Satellite two-dimensional mechanism driving control redundancy method and system

Abstract

The application belongs to the technical field of spacecraft rotating mechanism stepping motor, and provides a satellite two-dimensional mechanism driving control redundancy method and system, which comprises: an initialization step, an updating angle parameter package and sending to the mechanism driving module; a mechanism rotating step, verifying the angle parameter package, comparing the rotating variable angle with the step angle in real time, and switching the operation mode through the servo module according to the comparison result; and a task end step, after the task is ended, the servo module saves the final rotating variable angle and step angle. The application can realize the function redundancy of maintaining the normal rotation of the mechanism without complex angle calculation, realizes the high-precision angle driving and remote sensing information acquisition after the hardware damage caused by the severe orbit irradiation environment, improves the overall reliability of the two-dimensional mechanism driving, avoids the influence of the satellite task after the rotating variable single point failure, and improves the function stability and task survival ability of the satellite rotating mechanism in the long service life.

Description

Technical Field

[0001] This invention belongs to the field of stepper motor technology for spacecraft rotating mechanisms, specifically relating to a redundant method and system for driving and controlling satellite two-dimensional mechanisms. Background Technology

[0002] Satellite rotating mechanisms, as moving parts, require high reliability and long lifespan. For example, point-beam data transmission antennas typically employ a two-dimensional mechanism design, and the reliability of such mechanisms directly impacts the success or failure of satellite missions. Stepper motors are widely used as drive actuators in satellite two-dimensional mechanisms, combined with resolvers (or rotary transformers) to detect angles and provide feedback for closed-loop control. Resolvers usually work in conjunction with resolver-to-digital converters (RDBMCs). The DDBMC sends excitation signals to the resolver while simultaneously receiving analog signals and converting them into digital signals—the angle information. For instance, a resolver combined with an AD2S80 series resolver-to-digital converter forms an angle acquisition system, working in conjunction with a stepper motor to achieve angle acquisition and high-precision closed-loop drive control of a two-dimensional point-beam data transmission antenna. This design is widely used in the satellite field.

[0003] During satellite operation, components are susceptible to the effects of orbital radiation, leading to data errors, functional malfunctions, and other anomalies. Orbital radiation effects are primarily characterized by displacement damage. In orbits between 1000km and 1200km, inadequate protection of individual components can cause serious problems such as component failure and malfunction. The AD2S80 series chips have poor resistance to displacement damage. When operating in corresponding orbits, as the effects of displacement damage accumulate, traditional radiation hardening measures alone cannot guarantee 100% functional reliability throughout their lifespan. Furthermore, once components fail, rotating mechanisms such as data transmission antennas will face malfunction or even complete failure to rotate, directly causing extremely serious consequences such as the loss of satellite mission functionality.

[0004] In the prior art, the patent document "Inverter Control System Combining Resolver Position Information and Hall Position Sensor" (CN106953578A) discloses an inverter control system that combines resolver position information with a Hall position sensor, based on traditional direct and indirect detection methods. This system can achieve high-precision and high-real-time control of the inverter mechanism. Feedback sensors in servo control systems are divided into direct and indirect detection. Direct detection may have insufficient resolution when the mechanism displacement is slow, while indirect detection may lack accuracy due to mechanical errors. This solution avoids the shortcomings of traditional direct and indirect detection and is mainly applied to inverter mechanisms in space stations. However, it cannot avoid the impact of resolver single-point failure on satellite missions.

[0005] The patent document "A Redundant Decoding Device and Control Method for a Resolver in a Permanent Magnet Synchronous Motor for Electric Vehicle Drive" (CN108988706A) designs a redundant scheme for resolver hardware decoding and software decoding. This involves designing both hardware and software paths, both of which can provide excitation signals to the resolver windings. Simultaneously, both the hardware decoding chip and the software decoding module can extract the sine and cosine winding response signals of the resolver, ultimately obtaining the rotor angle. However, this scheme is designed for permanent magnet synchronous motors in electric vehicles. Due to the differences in usage characteristics between stepper motors and permanent magnet synchronous motors, it is not applicable to stepper motors in satellite mechanisms.

[0006] The patent document "Satellite Solar Array Fault Handling Method, Related Devices and Storage Medium" (CN117707223A) discloses integrating the drive circuit into the satellite mission computer hardware, using on-board position and attitude calculations to achieve mechanism control, combining stepper motors and zero-position sensors for on-orbit zero-position correction to improve zero-position identification accuracy, and centralizing the control logic in the satellite mission software to achieve mission management and fault diagnosis. However, it is still a system-level algorithmic remedy, with low native measurement accuracy, strong dependence on ground intervention, and a lack of autonomy, real-time performance, and high-performance maintenance capabilities under fault conditions.

[0007] To address the aforementioned difficulties and problems, a redundant control method for satellite two-dimensional mechanism drive is proposed. Based on the traditional closed-loop control of resolver system, an open-loop step counting control mode is added to improve the overall reliability of the two-dimensional mechanism drive and avoid the impact of single-point failure of resolver on satellite mission. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide a redundant method and system for driving and controlling a satellite two-dimensional mechanism, which can replace the driving and control function of the rotating mechanism after the rotary transformer and decoding chip of the satellite two-dimensional rotating mechanism fail.

[0009] The satellite two-dimensional mechanism drive control redundancy method provided by the present invention includes: Initialization steps, updating the angle parameter package and sending it to the mechanism drive module; The mechanism rotates in steps, verifies the angle parameter package, compares the rotation angle with the step counting angle in real time, and switches the operating mode through the servo module based on the comparison results. After the task ends, the servo module saves the final rotation angle and step count angle.

[0010] Preferably, the initialization step includes: Step S11: The ground system fills the initial step counting angles of the X-axis and Y-axis into the angle parameter package and uploads them to the servo module.

[0011] Step S12: The mechanism drive module corrects the zero-position angle and reports the rotation angle X of the current track on the X and Y axes. 旋变（当前轨） Y 旋变（当前轨） To the servo module.

[0012] Step S13: The servo module compares the rotation angle of the previous track and the current track on the X-axis and Y-axis with the step counting angle of the previous track, and updates the angle parameter package based on the difference.

[0013] Step S14: Send the time calibration command and the updated angle parameter package to the mechanism drive module.

[0014] Preferably, the angle parameter package includes a resolver fault flag threshold, a "zero" angle correction value, an angle / velocity error absolute value threshold, and an initial step counting angle.

[0015] In step S11, the ground system fills the angle parameter package with the initial angles of the X-axis and Y-axis as the initial step counting angles.

[0016] In step S13, if all differences are less than the set threshold, the rotation angle of the current track on the X-axis and Y-axis is used as the initial step counting angle; if any difference is greater than or equal to the set threshold, the step counting angle of the previous track on the X-axis and Y-axis is used as the initial step counting angle.

[0017] Preferably, the mechanism rotation step includes: Step S21: The mechanism drive module performs a validity check on the received angle parameter packet and updates the initial value of the step counting angle based on the check result; Step S22: Drive the two-dimensional mechanism to rotate according to the angle parameter package, and judge the difference between the rotation angle and the step counting angle of the X-axis and Y-axis in real time and continuously. When the difference exceeds the set threshold, the mechanism drive module reports a rotation fault flag, and the servo module judges the operating mode.

[0018] The task completion steps include: Step S31: After the task is completed, the servo module sends a stop command to the mechanism drive module, and the two-dimensional mechanism stops rotating. Step S32: The servo module saves the rotation angle and step counting angle of the X-axis and Y-axis after the two-dimensional mechanism stops rotating as the rotation angle and step counting angle of the upper track of the X-axis and Y-axis, respectively.

[0019] Preferably, the legality determination includes: If correct, the mechanism drive module updates the initial value of the step counting angle according to the angle parameter package; if incorrect, the mechanism drive module reports the flag word to the servo module, and the servo module sends the time calibration command and angle parameter package to the mechanism drive module again to re-determine the validity of the angle parameter package.

[0020] The servo module determines the operating mode as follows: After receiving the resolver fault flag, the servo module determines whether the autonomous switching step counting mode is enabled in the current task mode. If so, it sends a step counting mode command to the mechanism drive module; otherwise, it maintains the current mode.

[0021] The enabled state is on by default.

[0022] A redundant satellite two-dimensional mechanism drive control system according to the present invention includes: a servo module and a mechanism drive module.

[0023] The servo module updates the angle parameter package and sends it to the mechanism drive module; The mechanism drive module verifies the angle parameter package, compares the rotation angle and the step counting angle in real time, and switches the operating mode through the servo module based on the comparison results. After the task is completed, the servo module saves the final rotation angle and step count angle.

[0024] Preferably, the mechanism drive module corrects the zero-position angle and reports the rotation angle X of the current track on the X and Y axes. 旋变（当前轨） Y 旋变（当前轨） To the servo module.

[0025] The servo module receives the angle parameter package uploaded by the ground system after filling in the initial step counting angles of the X and Y axes.

[0026] Compare the rotation angles of the previous and current tracks on the X and Y axes with the step count angle of the previous track, and update the angle parameter package based on the difference.

[0027] Send the time synchronization command and the updated angle parameter package to the mechanism drive module.

[0028] Preferably, the angle parameter package includes a resolver fault flag threshold, a "zero" angle correction value, an angle / velocity error absolute value threshold, and an initial step counting angle.

[0029] The ground system fills the angle parameter package with the initial angles of the X and Y axes as the initial step counting angles.

[0030] The package for updating angle parameters based on the difference includes: If all differences are less than the set threshold, the rotation angle of the current track on the X-axis and Y-axis will be used as the initial step counting angle. If any difference is greater than or equal to the set threshold, the step counting angle of the previous track on the X-axis and Y-axis will be used as the initial step counting angle.

[0031] Preferably, the mechanism driving module performs a validity check on the received angle parameter packet and updates the initial value of the step counting angle based on the check result; The two-dimensional mechanism is driven to rotate according to the angle parameter package, and the difference between the rotation angle and the step counting angle of the X-axis and Y-axis is judged in real time and continuously. When the difference exceeds the set threshold, the mechanism drive module reports a rotation fault flag, and the servo module determines the operating mode.

[0032] After the task is completed, the servo module sends a stop command to the mechanism drive module, and the two-dimensional mechanism stops rotating.

[0033] The servo module saves the rotation angle and step counting angle of the X-axis and Y-axis after the two-dimensional mechanism stops rotating, and uses them as the rotation angle and step counting angle of the upper track of the X-axis and Y-axis, respectively.

[0034] Preferably, the legality determination includes: If correct, the mechanism drive module updates the initial value of the step counting angle according to the angle parameter package; if incorrect, the mechanism drive module reports the flag word to the servo module, and the servo module sends the time calibration command and angle parameter package to the mechanism drive module again to re-determine the validity of the angle parameter package.

[0035] The servo module determines the operating mode as follows: After receiving the resolver fault flag, the servo module determines whether the autonomous switching step counting mode is enabled in the current task mode. If so, it sends a step counting mode command to the mechanism drive module; otherwise, it maintains the current mode.

[0036] The enabled state is on by default.

[0037] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention adds an open-loop step counting control mode, which can hot-backup response angle acquisition, mechanism drive control and other functions, improve the overall reliability of the two-dimensional mechanism drive, and avoid the impact on satellite missions after the single-point failure of the resolver.

[0038] 2. This invention uses a servo module to compare and monitor the rotation angle and the step counting angle in real time. After a fault occurs, it automatically and quickly takes over the drive control of the mechanism, achieving functional redundancy to maintain the normal rotation of the mechanism without the need for complex angle calculations.

[0039] 3. By combining the stepping angle characteristics of a stepper motor with an initial angle parameter package, this invention achieves high-precision angle driving and telemetry information acquisition even after hardware damage caused by harsh orbital irradiation environments, thereby improving the functional stability and mission survivability of the satellite rotation mechanism over a long lifespan. Attached Figure Description

[0040] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1A schematic diagram of the redundancy method for driving control of a two-dimensional satellite mechanism. Detailed Implementation

[0041] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0042] This invention proposes a redundant method for the drive control of a two-dimensional satellite mechanism. Based on the traditional closed-loop control of a resolver system, an open-loop step-counting control mode is added to back up the angle parameters during each mission. When the resolver system fails, the angle acquisition, mechanism drive control and other functions can be hot-backed up, thereby improving the overall reliability of the two-dimensional mechanism drive and avoiding the impact of a single-point failure of the resolver on the satellite mission.

[0043] by Figure 1 For example, a software redundancy method is used to detect and save the motor resolver angle information in real time as a hot backup solution. When the resolver and decoding chip fail (such as when the resolver angle detection function is lost, or when the closed-loop feedback drive system fails), it automatically switches to the software drive control mode, i.e., open-loop mode. Utilizing the stepper motor's step angle characteristics, the mechanism drive and control can continue to be realized without decoding the rotor angle. High-precision angle drive control and angle telemetry acquisition can also be completed, thereby improving the reliability of the satellite's two-dimensional drive mechanism in on-orbit application and avoiding the impact of single-point resolver failure on the satellite mission. Specifically, it consists of three steps: initialization, mechanism rotation, and mission termination.

[0044] The initialization step mainly involves generating the correct angle parameter package and sending it to the mechanism drive module before executing the rotation task.

[0045] Specifically, including: Step S11: Inject the initial angle parameter package on the ground into the servo module, and update and fill the initial step counting angles of the X-axis and Y-axis.

[0046] When the satellite first enters orbit, the two-dimensional mechanism is in a compressed state, and the initial angles of the X and Y axes are known to the ground. Before the first power-on, the ground system fills the angle parameter package with the initial angles as the initial step counting angles and uploads them to the servo module.

[0047] The initial angle parameter package includes parameters such as resolver fault flag threshold, "zero position" angle correction value, angle / velocity error absolute value threshold, and initial step counting angle, as detailed in Table 1.

[0048] Table 1. Angle parameter package format:

[0049] Among them, the resolver fault flag threshold indicates whether the resolver function is normal; the "zero position" angle correction value is the absolute zero position when the two-dimensional mechanism is assembled with the resolver. When the resolver function is normal, after the mechanism drive module is powered on, the resolver angle is collected and the zero position is corrected, the angle information can represent the current absolute position of the mechanism; the absolute value threshold of the tracking position angle / speed error can be set as needed to control the closed-loop control accuracy of the mechanism drive module; the initial step counting angle is the angle that needs to be saved after each task is completed, and is used to compare and judge with the resolver angle in the next task.

[0050] Step S12: Before task execution, the mechanism drive module is powered on, the zero-position angle is corrected, and the rotation angle of the current rail on the X and Y axes is reported, i.e., X... 旋变（当前轨） Y 旋变（当前轨） .

[0051] The zero-position angle refers to the fixed deviation from the absolute 0 position during resolver installation, which is corrected to the actual rotor angle position of the motor.

[0052] Step S13: The servo module receives the X reported by the mechanism drive module. 旋变（当前轨） Y 旋变（当前轨） Then, the rotation angle and step counting angle of the previous track and the current track are compared respectively. If all are less than the set threshold, the rotation angle of the current track on the X and Y axes is used as the initial step counting angle, and the angle parameter package is updated. If any are greater than or equal to the set threshold, the step counting angle of the previous track on the X and Y axes is used as the initial step counting angle, and the angle parameter package is updated.

[0053] Among them, X 旋变（上一轨） Y 旋变（上一轨） These represent the rotation angles of one rail on the X and Y axes, respectively; X 计步（上一轨） Y 计步（上一轨） These represent the step counting angles of one track on the X-axis and Y-axis, respectively.

[0054] In more preferred examples, the threshold is set to 5°.

[0055] If all values ​​are less than the threshold, it indicates that the current resolver acquisition angle is normal, and the current resolver angle can be used as the initial step counting angle to execute subsequent tasks.

[0056] Step S14: The servo module sends the time calibration command and angle parameter package to the mechanism drive module.

[0057] Among them, the time synchronization command is used by the servo module and the mechanism drive module to ensure the consistency of the rotation of the two-dimensional mechanism with time when performing closed-loop drive control, thereby ensuring the rotation accuracy of the mechanism.

[0058] During the mechanism rotation process, the mechanism drive module compares the rotation angle with the step counting angle in real time. If the difference between the two angles is greater than the set threshold, a fault flag is reported. The servo module selects whether to switch to the "step counting mode" task mode, and the mechanism drive module operates according to the task mode.

[0059] Specifically, the rotation process of the mechanism includes: Step S21: After receiving the angle parameter packet (parameter packet), the mechanism drive module checks the validity of the parameter packet. If it is valid, the initial value of the step counting angle in the mechanism drive module is updated with the initial step counting angle in the parameter packet; if it is invalid, a flag word is reported to the servo module, and the servo module executes step S14 again.

[0060] Step S22: The mechanism drive module receives the angle command sent by the servo and drives the two-dimensional mechanism to rotate.

[0061] Step S23: During the rotation of the two-dimensional mechanism, the mechanism drive module continuously and in real time judges the rotation angle and step counting angle of the X-axis and Y-axis. If the angle exceeds the set threshold, the mechanism drive module reports a rotation fault flag; if not, the current mode is maintained.

[0062] Step S24: After receiving the resolver fault flag, the servo module determines whether the autonomous switching to "step counting mode" is enabled in the current task mode. If yes, it sends a "step counting mode" command to the mechanism drive module; otherwise, it maintains the current mode.

[0063] In more preferred examples, each time the mechanism rotates, the "step counting mode" is enabled or disabled, with the default setting being enabled, ensuring that the resolver system automatically switches to "step counting mode" in case of a fault.

[0064] At the end of the task, the servo module saves the rotation angle and step angle after the mechanism stops rotating, as the initial angle parameters for the next task.

[0065] Specifically, the task completion process includes: Step S31: After the task is completed, the servo module sends a stop command to the mechanism drive module, and the two-dimensional mechanism stops rotating.

[0066] The purpose of the stop command is to ensure that the resolver angle is the final stationary angle position of the mechanism; Step S32: The servo module saves the X-axis and Y-axis rotation angles and step counting angles after the two-dimensional mechanism stops rotating. Before the next task, these are used as parameters for the previous track, and step S13 is executed.

[0067] In more preferred embodiments, this method is used in two-dimensional mechanism angle acquisition and drive control systems that utilize AD2S80 series resolver-to-digital converters.

[0068] The present invention also provides a satellite two-dimensional mechanism drive control redundancy system, which can be implemented by executing the process steps of the satellite two-dimensional mechanism drive control redundancy method. That is, those skilled in the art can understand the satellite two-dimensional mechanism drive control redundancy method as a preferred embodiment of the satellite two-dimensional mechanism drive control redundancy system.

[0069] The present invention proposes a redundant system for driving and controlling a two-dimensional satellite mechanism, comprising a servo module and a mechanism driving module.

[0070] The servo module updates the angle parameter package and sends it to the mechanism drive module; The mechanism drive module verifies the angle parameter package, compares the rotation angle and the step counting angle in real time, and switches the operating mode through the servo module based on the comparison results. After the task is completed, the servo module saves the final rotation angle and step count angle.

[0071] The mechanism drive module includes an AD2S80 series resolver-to-digital converter, which continuously and in real time converts the analog signal output by the resolver into angle information. The mechanism drive module then performs closed-loop control of the two-dimensional mechanism based on the angle information.

[0072] The servo module always saves the mechanism's rotation angle and step counting angle. When the rotation angle system fails, the servo software can continue to execute the mechanism drive task through the step counting mode, ensuring rotation accuracy and improving the overall reliability of the satellite two-dimensional mechanism drive.

[0073] Specifically, the mechanism drive module corrects the zero-position angle and reports the rotation angle X of the current track on the X and Y axes. 旋变（当前轨） Y 旋变（当前轨） To the servo module.

[0074] The servo module receives the angle parameter package uploaded by the ground system after filling in the initial step counting angles of the X-axis and Y-axis. It compares the rotation angle of the previous track and the current track of the X-axis and Y-axis with the step counting angle of the previous track, and updates the angle parameter package according to the difference.

[0075] The servo module sends the time calibration command and the updated angle parameter package to the mechanism drive module.

[0076] In more preferred embodiments, the angle parameter package includes a resolver fault flag threshold, a "zero" angle correction value, an angle / velocity error absolute value threshold, and an initial step counting angle.

[0077] The ground system fills the angle parameter package with the initial angles of the X and Y axes as the initial step counting angles.

[0078] The package for updating angle parameters based on the difference includes: If all differences are less than the set threshold, the rotation angle of the current track on the X-axis and Y-axis will be used as the initial step counting angle. If any difference is greater than or equal to the set threshold, the step counting angle of the previous track on the X-axis and Y-axis will be used as the initial step counting angle.

[0079] Furthermore, the mechanism driving module performs a validity check on the received angle parameter packet and updates the initial value of the step counting angle based on the check result.

[0080] The two-dimensional mechanism is driven to rotate according to the angle parameter package, and the difference between the rotation angle and the step counting angle of the X-axis and Y-axis is judged in real time and continuously. When the difference exceeds the set threshold, the mechanism drive module reports a rotation fault flag, and the servo module determines the operating mode.

[0081] After the task is completed, the servo module sends a stop command to the mechanism drive module, and the two-dimensional mechanism stops rotating.

[0082] The servo module saves the rotation angle and step counting angle of the X-axis and Y-axis after the two-dimensional mechanism stops rotating, and uses them as the rotation angle and step counting angle of the upper track of the X-axis and Y-axis, respectively.

[0083] Specifically, the legality determination includes: If correct, the mechanism drive module updates the initial value of the step counting angle according to the angle parameter package; if incorrect, the mechanism drive module reports the flag word to the servo module, and the servo module sends the time calibration command and angle parameter package to the mechanism drive module again to re-determine the validity of the angle parameter package.

[0084] The servo module determines the operating mode as follows: After receiving the resolver fault flag, the servo module determines whether the autonomous switching step counting mode is enabled in the current task mode. If so, it sends a step counting mode command to the mechanism drive module; otherwise, it maintains the current mode.

[0085] The enabled state is on by default.

[0086] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function as logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0087] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A redundant method for driving and controlling a two-dimensional satellite mechanism, characterized in that, include: Initialization steps, updating the angle parameter package and sending it to the mechanism drive module; The mechanism rotates in steps, verifies the angle parameter package, compares the rotation angle with the step counting angle in real time, and switches the operating mode through the servo module based on the comparison results. After the task ends, the servo module saves the final rotation angle and step count angle.

2. The satellite two-dimensional mechanism drive control redundancy method according to claim 1, characterized in that, The initialization steps include: Step S11: The ground system fills the initial step counting angles of the X-axis and Y-axis into the angle parameter package and uploads them to the servo module. Step S12, the mechanism driving module corrects the zero position angle, and reports the rotary variable angle X of the current track of the X axis and the rotary variable angle Y of the current track of the Y axis to the servo module. 旋变（当前轨） 旋变（当前轨） ​​ Step S13: The servo module compares the rotation angle of the previous track and the current track on the X-axis and Y-axis with the step counting angle of the previous track, and updates the angle parameter package based on the difference. Step S14: Send the time calibration command and the updated angle parameter package to the mechanism drive module.

3. The satellite two-dimensional mechanism drive control redundancy method according to claim 2, characterized in that, The angle parameter package includes a resolver fault flag threshold, a zero-position angle correction value, an absolute value threshold for angle / velocity error, and an initial step counting angle. In step S11, the ground system fills the angle parameter package with the initial angles of the X-axis and Y-axis as the initial step counting angles; In step S13, if all the differences are less than the set threshold, the rotation angle of the current track on the X-axis and Y-axis is used as the initial step counting angle; if any difference is greater than or equal to the set threshold, the step counting angle of the previous track on the X-axis and Y-axis is used as the initial step counting angle.

4. The satellite two-dimensional mechanism drive control redundancy method according to claim 1, characterized in that, The mechanism rotation step includes: Step S21: The mechanism drive module performs a validity check on the received angle parameter packet and updates the initial value of the step counting angle based on the check result. Step S22: Drive the two-dimensional mechanism to rotate according to the angle parameter package, and judge the difference between the rotation angle and the step counting angle of the X-axis and Y-axis in real time and continuously. When the difference exceeds the set threshold, the mechanism drive module reports a rotation fault flag, and the servo module judges the operating mode. The task completion steps include: Step S31: After the task is completed, the servo module sends a stop command to the mechanism drive module, and the two-dimensional mechanism stops rotating. Step S32: The servo module saves the rotation angle and step counting angle of the X-axis and Y-axis after the two-dimensional mechanism stops rotating as the rotation angle and step counting angle of the upper track of the X-axis and Y-axis, respectively.

5. The satellite two-dimensional mechanism drive control redundancy method according to claim 4, characterized in that, The legality determination includes: If correct, the mechanism drive module updates the initial value of the step counting angle according to the angle parameter package; If an error occurs, the mechanism drive module reports the flag word to the servo module. The servo module then sends the time synchronization command and angle parameter package to the mechanism drive module again and re-evaluates the validity of the angle parameter package. The servo module determines the operating mode as follows: After receiving the resolver fault flag, the servo module determines whether the autonomous switching of the step counting mode is enabled in the current task mode. If so, it sends the step counting mode command to the mechanism drive module. If not, then continue operating in the current mode; The enabled state is on by default.

6. A redundant system for driving and controlling a two-dimensional satellite mechanism, characterized in that, include: Servo module and mechanism drive module; The servo module updates the angle parameter package and sends it to the mechanism drive module; The mechanism drive module verifies the angle parameter package, compares the rotation angle and the step counting angle in real time, and switches the operating mode through the servo module based on the comparison results. After the task is completed, the servo module saves the final rotation angle and step count angle.

7. The satellite two-dimensional mechanism drive control redundancy system according to claim 6, characterized in that, The mechanism driving module corrects zero angle, reports X-axis and Y-axis current track rotary variable angle X 旋变（当前轨） , Y 旋变（当前轨） to the servo module; The servo module receives the angle parameter package uploaded by the ground system after filling in the initial step counting angles of the X and Y axes; Compare the rotation angles of the previous and current tracks on the X and Y axes with the step counting angle of the previous track, and update the angle parameter package based on the difference. Send the time synchronization command and the updated angle parameter package to the mechanism drive module.

8. The satellite two-dimensional mechanism drive control redundancy system according to claim 7, characterized in that, The angle parameter package includes a resolver fault flag threshold, a zero-position angle correction value, an absolute value threshold for angle / velocity error, and an initial step counting angle. The ground system fills the angle parameter package with the initial angles of the X-axis and Y-axis as the initial step counting angles; The package for updating angle parameters based on the difference includes: If all differences are less than the set threshold, the rotation angle of the current track on the X-axis and Y-axis will be used as the initial step counting angle. If any difference is greater than or equal to the set threshold, the step counting angle of the previous track on the X-axis and Y-axis will be used as the initial step counting angle.

9. The satellite two-dimensional mechanism drive control redundancy system according to claim 6, characterized in that, The mechanism driving module performs a validity check on the received angle parameter packet and updates the initial value of the step counting angle based on the check result. The two-dimensional mechanism is driven to rotate according to the angle parameter package, and the difference between the rotation angle and the step counting angle of the X-axis and Y-axis is judged in real time and continuously. When the difference exceeds the set threshold, the mechanism drive module reports a rotation fault flag, and the servo module determines the operating mode. After the task is completed, the servo module sends a stop command to the mechanism drive module, and the two-dimensional mechanism stops rotating; The servo module saves the rotation angle and step counting angle of the X-axis and Y-axis after the two-dimensional mechanism stops rotating, and uses them as the rotation angle and step counting angle of the upper track of the X-axis and Y-axis, respectively.

10. The satellite two-dimensional mechanism drive control redundancy system according to claim 9, characterized in that, The legality determination includes: If correct, the mechanism drive module updates the initial value of the step counting angle according to the angle parameter package; If an error occurs, the mechanism drive module reports the flag word to the servo module. The servo module then sends the time synchronization command and angle parameter package to the mechanism drive module again and re-evaluates the validity of the angle parameter package. The servo module determines the operating mode as follows: After receiving the resolver fault flag, the servo module determines whether the autonomous switching of the step counting mode is enabled in the current task mode. If so, it sends the step counting mode command to the mechanism drive module. If not, then continue operating in the current mode; The enabled state is on by default.

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