CN104181941A - Double-direction solar panel control method applicable to inclined orbit satellite - Google Patents
Double-direction solar panel control method applicable to inclined orbit satellite Download PDFInfo
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- CN104181941A CN104181941A CN201410441924.5A CN201410441924A CN104181941A CN 104181941 A CN104181941 A CN 104181941A CN 201410441924 A CN201410441924 A CN 201410441924A CN 104181941 A CN104181941 A CN 104181941A
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Abstract
The invention discloses a double-direction solar panel control method applicable to an inclined orbit satellite. The double-direction solar panel control method comprises the steps that a mathematic model of the positional relation between the inclined orbit satellite and the sun is built and used for quantitative description of the motion law of the sun relative to the satellite; a solar panel driving error is defined according to the mathematic model and used as input of solar panel driving control; the law of solar panel capture control is determined, so that a solar panel is made to find the sun; the law of solar panel tracing control is determined, so that solar panel sun-targeted orientation is realized through sun tracing. According to the double-direction solar panel control method applicable to the inclined orbit satellite, the solar panel driving law and satellite yawing maneuvering are combined, and the problem that the inclined orbit satellite realizes sun-targeted orientation through a one-dimensional solar panel driving mechanism is solved; judgment and adjustment can be carried out autonomously according to the motion direction of the sun according to the forward flight and inverted flight of the satellite, and correct capture of the sun by the solar panel under different initial conditions is realized; forward driving control and inverted driving control of sun-targeted orientation of the solar panel are realized according to the forward flight and inverted flight of the satellite.
Description
Technical field
The present invention relates to a kind of satellite sun windsurfing and drive control method, be specifically related to a kind of windsurfing bidirection control method that adapts to inclined plane satellite.
Background technology
The solar light irradiation situation that inclined plane satellite is subject to is more complicated, and the sun can move to opposite side continuously from a side of orbital plane, and sunshine and orbital plane angle (sun altitude β) can change continuously between-90 ° to 90 °.The motion that is the relative satellite celestial body of sunshine is two dimensional motion, existing due to orbital motion cause around the rotatablely moving of pitch axis, also have the rotatablely moving around yaw axis of causing due to orbital precession.For ensureing that inclined plane satellite obtains solar energy source, windsurfing is Direct to the sun all the time.For two dimensional motion, must use two-dimentional driving mechanism to drive windsurfing to realize two-dimensional tracking motion, but two-dimentional driving mechanism technology is not yet ripe, and cost is higher, is unfavorable for the equipment of current satellite.
Summary of the invention
The invention provides a kind of windsurfing bidirection control method that adapts to inclined plane satellite, coordinate whole star to go off course motor-driven realization to the windsurfing Direct to the sun on inclined plane.
For achieving the above object, the invention provides a kind of windsurfing bidirection control method that adapts to inclined plane satellite, be characterized in, the method comprises:
Set up the mathematical model of inclined plane satellite and position of sun relation, the characteristics of motion of the relative satellite of the quantitative description sun;
Drive error to drive the input of controlling as windsurfing according to mathematical model definition windsurfing;
Determine that windsurfing catches the rule of control, make windsurfing find the sun;
Determine the rule that windsurfing tracking is controlled, follow the tracks of the sun and realize windsurfing Direct to the sun.
The mathematical model of above-mentioned inclined plane satellite and position of sun relation comprises:
Definition satellite, in an orbital coordinate system XOZ, comprises Xo axle, Yo axle and Zo axle, and satellite orbit is that initial point is Oo, and satellite is positioned at the initial point of this coordinate system;
Define another three-dimensional system of coordinate and be called satellite body coordinate system, satellite body coordinate origin is Ob, and Ob is that initial point Oo overlaps with satellite orbit, and satellite body coordinate system comprises Xb axle, Yb axle and Zb axle;
Satellite is just flying in situation, and satellite body coordinate system overlaps with orbital coordinate system; In satellite inverted flight situation, satellite body coordinate system and orbital coordinate system are about the yaw axis Zb axle antisymmetry of yaw axis Zo axle and the satellite body coordinate system of orbital coordinate system;
Defining a vector from the satellite sensing sun is solar vector Vsun;
At the projection Vsp of orbital coordinate system XOZ plane, the motion in XOZ plane is representing the motion of the relative satellite of the sun to solar vector;
The motion of projection Vsp in orbital coordinate system XOZ face is the uniform circular motion around orbital coordinate system Y-axis positive dirction with orbit angular velocity w0;
It is sun angular altitude that the angle of projection Vsp and orbital coordinate system X-axis is called track
;
Definition windsurfing normal vector is the vector V fb that vertical windsurfing battery face points to the sun; The motion of windsurfing normal vector Vfb has represented the motion of windsurfing;
Windsurfing is arranged on satellite both sides, and windsurfing rotor shaft direction is parallel with the Y-axis of satellite orbit system, and the motion of windsurfing normal vector is the uniform circular motion around the Y-axis of satellite body coordinate system, and the direction of movement velocity and size are caught by windsurfing and driven control law to determine.
Above-mentioned definition windsurfing drives error packet to contain:
In the time that windsurfing normal vector overlaps with orbital coordinate system X-axis positive dirction, corresponding windsurfing corner is 0 °, and this position is called windsurfing driving zero-bit; Arriving and drive when zero-bit at satellite sailboard, windsurfing normal with satellite orbit is+and X-axis overlaps, and the track in this moment is sun angular altitude
size characterized the angle of windsurfing normal vector and sun projection vector Vsp, this angle is defined as windsurfing and drives error theta;
Wherein, drive the polarity of error theta to be defined as:
As Vspz < 0, when the sun irradiates celestial body from-Z direction, θ < 0;
When Vspz >=0, when the sun irradiates celestial body from+Z direction, θ >=0;
The Vspz projection at orbital coordinate system Z axis that is solar vector at the projection Vsp of orbital coordinate system XOZ plane.
Above-mentioned windsurfing is caught control law and is comprised:
The motion of controlling windsurfing makes windsurfing normal vector Vfb overlap with sun projection vector Vsp;
Drive the size and Orientation of error theta according to windsurfing, and the direction of motion of the relative satellite of the sun determines rotation direction and the rotational angular velocity ω fs of windsurfing, thereby try to achieve capture time T;
In the time catching beginning, windsurfing rotates with the correct direction of catching with the speed of 0.6 °/s, carries out windsurfing simultaneously and catches timing, stops, acquisition success when timing time reaches T.
Above-mentionedly catch the definite of direction and comprise:
If windsurfing drives error theta >=0, oppositely catch; Otherwise forward is caught.
Capture angle method for determining speed comprises:
Definition:
with
Wherein, Cpon is for catching Directional Sign, and FlagVel is satellite bias mark;
Capture angle speed omega
fscalculate according to formula (1):
（1）
Capture time T calculates according to formula (2):
T=θ/ω
fs （2）
Wherein
for windsurfing capture angle speed,
for satellite orbit angular velocity.
Above-mentioned windsurfing is followed the tracks of the rule of controlling and is comprised:
Judge windsurfing and drive error and polarity, the then windsurfing fast Acquisition sun, makes windsurfing normal overlap with sun projection vector; After acquisition success, windsurfing enters tracing mode, will, according to driving error to adjust windsurfing rotating speed, realize Direct to the sun and follow the tracks of;
When windsurfing drives error theta >0, windsurfing rotational angular velocity slows down on the basis of orbit angular velocity; When windsurfing drives error theta <0, windsurfing rotational angular velocity accelerates on the basis of orbit angular velocity; Windsurfing drives error theta=0 o'clock, does not carry out acceleration or deceleration, and windsurfing rotates with orbit angular velocity.
The windsurfing bidirection control method that the present invention adapts to inclined plane satellite compared to the prior art, its advantage is, windsurfing of the present invention drives rule and motor-driven the combining of satellite driftage, has solved inclined plane satellite and has used one dimension windsurfing driving mechanism to realize the problem of Direct to the sun; Just flying and two kinds of situations of inverted flight for satellite, can independently judge and adjust according to solar motion direction, realizing solar array correctly catching the sun under different starting condition; Just flying and two kinds of situations of inverted flight for satellite, realizing forward and the reverse drive control of windsurfing Direct to the sun.
Brief description of the drawings
Fig. 1 is the process flow diagram that the present invention adapts to the windsurfing bidirection control method of inclined plane satellite;
Fig. 2 is the mathematical model schematic diagram of medium dip orbiter of the present invention and position of sun relation;
Fig. 3 be Satellite of the present invention while just flying windsurfing catch and control and windsurfing drives the schematic diagram of control;
When Fig. 4 is Satellite inverted flight of the present invention, windsurfing is caught the schematic diagram of control and windsurfing driving control.
Embodiment
Below in conjunction with accompanying drawing, further illustrate specific embodiments of the invention.
The present invention discloses a kind of windsurfing bidirection control method that adapts to inclined plane satellite, the object of windsurfing Direct to the sun control is to make windsurfing drive error to meet index request, the angle that is windsurfing normal and solar vector meets index request, realizes windsurfing battery face all the time towards the sun.Based on mathematical model (solar motion rule) and control index request, just can start windsurfing Direct to the sun control law to design.
As shown in Figure 1, the windsurfing bidirection control method of adaptation inclined plane satellite comprises following steps:
Step 1, set up the mathematical model of inclined plane satellite and position of sun relation, the characteristics of motion of the relative satellite of the quantitative description sun.
As shown in Figure 2, definition satellite, in a three-dimensional system of coordinate,, in orbital coordinate system, comprises Xo axle (X-axis), Yo axle (Y-axis) and Zo axle (Z axis), and initial point is Oo, and satellite is positioned at the initial point of this coordinate system.Define another three-dimensional system of coordinate and be called satellite body coordinate system, satellite body coordinate origin is that Ob(overlaps with orbital coordinate system initial point Oo), comprise Xb axle, Yb axle and Zb axle.Satellite is just flying in situation, and satellite body coordinate system overlaps with orbital coordinate system; In satellite inverted flight situation, satellite body coordinate system and orbital coordinate system are about its yaw axis Zo axle (Zb axle) antisymmetry (as the Xb ' in Fig. 2, Yb ', Zb ') separately.Solar vector Vsun is defined as a vector that points to the sun from satellite.Solar vector is at the projection Vsp(=[Vspx of orbital coordinate system XOZ plane Vspy Vspz]) motion in XOZ plane representing the motion of the relative satellite of the sun.The motion of vector V sp in orbital coordinate system XOZ face is the uniform circular motion around orbital coordinate system Y-axis positive dirction with orbit angular velocity w0.It is sun angular altitude that the angle of Vsp and X-axis is called track
,
.Vector V fb in Fig. 1 is windsurfing normal vector, and windsurfing normal vector is the vector that vertical windsurfing battery face points to the sun.The motion of Vfb has represented the motion of windsurfing.Windsurfing is arranged on satellite both sides, windsurfing rotor shaft direction is parallel with the Y-axis of satellite orbit system, therefore, the motion of windsurfing normal vector is the uniform circular motion around the Y-axis of satellite body coordinate system, and the direction of movement velocity and size are caught by windsurfing and driven control law to determine.
Step 2, drive error to drive the input of controlling as windsurfing according to mathematical model definition windsurfing.
In the time that windsurfing normal vector overlaps with orbital coordinate system X-axis positive dirction, corresponding windsurfing corner is 0 °, and this position is called windsurfing driving zero-bit.Arrive and drive when zero-bit at windsurfing, windsurfing normal and satellite orbit system+X-axis overlaps, and the track in this moment is the angle that the size of sun angular altitude has characterized windsurfing normal vector and sun projection vector Vsp, and this angle is defined as windsurfing driving error theta.
Wherein, windsurfing drives the polarity of error theta to be defined as:
As Vspz < 0, when the sun irradiates celestial body from-Z direction, θ < 0;
When Vspz >=0, when the sun irradiates celestial body from+Z direction, θ >=0;
The Vspz projection at orbital coordinate system Z axis that is solar vector at the projection Vsp of orbital coordinate system XOZ plane.
As shown in Figure 3 and Figure 4, then, the control of windsurfing Direct to the sun will realize two targets: first find the sun, then follow the tracks of the sun and realize windsurfing Direct to the sun.Corresponding with it, control law design is divided into two steps: catch control law design and drive rule design.
Step 3, determine that windsurfing catches the rule of control, find position of sun.
Windsurfing is caught to control and is referred to that the motion of controlling windsurfing makes windsurfing normal vector Vfb overlap with sun projection vector Vsp.Drive the size and Orientation of error theta according to windsurfing, and the direction of motion of the relative satellite of the sun can be determined rotation direction and the rotational angular velocity ω of windsurfing
fsthereby, try to achieve capture time T.In the time catching beginning, windsurfing rotates with correct direction with the speed of 0.6 °/s, carries out windsurfing simultaneously and catches timing, stops, acquisition success when timing time reaches T.
Catch determining of direction:
If windsurfing drives error theta >=0, oppositely catch; Otherwise forward is caught.
Owing to just flying in (yaw-position is 0 °) and two kinds of situations of satellite inverted flight (yaw-position is 180 °) when satellite, acquisition speed is not identical.Can defining variable catch the expression that Directional Sign Cpon and satellite bias sign of flag Vel unify windsurfing acquisition speed computing formula.The concrete value rule of variable Cpon and FlagVel is as follows:
When windsurfing will carry out forward while catching, Cpon=1;
In the time that windsurfing will oppositely be caught, Cpon=-1.
In the time that the current yaw-position of satellite is 0 °, FlagVel=1;
In the time that the current yaw-position of satellite is 180 °, FlagVel=-1.
I.e. definition:
with
According to above-mentioned variable-definition and value rule, can calculate windsurfing capture angle speed omega according to unified formula (1)
fs:
（1）
Capture time is calculated according to formula (2):
T=θ/ω
fs （2）
Wherein
for windsurfing capture angle speed,
for satellite orbit angular velocity.Illustrate: in formula
with
concrete numerical value be not the inventive features of this patent, can get different numerical value according to different satellites and different index request.
Step 4, determine windsurfing follow the tracks of control rule, follow the tracks of the sun realize windsurfing Direct to the sun.
Windsurfing drives and refers to that controlling windsurfing moves with suitable angular velocity, windsurfing normal vector Vfb can be overlapped with sun projection vector Vsp all the time, and the angle of Vfb and Vsp meets index request.It is that windsurfing is with orbit angular velocity that windsurfing drives control law
rotate according to correct direction for reference angle speed, carry out Direct to the sun tracking.Forward trace (windsurfing forward rotation) when satellite just flies (yaw-position is 0 °), traceback (windsurfing rotates backward) when satellite inverted flight (yaw-position is 180 °).Windsurfing drives control law to be: while driving error theta >0, and windsurfing rotational angular velocity slow down on the basis of orbit angular velocity (Speed Reduction); While driving error theta <0, windsurfing rotational angular velocity accelerates (speed rising) on the basis of orbit angular velocity; Drive error theta=0 o'clock, do not carry out acceleration or deceleration, windsurfing rotates with orbit angular velocity.
In above-mentioned two situations, the concrete enforcement of control method comprises: first judge windsurfing and drive error and polarity, the then windsurfing fast Acquisition sun, makes windsurfing normal overlap with sun projection vector.After acquisition success, windsurfing enters tracing mode, will, according to driving error to adjust windsurfing rotating speed, realize Direct to the sun and follow the tracks of.
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.Read after foregoing those skilled in the art, for multiple amendment of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (6)
1. a windsurfing bidirection control method that adapts to inclined plane satellite, is characterized in that, the method comprises:
Set up the mathematical model of inclined plane satellite and position of sun relation, the characteristics of motion of the relative satellite of the quantitative description sun;
Drive error to drive the input of controlling as windsurfing according to mathematical model definition windsurfing;
Determine that windsurfing catches the rule of control, make windsurfing find the sun;
Determine the rule that windsurfing tracking is controlled, follow the tracks of the sun and realize windsurfing Direct to the sun.
2. the windsurfing bidirection control method of adaptation inclined plane satellite as claimed in claim 1, is characterized in that, the mathematical model of described inclined plane satellite and position of sun relation comprises:
Definition satellite, in an orbital coordinate system XOZ, comprises Xo axle, Yo axle and Zo axle, and satellite orbit is that initial point is Oo, and satellite is positioned at the initial point of this coordinate system;
Define another three-dimensional system of coordinate and be called satellite body coordinate system, satellite body coordinate origin is Ob, and Ob is that initial point Oo overlaps with satellite orbit, and satellite body coordinate system comprises Xb axle, Yb axle and Zb axle;
Satellite is just flying in situation, and satellite body coordinate system overlaps with orbital coordinate system; In satellite inverted flight situation, satellite body coordinate system and orbital coordinate system are about the yaw axis Zb axle antisymmetry of yaw axis Zo axle and the satellite body coordinate system of orbital coordinate system;
Defining a vector from the satellite sensing sun is solar vector Vsun;
At the projection Vsp of orbital coordinate system XOZ plane, the motion in XOZ plane is representing the motion of the relative satellite of the sun to solar vector;
The motion of projection Vsp in orbital coordinate system XOZ face is the uniform circular motion around orbital coordinate system Y-axis positive dirction with orbit angular velocity w0;
It is sun angular altitude that the angle of projection Vsp and orbital coordinate system X-axis is called track
;
Definition windsurfing normal vector is the vector V fb that vertical windsurfing battery face points to the sun; The motion of windsurfing normal vector Vfb has represented the motion of windsurfing;
Windsurfing is arranged on satellite both sides, and windsurfing rotor shaft direction is parallel with the Y-axis of satellite orbit system, and the motion of windsurfing normal vector is the uniform circular motion around the Y-axis of satellite body coordinate system, and the direction of movement velocity and size are caught by windsurfing and driven control law to determine.
3. the windsurfing bidirection control method of adaptation inclined plane satellite as claimed in claim 2, is characterized in that, described definition windsurfing drives error packet to contain:
In the time that windsurfing normal vector overlaps with orbital coordinate system X-axis positive dirction, corresponding windsurfing corner is 0 °, and this position is called windsurfing driving zero-bit; Arriving and drive when zero-bit at satellite sailboard, windsurfing normal with satellite orbit is+and X-axis overlaps, and the track in this moment is sun angular altitude
size characterized the angle of windsurfing normal vector and sun projection vector Vsp, this angle is defined as windsurfing and drives error theta;
Wherein, drive the polarity of error theta to be defined as:
As Vspz < 0, when the sun irradiates celestial body from-Z direction, θ < 0;
When Vspz >=0, when the sun irradiates celestial body from+Z direction, θ >=0;
The Vspz projection at orbital coordinate system Z axis that is solar vector at the projection Vsp of orbital coordinate system XOZ plane.
4. the windsurfing bidirection control method of adaptation inclined plane satellite as claimed in claim 2, is characterized in that, described windsurfing is caught control law and comprised:
The motion of controlling windsurfing makes windsurfing normal vector Vfb overlap with sun projection vector Vsp;
Drive the size and Orientation of error theta according to windsurfing, and the direction of motion of the relative satellite of the sun is determined rotation direction and the rotational angular velocity ω of windsurfing
fsthereby, try to achieve capture time T;
In the time catching beginning, windsurfing rotates with the correct direction of catching with the speed of 0.6 °/s, carries out windsurfing simultaneously and catches timing, stops, acquisition success when timing time reaches T.
5. the windsurfing bidirection control method of adaptation inclined plane satellite as claimed in claim 4, is characterized in that, described in catch the definite of direction and comprise:
If windsurfing drives error theta >=0, oppositely catch; Otherwise forward is caught;
Capture angle method for determining speed comprises:
Definition:
with
Wherein, Cpon is for catching Directional Sign, and FlagVel is satellite bias mark;
Capture angle speed omega
fscalculate according to formula (1):
（1）
Capture time T calculates according to formula (2):
T=θ/ω
fs （2）
Wherein
for windsurfing capture angle speed,
for satellite orbit angular velocity.
6. the windsurfing bidirection control method of adaptation inclined plane satellite as claimed in claim 4, is characterized in that, described windsurfing is followed the tracks of the rule of controlling and comprised:
Judge windsurfing and drive error and polarity, the then windsurfing fast Acquisition sun, makes windsurfing normal overlap with sun projection vector; After acquisition success, windsurfing enters tracing mode, will, according to driving error to adjust windsurfing rotating speed, realize Direct to the sun and follow the tracks of;
When windsurfing drives error theta >0, windsurfing rotational angular velocity slows down on the basis of orbit angular velocity; When windsurfing drives error theta <0, windsurfing rotational angular velocity accelerates on the basis of orbit angular velocity; Windsurfing drives error theta=0 o'clock, does not carry out acceleration or deceleration, and windsurfing rotates with orbit angular velocity.
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| CN111208847A (en) * | 2020-01-08 | 2020-05-29 | 中国人民解放军国防科技大学 | Method for determining optimal fixed yaw angle of inclined orbit satellite with solar sailboard in sun-tracking mode |
| CN111176313A (en) * | 2020-01-08 | 2020-05-19 | 中国人民解放军国防科技大学 | Sun orientation control method for single-degree-of-freedom solar sailboard of inclined orbit satellite |
| CN111176313B (en) * | 2020-01-08 | 2023-04-28 | 中国人民解放军国防科技大学 | Solar orientation control method for inclined orbit satellite single-degree-of-freedom solar sailboard |
| CN111846289A (en) * | 2020-08-06 | 2020-10-30 | 上海航天控制技术研究所 | Satellite sun-facing directional control method during offset installation of solar sailboard and satellite |
| CN112650260A (en) * | 2020-11-27 | 2021-04-13 | 上海航天控制技术研究所 | Solar sailboard variable-speed driving method under inclined orbit satellite yaw guidance |
| CN112650260B (en) * | 2020-11-27 | 2023-02-03 | 上海航天控制技术研究所 | Solar sailboard variable-speed driving method under inclined orbit satellite yaw guidance |
| CN113110612A (en) * | 2021-04-13 | 2021-07-13 | 深圳航天东方红卫星有限公司 | Double-shaft solar cell array driving device and motion planning method thereof |
| CN113110612B (en) * | 2021-04-13 | 2023-11-28 | 深圳航天东方红卫星有限公司 | Double-shaft solar cell array driving device and motion planning method thereof |
| CN113485461A (en) * | 2021-07-02 | 2021-10-08 | 北京控制工程研究所 | On-orbit sailboard self-adaptive adjustment method and system based on multi-subsystem cooperation |
| CN113485461B (en) * | 2021-07-02 | 2023-07-14 | 北京控制工程研究所 | On-orbit sailboard self-adaptive adjustment method and system based on multi-subsystem cooperation |
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Inventor after: Feng Baomin Inventor after: Zhu Hong Inventor after: Ye Lijun Inventor after: Wan Haiyin Inventor after: Chen Zhansheng Inventor after: Xu Feng Inventor after: Xiu Yanhong Inventor after: Lai Jing Inventor after: Mao Haifei Inventor before: Feng Baomin Inventor before: Zhu Hong Inventor before: Ye Lijun Inventor before: Wan Haiyin Inventor before: Chen Zhansheng Inventor before: Xu Feng Inventor before: Xiu Yanhong Inventor before: Mao Haifei |