuits shown herein may generally be referred to as "data processing circuitry". This data processing circuitry may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element in a computing device. As involved in embodiments of this disclosure, the data processing circuitry serves as processor control (e.g., selection of a variable resistor termination path connected to an interface).

[0022] Figure 1 The memory shown can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method for determining the communication frequency band corresponding to the beam in the embodiments of this disclosure. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, to implement the above-mentioned method for determining the communication frequency band corresponding to the beam in the application program. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.

[0023] It should be noted here that, in some optional embodiments, the above... Figure 1 The device shown may include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be noted that... Figure 1 This is only one instance of a specific particular instance, and is intended to illustrate the types of components that may exist in the aforementioned devices.

[0024] Figure 2 This is a schematic diagram of the overall structure of the satellite equipped with a dual-degree-of-freedom solar panel as described in this embodiment. Figure 2As shown, the satellite includes a satellite body 100, and solar panels 210 and 220 connected to both sides of the satellite body 100 via a dual-degree-of-freedom solar panel drive mechanism. This drive mechanism is equipped with independent tilt and pitch axes to achieve dual-degree-of-freedom rotational adjustment of solar panels 210 and 220. The solar panels include solar panels 210 and 220.

[0025] Specifically, Figure 2 The horizontal dashed line represents the rotation axis of solar panels 210 and 220. Solar panels 210 and 220 can rotate within a 360° range around the rotation axis. Figure 2 (As shown by the arc-shaped arrows on the left and right sides), used to adjust the flip angle of solar panels 210 and 220.

[0026] The pitch axis is set perpendicular to the tilt axis. Figure 2 (As shown by the vertical dashed line in the middle), solar panels 210 and 220 can pitch and rotate around the pitch axis. Figure 2 (As shown by the two sets of arc-shaped arrows in the middle), used to adjust the pitch angle of solar panels 210 and 220. Figure 1 The satellite system 10 shown is deployed in Figure 2 The satellite body 100 shown.

[0027] Figure 3 The satellite body coordinate system O- of the satellite body 100 described in this embodiment A diagram illustrating the definition. (See reference.) Figure 3 As shown, solar panel 210 along + Extending along the axial direction, the solar panel 220 is along - Extending along the axial direction. Furthermore... Figure 3 A schematic diagram is shown of solar panels 210 and 220 rotating to their zero-position. (Reference) Figure 3 As shown, when returning to zero, the normals of solar panels 210 and 220 are perpendicular to the normals of the satellite body 100. The axial direction is consistent. This allows the satellite to further achieve whole-satellite solar orbit, making the satellite body 100- With the axis pointing towards the sun, solar panels 210 and 220 can be operated towards the sun.

[0028] It should be noted that, as Figure 3 As shown, in the satellite body coordinate system O- Below, the rotation axis corresponds to the forward direction (windward direction) of the satellite body 100. shaft (i.e.) shaft and - (The pitch axis is set perpendicular to the tilt axis). shaft (i.e.) shaft and - axis). shaft (i.e.) shaft and - The azimuth axis (pointing towards the Earth's center) serves as the reference axis for attitude control.

[0029] To facilitate the explanation of the technical solution of this embodiment, the solar panel 210 will be used as an example in the following description. The structure, coordinate system definition and control principle of the solar panel 220 are completely the same as those of the solar panel 210, and can be directly applied by those skilled in the art.

[0030] Figure 4 The solar panel 210 described in this embodiment is in the solar panel coordinate system O- The following is a definition diagram. (See attached diagram.) Figure 4 As shown, in the windsurfing coordinate system O- Below, along the horizontal axis extending from the solar panel 210 ( The axis () is the flip axis of the solar panel coordinate system, which is related to the pitch axis of the satellite body 100. Parallel, corresponding to the flip angle, can drive the solar panel 210 around the flip axis. Perform a flipping and rotation. Correspondingly, the vertical axis perpendicular to the horizontal axis ( The axis (x) is the pitch axis of the solar panel coordinate system, which is related to the azimuth axis of the satellite body 100. Parallel, corresponding to the pitch angle, can drive the solar panel 210 around the pitch axis. Perform pitch and rotation.

[0031] Under the aforementioned operating environment, according to the first aspect of this embodiment, a method for controlling the solar orientation of a satellite solar panel is provided. This method comprises... Figure 1 The integrated electronic system shown is implemented. Figure 5 A flowchart illustrating the method is shown below. (Refer to...) Figure 5 As shown, the method includes: S502: Based on the first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and the second attitude transformation matrix from the solar panel coordinate system to the satellite body coordinate system, determine the flip axis feedforward target angle and the pitch axis feedforward target angle of the solar panel. S504: Based on the target angle of the flip axis feedforward and the target angle of the pitch axis feedforward, determine the first output torque of the motor used to drive the solar panel to overcome atmospheric resistance, wherein the first output torque includes the first flip axis output torque corresponding to the flip axis of the solar panel and the first pitch axis output torque corresponding to the pitch axis of the solar panel. S506: Determine the flip angle error and pitch angle error of the solar panel based on the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively, and determine the second output torque based on the flip angle error and pitch angle error. The second output torque includes the second flip axis output torque corresponding to the flip axis of the solar panel and the second pitch axis output torque corresponding to the pitch axis of the solar panel. S508: Determine the third output torque based on the first output torque and the second output torque; S510: Drives the solar panels to achieve sun orientation based on the third output torque.

[0032] In the embodiments of this application, the integrated electronic system needs to establish an inertial coordinate system O- Satellite body coordinate system O- and the windsurfing coordinate system O- Among them, the inertial coordinate system O- It serves as the space inertial reference coordinate system, and both the solar ephemeris and satellite orbit ephemeris are based on this inertial coordinate system.

[0033] In addition, in the satellite body coordinate system O- middle, This indicates the flip axis, pointing in the direction the satellite is moving (i.e., the windward direction), and corresponds to the flip angle. Indicates the pitch axis, perpendicular to The plane (i.e., the right-handed coordinate system) corresponds to the pitch angle. The azimuth axis points towards the Earth's center and corresponds to the azimuth angle. The coordinate system O- for the windsurfing system... As explained above, it will not be repeated here.

[0034] Specifically, the integrated electronic system can be based on the inertial coordinate system O- at time t. To the satellite body coordinate system O- First attitude transformation matrix And the solar panel coordinate system O- at time t. To the satellite body coordinate system O- The second attitude transformation matrix Determine the target angle of the solar sail's tilt axis feedforward. target angle fed forward with pitch axis (Corresponding to step S502).

[0035] Specifically, the integrated electronic system first calculates and acquires fundamental physical quantities such as the satellite's absolute position, absolute velocity, orbital parameters, and solar unit vector in the inertial coordinate system based on ephemeris information in real time. Then, combining real-time attitude measurement data collected by the satellite's attitude sensors (such as star sensors), the integrated electronic system accurately determines the satellite's attitude at time t, thereby constructing the inertial coordinate system O- To the satellite body coordinate system O- First attitude transformation matrix (3×3 orthogonal matrix). Wherein, the first attitude transformation matrix... Used to describe the attitude relationship of the satellite body 100 relative to inertial space (including the flip angle corresponding to the flip axis, the pitch angle corresponding to the pitch axis, and the azimuth angle corresponding to the azimuth axis).

[0036] Simultaneously, the integrated electronic system establishes the solar panel coordinate system O- at time t. To the satellite body coordinate system O- The second attitude transformation matrix The second attitude transformation matrix This describes the attitude mapping relationship between the solar panels and the satellite body 100. Specifically, it relates to determining the second attitude transformation matrix. The specific methods will be explained in detail later.

[0037] Furthermore, the integrated electronic system can, at time t, perform a transformation based on the first attitude transition matrix. Second attitude transformation matrix By inverse coordinate transformation and attitude calculation, the ideal rotation angles of the solar panel's flip axis and pitch axis that meet the sun-oriented requirements are derived, i.e., the feedforward target angle of the flip axis at time t. target angle fed forward with pitch axis The method for solving the flip-axis feedforward target angle and the pitch-axis feedforward target angle based on the first attitude transformation matrix and the second attitude transformation matrix will be explained in detail later.

[0038] Next, the integrated electronic system determines the target angle of the flip axis feedforward at time t. target angle fed forward with pitch axis Then, combining the satellite's current orbital altitude, atmospheric density data, and the real-time effective windward area of ​​the solar panels, the atmospheric drag torque interference experienced by the solar panels during motion is assessed. Subsequently, the integrated electronic system combines the target angle of the flip axis feedforward. target angle fed forward with pitch axis The first output torque for driving the motor in the two-degree-of-freedom solar panel drive mechanism is determined. This first output torque specifically includes a first flip-axis output torque for counteracting atmospheric drag during rotation about the flip-axis. And the first pitch axis output torque used to counteract atmospheric drag when rotating around the pitch axis. (Corresponding to step S504).

[0039] Subsequently, the integrated electronic system feeds forward the target angle of the flip axis at time t, which has been pre-calculated. target angle fed forward with pitch axis Calculate the flip angle error of the solar panel at the corresponding time. and pitch angle error Then, the integrated electronic system, based on the flip angle error... and pitch angle error The second output torque for correcting angular deviation is calculated, which includes the second flip shaft output torque corresponding to the flip shaft of the solar panel for correcting angular deviation of the flip shaft. And a second pitch axis output torque corresponding to the pitch axis of the solar panel, used to correct pitch axis angle deviation. (corresponding to step S506), thereby realizing real-time correction of the attitude deviation of the solar panel and improving the solar panel's solar orientation accuracy and control stability.

[0040] Next, the integrated electronic system superimposes the first output torque and the second output torque to determine the third output torque required to drive the solar panel (corresponding to step S508). The integrated electronic system outputs the third output torque to the two-degree-of-freedom solar panel drive mechanism to drive the solar panel to complete the sun-oriented movement according to the preset attitude, ensuring that the solar panel still has a stable and accurate sun-oriented capability in atmospheric turbulence environment (corresponding to step S510).

[0041] As described in the background section, existing two-degree-of-freedom solar panel drive mechanisms (SADA) generally suffer from defects such as coupling between the tilt and pitch axes, weak disturbance compensation capabilities, and insufficient anti-interference design. Low-Earth orbit atmospheric disturbances change in real time with variations in solar panel attitude, orbital position, and space temperature, generating fluctuating disturbance torques. Relying solely on feedback adjustment would significantly increase the motor load, reduce control bandwidth and positioning accuracy, causing the solar panel to deviate from the solar incidence direction for extended periods. This results in insufficient satellite energy output, attitude coupling disturbances, and even affects payload operation and on-orbit lifespan. Therefore, existing technologies struggle to simultaneously achieve the coordinated control objectives of rapid tracking, high-precision pointing, and high-stability disturbance resistance under strong disturbances.

[0042] In view of this, this application addresses the sun-orientation control requirements of satellite solar panels by calculating the satellite's position, velocity, and solar azimuth based on ephemeris information to determine the satellite's attitude. Based on this, a first attitude transformation matrix is ​​generated from the inertial coordinate system to the satellite's body coordinate system, and a second attitude transformation matrix is ​​generated from the solar panel's coordinate system to the satellite's body coordinate system. This allows for the calculation of the solar panel's flip-axis and pitch-axis feedforward target angles. Next, based on these target angles, a first output torque is calculated to overcome atmospheric drag. Simultaneously, a second output torque is calculated to correct attitude deviations. Subsequently, the first and second output torques are superimposed to obtain a third output torque used to drive the solar panels. Finally, the third output torque is sent to the two-degree-of-freedom solar panel drive mechanism to drive the solar panels to achieve precise and stable sun-orientation, effectively offsetting the effects of atmospheric disturbances and ensuring a stable and reliable satellite energy supply.

[0043] This application achieves solar orientation control of low-Earth orbit satellite solar panels in complex atmospheric disturbance environments by calculating the target angles of the flip axis and the pitch axis, as well as the output torque of the solar panels. This solves the technical problem in the prior art where low-Earth orbit satellites cannot accurately and stably orient their solar panels to the sun under atmospheric disturbances, leading to reduced power supply efficiency and attitude loss.

[0044] Optionally, the operation of determining the target angles for the flip axis and pitch axis of the solar panel based on the first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and the second attitude transformation matrix from the solar panel coordinate system to the satellite body coordinate system includes: determining the second solar unit vector in the satellite body coordinate system based on the first attitude transformation matrix and the first solar unit vector in the inertial coordinate system; determining the second solar normal direction vector based on the first solar normal direction vector in the solar panel coordinate system and the second attitude transformation matrix; and, if the second solar unit vector is preset to be equal to the second solar normal direction vector, determining the target angles for the flip axis and pitch axis of the solar panel based on the second solar unit vector and the first solar normal direction vector.

[0045] Specifically, to achieve pre-alignment driven by ephemeris and ensure that the solar panel's normal can accurately point to the sun, the integrated electronic system is designed to enable the second solar unit vector... Vector of the normal direction of the second sail The equations are completely identical (equal). Then, the second attitude transformation matrix can be calculated. Includes the solar panel's flip-axis feedforward target angle at time t. target angle fed forward with pitch axis .

[0046] Specifically, the integrated electronic system utilizes the inertial coordinate system O- at time t. To the satellite body coordinate system O- First attitude transformation matrix For the inertial coordinate system O- at time t The first solar unit vector below Perform a coordinate transformation to obtain the satellite body coordinate system O- at time t. The second solar unit vector below The specific calculation formula is as follows: (1) Next, the integrated electronic system utilizes the solar panel coordinate system O- at time t. To the satellite body coordinate system O- The second attitude transformation matrix For the windsurfing coordinate system O- The first normal direction vector of the windshield Perform a coordinate transformation to obtain the satellite's body coordinate system O- The second normal direction vector of the windshield The specific calculation formula is as follows: (2) Among them, due to the coordinate system O- Down, The axis is defined as the direction of the normal to the windshield, therefore the vector of the first windshield normal direction is... , is a known fixed unit vector.

[0047] Furthermore, the integrated electronic system pre-sets a second solar unit vector. Vector of the normal direction of the second sail Equal, that is: (3) Then, the integrated electronic system, based on the obtained second solar unit vector... and the known first solar panel normal direction vector Combined with the second attitude transformation matrix The correspondence between the angle and the solar panel's rotation axis feedforward target angle at time t can be directly calculated. target angle fed forward with pitch axis Among them, the second attitude transformation matrix Feedforward target angle with the flip axis of the solar panel target angle fed forward with pitch axis The correspondence will be explained in detail later.

[0048] By using the above methods, the target angles for the flip axis and pitch axis of the solar panel can be determined, providing an accurate angular reference for the solar panel and improving the response speed and control accuracy for solar orientation.

[0049] Optionally, the operation of determining the second attitude transformation matrix includes: determining a first rotation matrix corresponding to the pitch axis of the satellite body coordinate system based on the target angle fed forward by the flip axis, wherein the pitch axis of the satellite body coordinate system is parallel to the flip axis of the solar panel coordinate system; determining a second rotation matrix corresponding to the azimuth axis of the satellite body coordinate system based on the target angle fed forward by the pitch axis, wherein the azimuth axis of the satellite body coordinate system is parallel to the pitch axis of the solar panel coordinate system; and determining the second attitude transformation matrix based on the first rotation matrix and the second rotation matrix.

[0050] Specifically, the integrated electronic system feeds forward the target angle based on the flip axis. Determine the coordinate system O- of the satellite body. The first rotation matrix corresponding to the pitch axis below. Due to the satellite's body coordinate system O- pitch axis and windshield coordinate system O- The flip axes below are parallel to each other, therefore the first rotation matrix It can accurately reflect the attitude relationship of the solar panel rotating around the flip axis.

[0051] Wherein, the first rotation matrix The expanded form is:

[0052] In addition, the integrated electronic system feeds the target angle based on the pitch axis. Determine the coordinate system O- of the satellite body. The second rotation matrix corresponding to the lower azimuth axis Due to the satellite's body coordinate system O- The azimuth axis below and the windsurf coordinate system O- The pitch axes are parallel to each other, therefore the second rotation matrix It can accurately reflect the attitude relationship of the solar panel rotating around the pitch axis.

[0053] Wherein, the second rotation matrix The expanded form is:

[0054] Finally, the integrated electronic system utilizes the first rotation matrix With the second rotation matrix The second attitude transformation matrix at time t is determined according to the following formula. ,Right now: (4) In the formula, For the coordinate system around the satellite body The first rotation matrix of the axis (pitch axis) (corresponding to the flip axis of the solar panel) Flip angle ). For the coordinate system around the satellite body The second rotation matrix of the axis (azimuth axis) (corresponding to the pitch axis of the solar panel) pitch angle It should be noted that the first rotation matrix... Second rotation matrix Independent and uncoupled, it can ensure the independence and accuracy of the corresponding flip angle and pitch angle calculations.

[0055] Then, based on formulas (1) to (4), the integrated electronic system can obtain the following formulas: (5) Among them, only the parameter flip axis feedforward target angle and pitch axis feedforward target angle Since it is an unknown, it can be obtained by solving it. and .

[0056] Therefore, this application constructs a first rotation matrix and a second rotation matrix that are independent of each other, and then obtains a second attitude transformation matrix, which provides a reliable basis for the accurate transformation from the solar panel coordinate system to the satellite body coordinate system, thereby improving the accuracy of feedforward target angle calculation and the stability of sun orientation control.

[0057] Optionally, determining the first output torque for the motor driving the solar panel to overcome atmospheric drag based on the target angles for the flip axis feedforward and the pitch axis feedforward includes: acquiring a pre-set flip axis output torque as the first flip axis output torque; determining the solar panel attitude based on the target angles for the flip axis feedforward and the pitch axis feedforward; determining the angle between the normal direction of the solar panel and the windward direction of the satellite based on the solar panel attitude; determining the effective windward area of ​​the solar panel based on the angle and the fixed area of ​​the solar panel; determining the atmospheric disturbance force on the solar panel based on the effective windward area; and determining the first pitch axis output torque based on the atmospheric disturbance force.

[0058] Specifically, due to the symmetrical structure of the solar panels on both sides of the flip shaft, the torques generated by atmospheric disturbances are equal in magnitude and opposite in direction, thus canceling each other out. Therefore, the output torque of the flip shaft of this motor is mainly used to balance non-atmospheric disturbance loads such as mechanical friction and assembly deviations, without the need for additional balancing of atmospheric disturbance torques. It only needs to output a preset default torque, requiring no additional calculation. Consequently, the integrated electronic system directly uses the pre-set flip shaft output torque as the first flip shaft output torque. .

[0059] Next, the integrated electronic system feeds forward the target angle of the flip axis based on the obtained angle. target angle fed forward with pitch axis The system determines the current attitude of the solar panel. Then, based on this attitude, the integrated electronic system calculates the angle between the solar panel's normal direction and the satellite's windward direction. (i.e., the normal vector of the second windshield) and (The angle between the axes). Furthermore, the integrated electronic system uses this angle... and the fixed area of ​​the solar panels. (Determined by mechanical dimensions), the effective windward area of ​​the solar panel can be calculated using the following formula. : (6) Wherein, the direction of the normal to the sail at time t and the corresponding feedforward target angle of the flip axis are... target angle fed forward with pitch axis Corresponding to, and also corresponding to, the second solar unit vector at the corresponding moment. .

[0060] Furthermore, the integrated electronic system is based on this effective windward area. The atmospheric disturbance force experienced by the solar panel can be calculated using the following formula. : (7) In the formula, Let be the atmospheric disturbance force at time t. Let be the atmospheric density at low Earth orbit at time t. Let be the satellite's orbital velocity at time t. Let be the effective windward area at time t. This is the starting resistance coefficient (which can be set to a fixed value).

[0061] Next, the integrated electronic system, based on this atmospheric disturbance... Determine the output torque of the first pitch axis. Among them, atmospheric disturbance forces and the output torque of the first pitch axis The corresponding calculation relationship will be explained in detail later.

[0062] Therefore, by using the above methods, the pre-calculated target angles of the flip axis relative to each time point t can be fed forward based on ephemeris information. Pitch axis feedforward target angle First flip shaft output torque and the output torque of the first pitch axis All data is uploaded to the satellite and corresponds to specific time points in the ephemeris information. This allows the satellite to obtain data for each time point in advance based on the ephemeris information. , and corresponding , This drives the solar panels to rotate.

[0063] Optionally, the operation of determining the first pitch axis output torque based on atmospheric disturbance force includes: determining the effective disturbance component of atmospheric disturbance force in the direction normal to the solar panel based on atmospheric disturbance force; and determining the first pitch axis output torque based on the effective disturbance component and the distance from the center of the solar panel to the pitch axis.

[0064] Specifically, due to the atmospheric disturbance at time t The direction of the force is consistent with the satellite's windward direction, while the force analysis of the solar panel needs to be based on its normal direction. Therefore, the integrated electronic system needs to incorporate the atmospheric disturbance force at time t. Decomposed to the effective perturbation components along the normal direction of the solar panel at time t. The calculation formula is as follows: (8) Then, the integrated electronic system utilizes this effective disturbance component. Distance between the center of the solar panel and the pitch axis The product of these factors determines the output torque of the first pitch axis. The specific calculation formula is as follows: (9) In the formula, The first pitch axis output torque at time t. Atmospheric disturbance force at time t The component of the pitch axis corresponding to the direction of the normal to the sail. This is the distance between the center of the solar panel and the pitch axis.

[0065] In this way, the drag torque generated by atmospheric disturbances can be accurately matched, achieving precise feedforward compensation for pitch axis disturbances and improving the stability of the sail attitude control.

[0066] Optionally, the operation of determining the flip angle error and pitch angle error based on the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively, and determining the second output torque based on the flip angle error and pitch angle error, includes: obtaining the actual rotation angle of the flip axis corresponding to the flip axis of the solar panel and the actual rotation angle of the pitch axis corresponding to the pitch axis of the solar panel, and determining the flip angle error based on the actual rotation angle of the flip axis and the flip axis feedforward target angle; determining the second flip axis output torque based on the flip angle error and the flip axis PID parameters; determining the pitch angle error based on the actual rotation angle of the pitch axis and the pitch axis feedforward target angle; and determining the second pitch axis output torque based on the pitch angle error and the pitch axis PID parameters.

[0067] Specifically, due to unavoidable factors such as orbital disturbances, parameter measurement errors, and mechanical wear during satellite operation, compensation can only be achieved through feedforward compensation (based on the feedforward target angle). , Since atmospheric disturbance calculations cannot completely eliminate attitude deviations, this application introduces a PID (proportional-integral-derivative) control strategy to reflect the degree of attitude deviation of the solar panel and achieve precise attitude adjustment.

[0068] Specifically, the integrated electronic system first collects the actual rotation angle of the flip shaft from the feedback of the solar panel drive mechanism. Actual rotation angle of pitch axis Then, the integrated electronic system utilizes the flip axis to feed forward the target angle. and the actual rotation angle of the flip axis The flip angle error is determined according to the following formula. : (10) Next, the integrated electronic system utilizes this flip angle error. Based on the pre-set PID parameters of the flip axis, the output torque of the second flip axis used to correct errors is determined according to the following formula. : (11) In the formula, For the proportional parameter of the flip-axis PID, For the integral parameters of the PID controller on the flip axis, The differential parameter of the PID controller for the flip-axis.

[0069] Furthermore, the integrated electronic system utilizes the pitch axis to feed forward the target angle. and pitch axis actual rotation angle The pitch angle error is determined using the following formula. : (12) Subsequently, the integrated electronic system utilizes this pitch angle error Based on the pre-set pitch axis PID parameters, the second pitch axis output torque used to correct errors is determined according to the following formula. : (13) In the formula, For the proportional parameter of the pitch axis PID controller, These are the integral parameters for the pitch-axis PID controller. The differential parameter of the pitch-axis PID controller.

[0070] In addition, the integral term and Used to eliminate steady-state error, differential term and This is used to suppress oscillations caused by changes in the attitude of the corresponding solar panels.

[0071] In this way, the deviation between the actual rotation angle of the solar panel and the feedforward target angle can be corrected in real time, effectively improving the sun orientation accuracy and ensuring a smooth control process without overshoot.

[0072] Optionally, the operation of determining the third output torque based on the first output torque and the second output torque includes: determining the third tilt axis output torque based on the first tilt axis output torque and the second tilt axis output torque; and determining the third pitch axis output torque based on the first pitch axis output torque and the second pitch axis output torque, wherein the third output torque includes the third tilt axis output torque and the third pitch axis output torque.

[0073] Specifically, when the integrated electronic system determines the third output torque, it will use the first flip shaft output torque used to overcome atmospheric drag. Output torque of the second flip shaft used to correct angular errors The torques are superimposed to obtain the final output torque of the third flip shaft that drives the flip shaft. The specific calculation formula is as follows: (14) It should be noted that the first flip shaft output torque Superimposed output torque of the second flip shaft Afterwards, atmospheric disturbances and mechanical deviations can be balanced to ensure the stability of the tilting shaft attitude.

[0074] Simultaneously, the integrated electronic system will be used to overcome atmospheric drag by outputting torque on the first pitch axis. With the output torque of the second pitch axis used to correct angular errors The torques are superimposed to obtain the final output torque of the third pitch axis that drives the pitch axis. The specific calculation formula is as follows: (15) It should be noted that the pitch axis is significantly affected by atmospheric disturbance forces, and the torque is output through the first pitch axis. Second pitch axis output torque Summation can effectively offset atmospheric disturbances, correct attitude deviations, and ensure the accuracy of sun pointing.

[0075] In addition, refer to Figure 1 As shown, according to a second aspect of this embodiment, a storage medium is provided. The storage medium includes a stored program, wherein, when the program is executed, a processor performs any of the methods described above.

[0076] Therefore, according to this embodiment, this application realizes the solar orientation control of low-orbit satellite solar panels in complex atmospheric disturbance environments by calculating the flip axis feedforward target angle and the pitch axis feedforward target angle, as well as calculating the output torque of the solar panels. This solves the technical problem in the prior art that low-orbit satellites cannot accurately and stably orient their solar panels to the sun under atmospheric disturbances, resulting in reduced power supply efficiency and attitude loss.

[0077] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0078] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0079] Example 2

[0080] Figure 6 A satellite solar panel sun-orientation control device according to this embodiment is shown, which corresponds to the method described according to Embodiment 1. (Reference) Figure 6As shown, the device includes: a feedforward target angle determination module 610, used to determine the flip axis feedforward target angle and the pitch axis feedforward target angle of the solar panel based on a first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and a second attitude transformation matrix from the solar panel's coordinate system to the satellite body coordinate system; and a first output torque determination module 620, used to determine a first output torque for driving the motor of the solar panel to overcome atmospheric drag based on the flip axis feedforward target angle and the pitch axis feedforward target angle, wherein the first output torque includes a first flip axis output torque corresponding to the flip axis of the solar panel and a first pitch axis output torque corresponding to the pitch axis of the solar panel. The module provides the following parameters: a pitch axis output torque; a second output torque determination module 630, used to determine the flip angle error and pitch angle error of the solar panel based on the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively, and to determine the second output torque based on the flip angle error and pitch angle error, wherein the second output torque includes the second flip axis output torque corresponding to the flip axis of the solar panel and the second pitch axis output torque corresponding to the pitch axis of the solar panel; a third output torque determination module 640, used to determine the third output torque based on the first output torque and the second output torque; and a solar orientation module 650, used to drive the solar panel to complete solar orientation based on the third output torque.

[0081] Optionally, the operation of determining the target angles for the flip axis and pitch axis of the solar panel based on the first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and the second attitude transformation matrix from the solar panel coordinate system to the satellite body coordinate system includes: determining the second solar unit vector in the satellite body coordinate system based on the first attitude transformation matrix and the first solar unit vector in the inertial coordinate system; determining the second solar normal direction vector based on the first solar normal direction vector in the solar panel coordinate system and the second attitude transformation matrix; and, if the second solar unit vector is preset to be equal to the second solar normal direction vector, determining the target angles for the flip axis and pitch axis of the solar panel based on the second solar unit vector and the first solar normal direction vector.

[0082] Optionally, the operation of determining the second attitude transformation matrix includes: determining a first rotation matrix corresponding to the pitch axis of the satellite body coordinate system based on the target angle fed forward by the flip axis, wherein the pitch axis of the satellite body coordinate system is parallel to the flip axis of the solar panel coordinate system; determining a second rotation matrix corresponding to the azimuth axis of the satellite body coordinate system based on the target angle fed forward by the pitch axis, wherein the azimuth axis of the satellite body coordinate system is parallel to the pitch axis of the solar panel coordinate system; and determining the second attitude transformation matrix based on the first rotation matrix and the second rotation matrix.

[0083] Optionally, determining the first output torque for the motor driving the solar panel to overcome atmospheric drag based on the target angles for the flip axis feedforward and the pitch axis feedforward includes: acquiring a pre-set flip axis output torque as the first flip axis output torque; determining the solar panel attitude based on the target angles for the flip axis feedforward and the pitch axis feedforward; determining the angle between the normal direction of the solar panel and the windward direction of the satellite based on the solar panel attitude; determining the effective windward area of ​​the solar panel based on the angle and the fixed area of ​​the solar panel; determining the atmospheric disturbance force on the solar panel based on the effective windward area; and determining the first pitch axis output torque based on the atmospheric disturbance force.

[0084] Optionally, the operation of determining the first pitch axis output torque based on atmospheric disturbance force includes: determining the effective disturbance component of atmospheric disturbance force in the direction normal to the solar panel based on atmospheric disturbance force; and determining the first pitch axis output torque based on the effective disturbance component and the distance from the center of the solar panel to the pitch axis.

[0085] Optionally, the operation of determining the flip angle error and pitch angle error based on the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively, and determining the second output torque based on the flip angle error and pitch angle error, includes: obtaining the actual rotation angle of the flip axis corresponding to the flip axis of the solar panel and the actual rotation angle of the pitch axis corresponding to the pitch axis of the solar panel, and determining the flip angle error based on the actual rotation angle of the flip axis and the flip axis feedforward target angle; determining the second flip axis output torque based on the flip angle error and the flip axis PID parameters; determining the pitch angle error based on the actual rotation angle of the pitch axis and the pitch axis feedforward target angle; and determining the second pitch axis output torque based on the pitch angle error and the pitch axis PID parameters.

[0086] Optionally, the operation of determining the third output torque based on the first output torque and the second output torque includes: determining the third tilt axis output torque based on the first tilt axis output torque and the second tilt axis output torque; and determining the third pitch axis output torque based on the first pitch axis output torque and the second pitch axis output torque, wherein the third output torque includes the third tilt axis output torque and the third pitch axis output torque.

[0087] Therefore, according to this embodiment, by calculating the target angles of the flip axis and the pitch axis, and calculating the output torque of the solar panel, the solar panel of a low-orbit satellite can be controlled to orient itself toward the sun in a complex atmospheric disturbance environment. This solves the technical problem in the prior art that the solar panel of a low-orbit satellite cannot be accurately and stably oriented toward the sun under atmospheric disturbance, resulting in reduced power supply efficiency and attitude loss.

[0088] Example 3

[0089] Figure 7 A satellite solar panel sun-orientation control device according to this embodiment is shown, which corresponds to the method described according to Embodiment 1. (Reference) Figure 7 As shown, the device includes: a processor 710; and a memory 720, connected to the processor 710, for providing the processor 710 with instructions to process the following steps: determining the flip axis feedforward target angle and the pitch axis feedforward target angle of the solar panel based on a first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and a second attitude transformation matrix from the solar panel's coordinate system to the satellite body coordinate system; determining a first output torque for driving the motor of the solar panel to overcome atmospheric drag based on the flip axis feedforward target angle and the pitch axis feedforward target angle, wherein the first output torque includes the torque related to the flip axis feedforward target angle and the pitch axis feedforward target angle. The system generates a first flip axis output torque corresponding to the rotating shaft and a first pitch axis output torque corresponding to the pitch axis of the solar panel. Based on the target angles of the flip axis and pitch axis, the system determines the flip angle error and pitch angle error of the solar panel, respectively. Based on these errors, a second output torque is determined, comprising the second flip axis output torque corresponding to the flip axis of the solar panel and the second pitch axis output torque corresponding to the pitch axis of the solar panel. Based on the first and second output torques, a third output torque is determined. Based on the third output torque, the solar panel is driven to achieve solar orientation.

[0090] Optionally, the operation of determining the target angles for the flip axis and pitch axis of the solar panel based on the first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and the second attitude transformation matrix from the solar panel coordinate system to the satellite body coordinate system includes: determining the second solar unit vector in the satellite body coordinate system based on the first attitude transformation matrix and the first solar unit vector in the inertial coordinate system; determining the second solar normal direction vector based on the first solar normal direction vector in the solar panel coordinate system and the second attitude transformation matrix; and, if the second solar unit vector is preset to be equal to the second solar normal direction vector, determining the target angles for the flip axis and pitch axis of the solar panel based on the second solar unit vector and the first solar normal direction vector.

[0091] Optionally, the operation of determining the second attitude transformation matrix includes: determining a first rotation matrix corresponding to the pitch axis of the satellite body coordinate system based on the target angle fed forward by the flip axis, wherein the pitch axis of the satellite body coordinate system is parallel to the flip axis of the solar panel coordinate system; determining a second rotation matrix corresponding to the azimuth axis of the satellite body coordinate system based on the target angle fed forward by the pitch axis, wherein the azimuth axis of the satellite body coordinate system is parallel to the pitch axis of the solar panel coordinate system; and determining the second attitude transformation matrix based on the first rotation matrix and the second rotation matrix.

[0092] Optionally, determining the first output torque for the motor driving the solar panel to overcome atmospheric drag based on the target angles for the flip axis feedforward and the pitch axis feedforward includes: acquiring a pre-set flip axis output torque as the first flip axis output torque; determining the solar panel attitude based on the target angles for the flip axis feedforward and the pitch axis feedforward; determining the angle between the normal direction of the solar panel and the windward direction of the satellite based on the solar panel attitude; determining the effective windward area of ​​the solar panel based on the angle and the fixed area of ​​the solar panel; determining the atmospheric disturbance force on the solar panel based on the effective windward area; and determining the first pitch axis output torque based on the atmospheric disturbance force.

[0093] Optionally, the operation of determining the first pitch axis output torque based on atmospheric disturbance force includes: determining the effective disturbance component of atmospheric disturbance force in the direction normal to the solar panel based on atmospheric disturbance force; and determining the first pitch axis output torque based on the effective disturbance component and the distance from the center of the solar panel to the pitch axis.

[0094] Optionally, the operation of determining the flip angle error and pitch angle error based on the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively, and determining the second output torque based on the flip angle error and pitch angle error, includes: obtaining the actual rotation angle of the flip axis corresponding to the flip axis of the solar panel and the actual rotation angle of the pitch axis corresponding to the pitch axis of the solar panel, and determining the flip angle error based on the actual rotation angle of the flip axis and the flip axis feedforward target angle; determining the second flip axis output torque based on the flip angle error and the flip axis PID parameters; determining the pitch angle error based on the actual rotation angle of the pitch axis and the pitch axis feedforward target angle; and determining the second pitch axis output torque based on the pitch angle error and the pitch axis PID parameters.

[0095] Optionally, the operation of determining the third output torque based on the first output torque and the second output torque includes: determining the third tilt axis output torque based on the first tilt axis output torque and the second tilt axis output torque; and determining the third pitch axis output torque based on the first pitch axis output torque and the second pitch axis output torque, wherein the third output torque includes the third tilt axis output torque and the third pitch axis output torque.

[0096] Therefore, according to this embodiment, this application realizes the solar orientation control of low-orbit satellite solar panels in complex atmospheric disturbance environments by calculating the flip axis feedforward target angle and the pitch axis feedforward target angle, as well as calculating the output torque of the solar panels. This solves the technical problem in the prior art that low-orbit satellites cannot accurately and stably orient their solar panels to the sun under atmospheric disturbances, resulting in reduced power supply efficiency and attitude loss.

[0097] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0098] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0099] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0100] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0101] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0102] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0103] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the sun-pointing of a solar panel of a satellite, characterized in that, include: Based on the first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and the second attitude transformation matrix from the solar panel's coordinate system to the satellite body coordinate system, the flip axis feedforward target angle and the pitch axis feedforward target angle of the solar panel are determined. Based on the target angle of the flip axis feedforward and the target angle of the pitch axis feedforward, a first output torque for driving the motor of the solar panel to overcome atmospheric drag is determined, wherein the first output torque includes a first flip axis output torque corresponding to the flip axis of the solar panel and a first pitch axis output torque corresponding to the pitch axis of the solar panel. The flip angle error and pitch angle error of the solar panel are determined according to the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively. The second output torque is determined according to the flip angle error and the pitch angle error. The second output torque includes the second flip axis output torque corresponding to the flip axis of the solar panel and the second pitch axis output torque corresponding to the pitch axis of the solar panel. The third output torque is determined based on the first output torque and the second output torque; The solar panel is driven to orient itself toward the sun based on the third output torque.

2. The method according to claim 1, characterized in that, The operation of determining the target angles of the solar panel's flip axis and pitch axis based on the first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and the second attitude transformation matrix from the solar panel's coordinate system to the satellite body coordinate system includes: Based on the first attitude transformation matrix and the first solar unit vector in the inertial coordinate system, the second solar unit vector in the satellite body coordinate system is determined; The second normal direction vector of the solar panel is determined based on the first solar panel normal direction vector in the solar panel coordinate system and the second attitude transformation matrix; and Assuming the second solar unit vector is equal to the second solar panel normal direction vector, the target angles for the flip axis and pitch axis of the solar panel are determined based on the second solar unit vector and the first solar panel normal direction vector.

3. The method according to claim 2, characterized in that, The operation of determining the second attitude transformation matrix includes: Based on the target angle fed forward by the flip axis, a first rotation matrix corresponding to the pitch axis of the satellite body coordinate system is determined, wherein the pitch axis of the satellite body coordinate system is parallel to the flip axis of the solar panel coordinate system. Based on the target angle fed forward by the pitch axis, determine a second rotation matrix corresponding to the azimuth axis of the satellite body coordinate system, wherein the azimuth axis of the satellite body coordinate system is parallel to the pitch axis of the solar panel coordinate system; and The second attitude transformation matrix is ​​determined based on the first rotation matrix and the second rotation matrix.

4. The method according to claim 1, characterized in that, The operation of determining the first output torque of the motor driving the solar panels against atmospheric drag, based on the target feed angles of the tilt axis and the pitch axis, includes: Obtain the preset output torque of the flip shaft and use it as the first output torque of the flip shaft; The attitude of the solar panel is determined based on the target angle of the flip axis feedforward and the target angle of the pitch axis feedforward. Based on the solar panel's attitude, determine the angle between the normal direction of the solar panel and the satellite's windward direction; The effective windward area of ​​the solar panel is determined based on the included angle and the fixed area of ​​the solar panel. Based on the effective windward area, determine the atmospheric disturbance force experienced by the solar panel; and The output torque of the first pitch axis is determined based on the atmospheric disturbance force.

5. The method according to claim 4, characterized in that, The operation of determining the output torque of the first pitch axis based on the atmospheric disturbance force includes: Based on the atmospheric disturbance force, determine the effective disturbance component of the atmospheric disturbance force in the direction normal to the solar panel; and The output torque of the first pitch axis is determined based on the effective disturbance component and the distance from the center of the solar panel to the pitch axis.

6. The method according to claim 1, characterized in that, The operation of determining the roll angle error and pitch angle error based on the roll axis feedforward target angle and the pitch axis feedforward target angle, respectively, and determining the second output torque based on the roll angle error and pitch angle error, includes: Obtain the actual rotation angle of the flip axis corresponding to the flip axis of the solar panel and the actual rotation angle of the pitch axis corresponding to the pitch axis of the solar panel, and determine the flip angle error based on the actual rotation angle of the flip axis and the feedforward target angle of the flip axis; The output torque of the second flip shaft is determined based on the flip angle error and the flip shaft PID parameters. The pitch angle error is determined based on the actual pitch axis rotation angle and the target pitch axis feedforward angle; and The output torque of the second pitch axis is determined based on the pitch angle error and the pitch axis PID parameters.

7. The method according to claim 1, characterized in that, The operation of determining the third output torque based on the first output torque and the second output torque includes: The output torque of the third flip shaft is determined based on the output torque of the first flip shaft and the output torque of the second flip shaft; and The third pitch axis output torque is determined based on the first pitch axis output torque and the second pitch axis output torque, wherein the third output torque includes the third roll axis output torque and the third pitch axis output torque.

8. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the method described in any one of claims 1 to 7 is performed by a processor.

9. A satellite solar panel sun-oriented control device, characterized in that, include: The feedforward target angle determination module is used to determine the flip axis feedforward target angle and the pitch axis feedforward target angle of the solar panel based on the first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and the second attitude transformation matrix from the solar panel coordinate system to the satellite body coordinate system. The first output torque determination module is used to determine the first output torque for driving the motor of the solar panel to overcome atmospheric resistance based on the target angle of the flip axis feedforward and the target angle of the pitch axis feedforward. The first output torque includes the first flip axis output torque corresponding to the flip axis of the solar panel and the first pitch axis output torque corresponding to the pitch axis of the solar panel. The second output torque determination module is used to determine the flip angle error and pitch angle error of the solar panel based on the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively, and to determine the second output torque based on the flip angle error and the pitch angle error. The second output torque includes the second flip axis output torque corresponding to the flip axis of the solar panel and the second pitch axis output torque corresponding to the pitch axis of the solar panel. The third output torque determination module is used to determine the third output torque based on the first output torque and the second output torque; The solar orientation module is used to drive the solar panel to complete the solar orientation according to the third output torque.

10. A satellite solar panel sun-oriented control device, characterized in that, include: processor; as well as A memory, connected to the processor, for providing the processor with instructions to perform the following processing steps: Based on the first attitude transformation matrix from the inertial coordinate system to the satellite body coordinate system and the second attitude transformation matrix from the solar panel's coordinate system to the satellite body coordinate system, the flip axis feedforward target angle and the pitch axis feedforward target angle of the solar panel are determined. Based on the target angle of the flip axis feedforward and the target angle of the pitch axis feedforward, a first output torque for driving the motor of the solar panel to overcome atmospheric drag is determined, wherein the first output torque includes a first flip axis output torque corresponding to the flip axis of the solar panel and a first pitch axis output torque corresponding to the pitch axis of the solar panel. The flip angle error and pitch angle error of the solar panel are determined according to the flip axis feedforward target angle and the pitch axis feedforward target angle, respectively. The second output torque is determined according to the flip angle error and the pitch angle error. The second output torque includes the second flip axis output torque corresponding to the flip axis of the solar panel and the second pitch axis output torque corresponding to the pitch axis of the solar panel. The third output torque is determined based on the first output torque and the second output torque; The solar panel is driven to orient itself toward the sun based on the third output torque.

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