Satellite solar panel deployment motor anti-stuck control method and system

Abstract

This invention discloses an anti-jamming control method and system for a satellite solar panel deployment motor. The method includes: collecting deployment status data, including motor operating current, hinge-side output angle, and torsional deformation of the compliance torque limiting component; calculating the output angle increment and output angular velocity based on the output angle; comprehensively judging and identifying jamming trends based on the changing trends of the operating current, output angular velocity, output angle increment, and torsional deformation relative to their respective preset reference values; upon identifying a jamming trend, controlling the deployment motor to enter a compliance torque limiting protection state, performing reverse yielding and stepped torque increase actions; determining whether the jamming has been released based on the output angular velocity, output angle increment, and torsional deformation, and controlling normal deployment or executing fault protection based on the judgment result. This invention achieves stress release and self-recovery deployment at the jamming location, improving the on-orbit deployment success rate and safety of the deployment mechanism.

Description

Technical Field

[0001] This invention relates to the field of satellite solar panel deployment control technology, and more specifically to a method and system for preventing jamming of a satellite solar panel deployment motor. Background Technology

[0002] The solar panel deployment mechanism is a crucial component of a spacecraft's energy system. The reliable deployment of solar panels according to the predetermined timing and angle directly impacts the satellite's on-orbit power supply and mission execution capabilities. As spacecraft mission cycles continue to lengthen, the solar panel deployment mechanism must maintain reliable operation under conditions including launch vibration, long-term storage, temperature fluctuations, high vacuum, and complex assembly errors. However, during actual deployment, the solar panel deployment hinges, locking and releasing mechanisms, transmission components, and cable constraint paths may be affected by factors such as increased friction, lubrication degradation, local interference, thermal deformation, and cable entanglement, leading to sudden increases in deployment resistance or localized jamming.

[0003] In the field of solar panel drive control, various control methods have been proposed in existing research and patents. Chinese invention patent CN111930009A, "A High-Stability Adaptive Control System and Method for Solar Panel Drive Mechanism Parameters," discloses an adaptive control system and method for solar panel drive mechanism parameters. This system improves the control stability of the solar panel drive mechanism at different operating speeds and reduces the interference torque of the solar panel drive device on the satellite platform through modules such as gain prediction, phase compensation, filtering, drive, and angle measurement.

[0004] Chinese invention patent, publication number CN103926840A, entitled "A Method for Actively Suppressing Flexible Vibration of Solar Panels", discloses a method for suppressing and controlling flexible vibration during the switching process of solar panel rotation speed, which is mainly used to reduce low-frequency and very low-frequency flexible vibration of solar panels during the driving process.

[0005] The aforementioned control methods have certain effects on improving the stability of solar panel drive, reducing platform disturbance torque, and suppressing flexible vibration. However, their focus is mainly on the stable operation of the solar panel drive mechanism, the suppression of attitude influence, or the vibration control of flexible structures. They do not address the jamming formation mechanism and jamming state evolution process during solar panel deployment, nor do they propose a jamming trend identification method based on multi-source state information such as motor operating current, output angle, output angular velocity, and transmission path torsional deformation. Furthermore, they do not propose a control process to achieve self-recovery deployment by reverse retreat and step torque increase after identifying the jamming trend.

[0006] Traditional solar panel deployment motor control methods typically employ a fixed speed, fixed current, or fixed torque to drive the motor and deploy the solar panel. When a sudden increase in resistance occurs in the deployment mechanism, the controller generally shuts down the motor based on overcurrent, speed reduction, or limit signals. While these methods can prevent the motor from stalling for extended periods, they still have significant shortcomings: Firstly, overcurrent shutdown is a reactive protection mechanism, triggered only after the motor load has become significantly abnormal, making it difficult to promptly reduce the peak impact load transmitted to the solar panel deployment hinge. Secondly, if the control system continues to increase the driving torque while stuck, it may damage the hinge, locking mechanism, or solar panel connection structure; conversely, a direct shutdown may result in the solar panel not fully deploying, affecting the satellite's on-orbit energy harvesting capability.

[0007] Therefore, developing a satellite solar panel deployment motor anti-jamming control method that can identify jamming trends in advance during solar panel deployment and achieve self-recovery deployment in the early stages of jamming through compliant torque limiting protection, reverse yielding, and stepped torque increasing, in order to improve the success rate of satellite solar panel deployment in orbit, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0008] In view of the above problems, the present invention is proposed to provide an anti-jamming control method for a satellite solar panel deployment motor that overcomes or at least partially solves the above problems.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] The method is applied to a satellite solar panel deployment system, wherein a compliant torque limiting component is connected in series between the deployment motor and the solar panel deployment hinge, including: Collect deployment status data, which includes at least the operating current of the deployment motor, the output angle of the solar panel deployment hinge, and the relative torsional deformation at both ends of the compliant torque limiting component; The output angular velocity and / or output angle increment during the deployment of the solar panel are determined based on the output angle. Based on the combined judgment of the changing trends of the operating current, the output angular velocity and / or the output angle increment, and the relative torsional deformation relative to their respective preset reference values, when the preset jamming trend condition is met, a jamming trend is identified. In response to the detection of the jamming trend, the deployment motor is controlled to enter a compliant torque limiting protection state, and the driving torque transmitted to the solar panel deployment hinge is limited to within a preset torque limiting threshold by the compliant torque limiting component. Under the compliant torque limiting protection state, the unfolding motor is controlled to rotate a preset yield angle in the direction opposite to the unfolding direction; After completing the rotation at the preset yield angle, the unfolding motor is controlled to rotate again along the unfolding direction, and the restoring unfolding torque is output in a gradually increasing manner; After rotating back along the unfolding direction, it is determined whether the stuck state is released based on the output angular velocity and / or output angle increment, and the relationship between the relative torsional deformation and the preset release judgment condition. Based on the judgment result, control the deployment motor to resume normal deployment control or execute fault protection processing.

[0011] Preferably, the preset jamming trend condition includes at least two of the following conditions being met simultaneously: the operating current shows an increasing trend relative to the current reference value, the output angular velocity shows a decreasing trend relative to the velocity reference value, the output angle increment shows a decreasing trend relative to the increment reference value, and the relative torsional deformation shows an increasing trend relative to the deformation reference value.

[0012] Preferably, the step of comprehensively determining the presence of a jamming trend based on the changing trends of the operating current, the output angular velocity and / or the output angle increment, and the relative torsional deformation relative to their respective preset reference values, and identifying the presence of a jamming trend when the preset jamming trend condition is met, includes: The operating current, the output angular velocity, the output angle increment, and the relative torsional deformation are normalized and then weighted and summed to obtain the jamming trend index. When the stagnation trend index reaches or exceeds a preset threshold, it is determined that the preset stagnation trend condition is met.

[0013] Preferably, the stagnation trend index is calculated according to the following formula:

[0014] in, For the stagnation trend index, This is the motor operating current. The motor operating current threshold. To output angular velocity, For reference angular velocity, This represents the relative torsional deformation at both ends of the compliant torque limiting component. To preset the torsional deformation threshold, To output the angle increment, To minimize the effective unfolding angle increment, , , , The weighted coefficients sum to 1, [ . ] + This indicates that the value within the parentheses is the larger of the two values ​​compared to 0.

[0015] Preferably, the preset stagnation trend condition further includes: the stagnation trend index reaches or exceeds a preset threshold, and the state continues for a predetermined number of sampling periods or a predetermined duration.

[0016] Preferably, the preset yield angle is not less than the minimum effective angle that can release the stress concentration at the stuck position, and not greater than the maximum allowable yield angle that does not affect the safety of the solar panel deployment.

[0017] Preferably, the recovery deployment torque is increased stepwise in the following manner: Based on the preset first-level recovery and deployment torque, the preset maximum recovery and deployment torque, and the preset number of levels, the recovery and deployment torques of each level are determined between the first-level recovery and deployment torque and the maximum recovery and deployment torque, with the subsequent level recovery and deployment torque being greater than the previous level recovery and deployment torque.

[0018] Preferably, the recovery and deployment torque at each stage is calculated according to the following formula:

[0019] in, To restore the maximum number of stages of the unfolding torque, ≥2, For the first stage recovery deployment torque, The maximum recovery and unfolding torque is given.

[0020] Preferably, the preset release determination conditions include: the output angular velocity reaches or exceeds the velocity release threshold, the output angle increment reaches or exceeds the increment release threshold, and the relative torsional deformation decreases to below the deformation safety threshold.

[0021] Based on the same inventive concept, this invention also discloses an anti-jamming control system for a satellite solar panel deployment motor, comprising: Deployment motor, used to drive the solar panels to deploy; A compliant torque limiting component is connected in series between the deployment motor and the solar panel deployment hinge to transmit driving torque between the deployment motor and the solar panel deployment hinge, and to generate detectable relative torsional deformation during the transmission of driving torque. The status detection unit is used to collect the operating current of the deployment motor, the output angle of the solar panel hinge side, and the relative torsional deformation at both ends of the compliant torque limiting component; A controller, connected to the deployment motor and the status detection unit, is configured to execute the anti-jamming control method for the satellite solar panel deployment motor described in any of the preceding embodiments.

[0022] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following: 1. Early identification of jamming trend: This invention collects four state data points, namely motor operating current, output angular velocity, output angle increment, and torsional deformation of the compliant torque limiting component, and constructs a jamming trend index or combination criterion. It can identify jamming trend in advance when the resistance suddenly increases but before the rotor is completely stalled, overcoming the shortcomings of traditional methods that rely solely on overcurrent shutdown for post-event protection.

[0023] 2. Compliant torque limiting protection to avoid impact damage: After detecting a jamming tendency, the present invention controls the deployment motor to enter a compliant torque limiting protection state, limiting the peak torque transmitted to the solar panel deployment hinge to within a preset threshold, thus avoiding damage to the hinge, locking mechanism or solar panel connection structure caused by the continuous increase of driving torque in the jamming state in traditional methods.

[0024] 3. Self-recovering deployment capability: This invention uses a control strategy of small-angle reverse retreat and positive step torque increase to first release the stress concentration at the stuck position, and then tentatively pass through the stuck point in a step-by-step manner, thus realizing the self-recovering deployment at the stuck position. This overcomes the limitation of the traditional method of directly stopping the machine, which causes the sail to not be fully deployed.

[0025] 4. Improved on-orbit deployment success rate: This invention overcomes the limitations of traditional deployment control methods that rely solely on overcurrent shutdown or continuous increase of driving torque, significantly improving the on-orbit deployment success rate and operational safety of the deployment mechanism. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 This is a flowchart of the anti-jamming control method for the satellite solar panel deployment motor provided in an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] This invention discloses an anti-jamming control method for a satellite solar panel deployment motor. The method is applied to a satellite solar panel deployment system, which includes a compliant torque limiting component connected in series between the deployment motor and the solar panel deployment hinge. Collect deployment status data, which includes at least the operating current of the deployment motor, the output angle of the solar panel deployment hinge, and the relative torsional deformation at both ends of the compliant torque limiting component. Determine the output angular velocity and / or output angle increment during the solar panel deployment process based on the output angle. The system makes a comprehensive judgment based on the changing trends of operating current, output angular velocity and / or output angle increment, and relative torsional deformation relative to their respective preset reference values. When the preset jamming trend condition is met, a jamming trend is identified. In response to the detection of a jamming tendency, the control motor enters a compliant torque limiting protection state, and the driving torque transmitted to the solar panel deployment hinge is limited to within a preset torque limit threshold by the compliant torque limiting component; In compliant torque limiting protection mode, the unfolding motor is controlled to rotate in the opposite direction to the unfolding direction by a preset yield angle; After completing the rotation at the preset yield angle, the unfolding motor is controlled to rotate again along the unfolding direction, and the restoring unfolding torque is output in a gradually increasing manner; After rotating back along the unfolding direction, it is determined whether the stuck state is released based on the output angular velocity and / or output angle increment, and the relationship between the relative torsional deformation and the preset release judgment condition. Based on the assessment results, the deployment motor is controlled to resume normal deployment control or a fault protection procedure is executed.

[0030] The method of this invention is applied to a satellite solar panel deployment system, which has a compliant torque limiting component connected in series between the deployment motor and the solar panel deployment hinge. This compliant torque limiting component transmits driving torque between the deployment motor and the hinge, generates detectable relative torsional deformation during torque transmission, and simultaneously limits the peak torque transmitted to the hinge to within a preset threshold. The deployment motor can be a stepper motor, a brushless DC motor, or other types of drive motor.

[0031] The following is combined with Figure 1 The present invention will be described in detail below: The anti-jamming control method of the present invention includes the following steps S1 to S9.

[0032] S1. Collect unfolded status data.

[0033] The operational status of the satellite solar panel deployment motor is sampled in real time using a current detection unit, an angle detection unit, and a torsional deformation detection unit. The collected deployment status data includes at least the motor operating current. I(k) Hinge-side output angle i h (k) and the previous sampling time i h (k-1) The relative torsional deformation at both ends of the compliant torque limiting component φ(k) ,in k The sampling time.

[0034] It should be noted that the relative torsional deformation refers to the relative torsional angular displacement between the two ends of the compliant torque limiting component during the transmission of driving torque. It is used to reflect the degree of torsion of the compliant torque limiting component and the load and stress accumulation in the transmission path. During normal deployment, this deformation is within a small range. When the solar panel deployment resistance increases or a jamming tendency occurs, the relative torsion at both ends of the compliant torque limiting component will increase. Therefore, this amount can be used as a state variable for identifying jamming tendencies.

[0035] S2, Calculate the output angle increment.

[0036] Based on the collected hinge side output angle i h (k) and i h (k-1) Calculate the output angle increment i h (k) Specifically, the difference between the output angle at the current sampling moment and the output angle at the previous sampling moment is used as the output angle increment:

[0037] This output angle increment This reflects the actual angular displacement of the solar panel during the current sampling time interval.

[0038] S3. Calculate the output angular velocity.

[0039] The output angle increment calculated based on S2 Calculate the output angular velocity at the current sampling time. Specifically, the output angle increment Divide by the sampling time interval :

[0040] This output angular velocity This reflects the actual deployment rate of the solar panels at the current sampling moment. Sampling time interval. It is determined by the system's sampling frequency.

[0041] Thus, through steps S1 to S3, four status data items for determining the jamming trend were obtained: motor operating current. I (k) Output angular velocity Output angle increment and the torsional deformation of the compliant torque limiting component φ(k) .

[0042] S4. Calculate the stagnation trend index.

[0043] The controller compares the four status data obtained from S1 to S3 with their corresponding preset reference values, and determines whether there is a jamming trend by combining the changing trends of the four status data relative to their respective reference values.

[0044] Specifically, the controller will control the motor operating current. I(k) With motor operating current threshold In comparison, the greater the relative deviation of the current, the higher the motor load; the output angular velocity... Reference angular velocity corresponding to the current unfolding stage In comparison, the greater the relative deviation in speed, the greater the deployment resistance; the torsional deformation of the compliant torque limiting component... With torsional deformation threshold In comparison, the larger the relative value of the deformation, the more severe the stress accumulation inside the transmission path; the output angle increment... Increment of minimum effective unfolding angle In comparison, when Less than When this occurs, it indicates that the actual unfolding angular displacement within the current sampling period is already lower than the angular displacement required for effective unfolding.

[0045] The controller normalizes the four state data items and then performs a weighted sum to obtain the lag trend index. S(k) :

[0046] in, , , , These are the weighting coefficients, and λ1+λ2+λ3+λ4=1; . ] +This indicates that the larger value within the parentheses is compared to 0; the weighting coefficients reflect the importance of the corresponding state variable in determining the stagnation trend and can be calibrated according to the actual system characteristics. Each threshold parameter can be pre-calibrated based on ground deployment tests, hinge safety loads, and motor output capabilities.

[0047] When the controller determines the lag trend index at the current sampling time Reaching or exceeding the preset stagnation trend threshold S th At that time, instead of immediately confirming a stagnation trend, we continue to monitor whether the state persists. Only when... ≥ S th The state continues until the predetermined number of sampling periods N or the predetermined duration is reached. t th Only then did the controller finally confirm that there was a tendency for the solar panel to lag during deployment. This continuous judgment mechanism is used to filter out transient noise interference and avoid false triggering due to signal fluctuations.

[0048] In another embodiment, the controller may not calculate the jamming trend index, but instead directly determine the direction of change of the four state data. When at least two of the four directions of change—increased motor operating current, decreased output angular velocity, decreased output angle increment, and increased torsional deformation of the compliance torque limiting component—are simultaneously met, it is determined that a jamming trend exists during the solar panel deployment process. This combined criterion method and the jamming trend index method are both specific implementations of identifying jamming trends in this invention. The core of both lies in using the abnormal change trends of the aforementioned four state data for comprehensive judgment.

[0049] Once the controller confirms a jamming trend, it immediately triggers the S5's compliance torque limiting protection action.

[0050] S5, Compliance torque limiting protection.

[0051] When S4 detects a tendency for the solar panel to jam, the controller stops the deployment motor from further rigid torque amplification and puts it into a compliant torque limiting protection state. In this state, the compliant torque limiting component restricts the driving torque transmitted to the solar panel deployment hinge to a preset torque limit threshold. Within, that is, the actual output torque transmitted to the hinge. satisfy:

[0052] The core purpose of this step is to prevent the controller from blindly increasing the driving torque when the jamming trend first appears, which would cause the hinge, locking mechanism or the sail connection structure to bear excessively high peak impact loads, thereby protecting the safety of the deployment mechanism.

[0053] S6, Reverse Yield Control.

[0054] In compliant torque limiting protection mode, the controller controls the deployment motor to rotate in the opposite direction to the solar panel deployment direction by a preset yield angle. This reverse yielding action is used to release stress concentration at the stuck position caused by local interference, friction wedging, cable restraint, or assembly errors of the mechanism, while also allowing the relative torsional deformation at both ends of the compliant torque limiting component to be restored to a certain extent.

[0055] In one embodiment, a preset yield angle is provided. =1.5°.

[0056] Optionally, a preset yield angle is provided. i r Not less than the minimum effective angle that can release stress concentration at the stuck position And not greater than the maximum permissible yield angle θrmax that does not affect the safety of solar panel deployment, that is:

[0057] S7, positive step-increase moment expansion.

[0058] After completing the reverse yielding of S6, the controller controls the deployment motor to move again along the solar panel deployment direction and outputs the recovery deployment torque in a progressively increasing manner.

[0059] In one embodiment, the recovery deployment torque is based on a preset first-level recovery deployment torque. Preset maximum recovery and deployment torque and the preset number of levels To determine this, specifically, the recovery and deployment torque at each level is calculated using the following formula:

[0060] in: To restore the maximum number of stages of the unfolding torque, The first-stage recovery deployment torque is preset for the controller. This represents the maximum recovering and unfolding torque that can be achieved during the positive step torque increase process. and It can be obtained based on ground deployment tests, hinge safety load, and motor output capacity calibration.

[0061] The controller gradually increases the output torque in ascending order, allowing the deployment motor to tentatively re-drive the solar panel deployment, thus avoiding the impact of applying excessive torque at once.

[0062] In another embodiment, the gradual increase of the recovery and unfolding torque can also be determined by using a preset torque sequence or a lookup table to determine the torque values ​​at each level, as long as the recovery and unfolding torque of the next level is greater than that of the previous level.

[0063] S8, Determine if the device is stuck and released.

[0064] After the motor is re-driven in the forward direction in S7, the controller determines whether the stuck state has been released based on whether the output angular velocity, output angle increment, and torsional deformation of the compliant torque limiting component meet the preset release judgment conditions.

[0065] Specifically, the controller records the sampling time after the re-forward drive as... Obtain the output angular velocity at that moment. Output angle increment and the torsional deformation of the compliant torque limiting component The three parameters are then compared with their respective preset release thresholds.

[0066] In one embodiment, the preset release determination condition includes the following three inequalities:

[0067]

[0068]

[0069] in, The threshold for the angular velocity of the lag release. The threshold for the increment of the release angle is the one used to describe the braking effect. The threshold for safe torsional deformation after the jam is released; when the above three conditions are met simultaneously, the controller determines that the jam state has been released; otherwise, it determines that the jam state has not been released.

[0070] S9. Normal deployment recovery and fault protection handling.

[0071] Once S8 determines that the jamming state has been released, the controller controls the deployment motor to exit the anti-jamming control mode and return to the normal solar panel deployment control mode, continuing to drive the solar panel to deploy to the predetermined deployment angle or locking position.

[0072] When S8 determines that the stuck state has not been released, the controller repeats the "reverse yielding - positive step torque increase - stuck release judgment" control cycle from S6 to S8 until the stuck state is released or the preset number of cycles M is reached.

[0073] If the jamming release condition in S8 is still not met after the above cycle of the preset number of cycles M, the controller determines that the deployment mechanism has a serious jamming that cannot be recovered by itself, and then performs fault protection processing: controls the deployment motor to stop increasing torque, and outputs jamming fault signal, deployment abnormal status signal or waits for ground control command, so as to avoid irreversible damage to the solar panel deployment mechanism.

[0074] In one embodiment, the maximum number of loops M = 3.

[0075] The methods S1 to S9 described above will be explained in detail below with reference to a complete embodiment.

[0076] This embodiment uses a satellite solar panel deployment motor system with a compliant torque-limiting drive path as the implementation object. The deployment motor adopts a two-phase aerospace stepper motor, and the compliant torque-limiting component is connected in series between the deployment motor drive path and the solar panel deployment hinge.

[0077] System sampling time interval Δt =0.1s, motor operating current threshold I th =1.8A, reference output angular velocity oh ref =0.5° / s, torsional deformation threshold of compliant moment limiting component f th =2.0°, minimum effective unfolding angle increment Dth min =0.03°, weighting coefficients λ1=0.3, λ2=0.3, λ3=0.2, λ4=0.2, stagnant trend threshold S th =1, continuous judgment period N=3, preset reverse yield angle i r =1.5°, minimum effective clearance angle i rmin =0.5°, maximum yield angle i rmax =3°, initial recovery unfolding torque T start =3 N·m, maximum recovery and unfolding torque T end =6 N·m, maximum number of stages for recovery and deployment torque n=7, threshold for angular velocity release of jamming. oh rel =0.35° / s, threshold for the increment of the release angle Dth rel =0.025°, the safe torsional deformation threshold after release of the jammed object. f rel =0.8°, maximum yield-torque increase cycle number M=3.

[0078] S1. Collect unfolded status data.

[0079] The operating status of the satellite solar panel deployment motor is sampled in real time using a current detection unit, an angle detection unit, and a torsional deformation detection unit. Taking the k=1200th sampling moment as an example, the motor operating current I(k)=2.1A, the hinge-side output angle θh(k)=55.60°, the hinge-side output angle θh(k-1)=55.58° at the previous sampling moment, and the relative torsional deformation φ(k) at both ends of the compliant torque limiting component=0.4°.

[0080] S2, Calculate the output angle increment.

[0081] Based on the hinge side output angle at the current sampling time and the previous sampling time , Substitute into the following formula to calculate the output angle increment during the solar panel deployment process. :

[0082] During deployment, the controller continuously collects deployment status data and calculates the stagnation trend index. Taking the k=1200th sampling time as an example, the collected values ​​are I(k)=2.1A, θh(k)=55.60°, θh(k-1)=55.58°, and φ(k)=0.4°.

[0083] S3. Calculate the output angular velocity.

[0084] Increment the output angle Substitute into the following formula to calculate the output angular velocity during the solar panel deployment process. :

[0085] Therefore, it can be seen that the current output angular velocity is lower than the reference output angular velocity. oh ref =0.5° / s indicates that the solar panel deployment speed has decreased.

[0086] S4. Calculate the stagnation trend index.

[0087] Motor operating current Output angular velocity Output angle increment and the torsional deformation of the compliant torque limiting component Substituting into the following formula, we obtain the sticking tendency index during the solar panel deployment process. :

[0088] at this time =0.637, which is less than the stagnation trend threshold. S th =1, the controller continues to monitor.

[0089] Based on sampling time k Taking =1210 as an example, the detection result is... I(1210) =2.7A, (1210) =0.06° / s, (1210) = 0.006° (1210) =2.0°.

[0090] Substituting into the stagnation trend index formula, we get:

[0091] at this time At the preset stagnation trend threshold S th =1. After this state continued for N=3 sampling cycles, the controller determined that there was a tendency for the solar panel deployment process to stagnate.

[0092] S5, Compliance torque limiting protection.

[0093] Upon detecting a tendency for the solar panel to jam, the controller stops the deployment motor from further rigidly increasing torque and activates the compliant torque limiting component to enter torque protection mode. This limits the peak torque transmitted to the solar panel deployment hinge to within a preset torque threshold, even if the output torque on the solar panel deployment hinge meets the following requirements:

[0094] in, This is the actual output torque transmitted to the solar panel deployment hinge. This is the preset torque threshold.

[0095] S6, Reverse Yield Control.

[0096] After entering the compliant torque limiting protection state, the controller controls the deployment motor to rotate in the opposite direction to the solar panel deployment direction by a preset yield angle. i r In this embodiment, i r =1.5°, and satisfies:

[0097] The reverse yield is used to release stress concentration at the stuck position caused by local interference, friction wedging, cable restraint or mechanical assembly error, while reducing the relative torsional deformation at both ends of the compliant torque limiting component.

[0098] S7, positive step-increase moment expansion.

[0099] Before the forward step-increase moment expansion, the recovery deployment moment for each stage is first calculated. In this embodiment, the recovery deployment moment Tj for the j-th stage is calculated according to the following formula:

[0100] Therefore, the recovery and deployment torques at each level are as follows: =3.0 N·m; =3.5 N·m; =4.0 N·m; =4.5 N·m; =5.0 N·m; =5.5 N·m; =6.0 N·m.

[0101] After completing the reverse retreat, the controller controls the deployment motor to move again along the solar panel deployment direction, and sequentially performs forward step-increase deployment according to the calculated recovery deployment torque Tj. In this embodiment, the controller follows... =3.0 N·m; =3.5 N·m; =4.0 N·m; =4.5 N·m; =5.0 N·m; =5.5 N·m and The output torque is gradually increased in stages, from 6.0 N·m·m to 6.0 N·m, so that the deployment motor can drive the solar panel to deploy again with a recovery deployment torque that gradually increases, thus avoiding the impact on the mechanism caused by applying too much torque at once.

[0102] S8, Determine if the device is stuck and released.

[0103] When the unfolding motor resumes forward drive, the controller compares the output angular velocity ωo(k'), output angle increment Δθh(k'), and torsional deformation φ(k') of the compliant torque limiting component with the preset release threshold.

[0104]

[0105]

[0106]

[0107] If the judgment condition is met, it is determined that the stuck state has been released.

[0108] S9. Normal deployment recovery and fault protection handling.

[0109] Once the jamming condition is determined to be released, the controller controls the deployment motor to exit the anti-jamming control mode and return to the normal solar panel deployment control mode, continuing to drive the solar panel to deploy to the predetermined deployment angle or locking position.

[0110] If the jamming release condition is still not met after a preset number of M cycles of reverse retreat and forward step torque increase, the controller will control the deployment motor to stop increasing torque and enter a fault protection state. At the same time, it will output a jamming fault signal, a deployment abnormality signal, or wait for ground control commands to avoid irreversible damage to the solar panel deployment mechanism.

[0111] Based on the same inventive concept, this invention also discloses an anti-jamming control system for a satellite solar panel deployment motor, comprising: Deployment motor, used to drive the solar panels to deploy; A compliant torque limiting component is connected in series between the deployment motor and the solar panel deployment hinge to transmit driving torque between the deployment motor and the solar panel deployment hinge, and to generate detectable relative torsional deformation during the transmission of driving torque. The status detection unit is used to collect the operating current of the deployment motor, the output angle of the solar panel hinge side, and the relative torsional deformation at both ends of the compliant torque limiting component. The controller, connected to the deployment motor and the status detection unit, is configured to execute the aforementioned anti-jamming control method for the satellite solar panel deployment motor.

[0112] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0113] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for preventing jamming of a satellite solar panel deployment motor, characterized in that, The method is applied to a satellite solar panel deployment system, wherein a compliant torque limiting component is connected in series between the deployment motor and the solar panel deployment hinge, including: Collect deployment status data, which includes at least the operating current of the deployment motor, the output angle of the solar panel deployment hinge, and the relative torsional deformation at both ends of the compliant torque limiting component; The output angular velocity and / or output angle increment during the deployment of the solar panel are determined based on the output angle. Based on the combined judgment of the changing trends of the operating current, the output angular velocity and / or the output angle increment, and the relative torsional deformation relative to their respective preset reference values, when the preset jamming trend condition is met, a jamming trend is identified. In response to the detection of the jamming trend, the deployment motor is controlled to enter a compliant torque limiting protection state, and the driving torque transmitted to the solar panel deployment hinge is limited to within a preset torque limiting threshold by the compliant torque limiting component. Under the compliant torque limiting protection state, the unfolding motor is controlled to rotate a preset yield angle in the direction opposite to the unfolding direction; After completing the rotation at the preset yield angle, the unfolding motor is controlled to rotate again along the unfolding direction, and the restoring unfolding torque is output in a gradually increasing manner; After rotating back along the unfolding direction, it is determined whether the stuck state is released based on the output angular velocity and / or output angle increment, and the relationship between the relative torsional deformation and the preset release judgment condition. Based on the judgment result, control the deployment motor to resume normal deployment control or execute fault protection processing.

2. The anti-jamming control method for the satellite solar panel deployment motor according to claim 1, characterized in that, The preset jamming trend conditions include at least two of the following conditions being met simultaneously: the operating current shows an increasing trend relative to the current reference value, the output angular velocity shows a decreasing trend relative to the velocity reference value, the output angle increment shows a decreasing trend relative to the increment reference value, and the relative torsional deformation shows an increasing trend relative to the deformation reference value.

3. The anti-jamming control method for the satellite solar panel deployment motor according to claim 1, characterized in that, The method of comprehensively judging based on the changing trends of the operating current, the output angular velocity and / or the output angle increment, and the relative torsional deformation relative to their respective preset reference values, and identifying the existence of a jamming trend when the preset jamming trend condition is met, includes: The operating current, the output angular velocity, the output angle increment, and the relative torsional deformation are normalized and then weighted and summed to obtain the jamming trend index. When the stagnation trend index reaches or exceeds a preset threshold, it is determined that the preset stagnation trend condition is met.

4. The anti-jamming control method for the satellite solar panel deployment motor according to claim 3, characterized in that, The stagnation trend index is calculated according to the following formula: in, For the stagnation trend index, This is the motor operating current. The motor operating current threshold. To output angular velocity, For reference angular velocity, This represents the relative torsional deformation at both ends of the compliant torque limiting component. To preset the torsional deformation threshold, To output the angle increment, To minimize the effective unfolding angle increment, , , , The weighted coefficients sum to 1, [ . ] + This indicates that the value within the parentheses is the larger of the two values ​​compared to 0.

5. The anti-jamming control method for the satellite solar panel deployment motor according to claim 1, characterized in that, The preset stagnation trend condition also includes: the stagnation trend index reaches or exceeds a preset threshold, and the state continues for a predetermined number of sampling periods or a predetermined duration.

6. The anti-jamming control method for the satellite solar panel deployment motor according to claim 1, characterized in that, The preset yield angle is not less than the minimum effective angle that can release the stress concentration at the stuck position, and not greater than the maximum allowable yield angle that does not affect the safety of the solar panel deployment.

7. The anti-jamming control method for the satellite solar panel deployment motor according to claim 1, characterized in that, The recovery and deployment torque is increased stepwise in the following manner: Based on the preset first-level recovery and deployment torque, the preset maximum recovery and deployment torque, and the preset number of levels, the recovery and deployment torques of each level are determined between the first-level recovery and deployment torque and the maximum recovery and deployment torque, with the subsequent level recovery and deployment torque being greater than the previous level recovery and deployment torque.

8. The anti-jamming control method for the satellite solar panel deployment motor according to claim 7, characterized in that, The recovery and deployment torque at each stage is calculated using the following formula: in, To restore the maximum number of stages of the unfolding torque, ≥2, For the first stage recovery deployment torque, The maximum recovery and unfolding torque is given.

9. The anti-jamming control method for the satellite solar panel deployment motor according to claim 1, characterized in that, The preset release determination conditions include: the output angular velocity reaches or exceeds the velocity release threshold, the output angle increment reaches or exceeds the increment release threshold, and the relative torsional deformation decreases to below the deformation safety threshold.

10. A jamming prevention control system for a satellite solar panel deployment motor, characterized in that, include: Deployment motor, used to drive the solar panels to deploy; A compliant torque limiting component is connected in series between the deployment motor and the solar panel deployment hinge to transmit driving torque between the deployment motor and the solar panel deployment hinge, and to generate detectable relative torsional deformation during the transmission of driving torque. The status detection unit is used to collect the operating current of the deployment motor, the output angle of the solar panel hinge side, and the relative torsional deformation at both ends of the compliant torque limiting component; A controller, connected to the deployment motor and the status detection unit, is configured to perform the anti-jamming control method for the satellite solar panel deployment motor as described in any one of claims 1 to 9.

Images