CN110641741B - Double-freedom-degree solar panel control method and control system thereof - Google Patents
Double-freedom-degree solar panel control method and control system thereof Download PDFInfo
- Publication number
- CN110641741B CN110641741B CN201911013715.XA CN201911013715A CN110641741B CN 110641741 B CN110641741 B CN 110641741B CN 201911013715 A CN201911013715 A CN 201911013715A CN 110641741 B CN110641741 B CN 110641741B
- Authority
- CN
- China
- Prior art keywords
- satellite
- time
- orbit
- freedom
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/42—Arrangements or adaptations of power supply systems
- B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
- B64G1/443—Photovoltaic cell arrays
Abstract
The application relates to the technical field of satellite research, in particular to a double-freedom-degree solar sailboard control method and a control system thereof. The double-freedom-degree solar sailboard control method drives the satellite and the solar sailboard in a mode of combining yaw maneuvering and SADA with a single degree of freedom, has the advantages of few required devices, high accuracy, simple structure and high reliability of the swing SADA with the single degree of freedom, adopts an angular speed control method, controls the torque output infrequently, can keep the uniform speed rotation of the swing SADA, saves energy, and improves the stability and the reliability of control. The method also utilizes the change characteristics of the sunshine area and the shadow area, the solar sailboard is designed to rotate at a constant speed only in the sunshine area, the counterglow movement is stopped in the shadow area, the initial solar sailboard returns to the initial solar sailboard posture, and the sunshine area is waited to arrive. The control system has the advantages of few required devices, high reliability, low implementation difficulty and high accuracy.
Description
Technical Field
The application relates to the technical field of satellite research, in particular to a double-freedom-degree solar sailboard control method and a control system thereof.
Background
In order to make full use of the electrical energy generated by the solar cells, a sail-like panel, one or both of which are extended from the satellite, is covered with solar cells, and is called a solar cell array, i.e., a solar sail panel. In order to achieve the highest possible utilization rate of the solar cells, the satellite is also provided with a satellite solar panel driving mechanism (SADA for short), and the satellite mainly aims to drive the solar cell array to rotate and enable the normal line of the solar cell array to coincide with the sunlight beam so as to obtain as much solar energy as possible, thereby providing as much electric energy as possible for the satellite. At present, the requirement on the attitude control precision of a satellite is higher and higher, and the method for controlling the solar sailboard to align with the sun by utilizing the single-degree-of-freedom servo mechanism cannot meet the requirement of a user on high precision more and more, so the control method of the double-degree-of-freedom solar sailboard is developed.
A commonly used control method of the solar panel with two degrees of freedom is to adopt a sun sensor for measurement and a biaxial SADA driving solar cell array. This method requires measuring two angles: 1) the included angle between the projection of the sun vector on the XOY surface of the solar panel coordinate system and the X axis thereof, namely the lambda angle, can adopt two slit type sun sensors which are respectively arranged on the + X surface and the-X surface of the satellite, and the slits are parallel to the Z axis of the solar panel coordinate system; 2) the included angle between the sun vector and the Z axis of the solar panel coordinate system, namely the alpha angle, can be additionally provided with two slit type sun sensors which are respectively arranged on the + X surface and the-X surface of the satellite, and the slits are parallel to the Y axis of the solar panel coordinate system. The two axes of the dual-axis SADA may be non-continuously rotating, where the rotation axis of one axis is parallel to the Z axis of the satellite, called rotation axis a, the rotation range is [ γ, 180- γ ], the period is the same as the period of the orbit, the rotation axis of the other axis is perpendicular to the Z axis of the satellite, called rotation axis B, the initial position is parallel to the Y axis of the satellite, the rotation range is related to the shadow area of each orbit, when the satellite enters the sunshine area and starts to rotate, the rotation angular velocity is the same as the orbit angular velocity, after entering the orbit shadow area, the satellite rapidly returns to the initial zero position, and then stops rotating and waits. The control method can directly input the corner-lambda of the rotating shaft A and the corner- (90-alpha) of the rotating shaft B into the controller, the controller calculates the rotating steps of the two rotating shafts according to the input values and outputs the rotating steps to the SADA, and therefore the control of the solar sailboard is achieved.
Another commonly used method for controlling a solar panel with two degrees of freedom is to use a star sensor to measure and control the rotation of a satellite body to point to the sun. Since the output of the star sensor is a vector in an inertial coordinate system, the geometric relationship between the vector and the sun vector is fixed. The controller can directly use the coordinate difference between the output of the star sensor and the sun vector in the inertial system as the input of the controller. Although the method only needs an installation matrix and time of the star sensor, required devices and conditions are few, the solar cell array is controlled to point to the sun in a satellite rotating mode, on one hand, the operation method is complicated, on the other hand, due to the fact that the space geometric relation between the sun, the earth and the satellite changes along with the orbit, the ground (Z axis) of the satellite does not necessarily point to the ground when the solar cell array points to the sun, and in the satellite requiring effective load to point to the ground, the method cannot guarantee that the solar cell array can point to the sun and the ground axis (Z axis) of the satellite points to the ground simultaneously, so that the accuracy is poor, the reliability is low, and the use is not wide enough.
Disclosure of Invention
The application provides a double-freedom-degree solar sailboard control method and a control system thereof, which are used for solving the problems of more required devices, complex structure, more variables and low reliability in the prior art.
The application provides a double-freedom-degree solar sailboard control method in a first aspect, which comprises the following steps:
s1, determining the local time as the initial time, and satellite orbit parameters including orbit inclination angle zeta and orbit ascending intersection point Chijing eta of the initial time0；
S2, calculating the time t from the spring point according to the initial time, and combining the track inclination angle zeta and the initial time track rising intersection point Chijing eta0Substituting into a calculation formula (1) to obtain an included angle beta between the sun vector and the Y axis of the orbit coordinate system,
wherein x iso＝sinζcos(η0+ωut)，
yo＝cosζ，
zo＝sinζsin(η0+ωut)，
sxo＝cos(ωit)，
syo＝sin(ωit)sin23.5°，
szo＝sin(ωit)cos23.5°，
Where ζ is the track inclination angle η0The right ascension, omega, of the orbit at the initial momentuThe west receding angular velocity of the track, t the time from spring minute point, 23.5 degrees of yellow-red crossing angle, omegaiIs the revolution angular velocity of the earth;
s3, installing the SADA on the Y plane of the satellite, namely: enabling a rotating shaft of the SADA to be parallel to an axis Y of an orbit coordinate system, setting a zero position as a normal direction of the solar array to point to an axis X of a satellite coordinate system, controlling the satellite to rotate by 90-beta around a yaw axis, namely an axis Z of the satellite coordinate system, by a yaw mechanism arranged on the satellite, stopping the SADA at the zero position, and enabling the solar array to be in a posture facing the sun, namely an initial solar array posture;
s4, determining the time and the position of the satellite entering the sunshine area starting point and the time and the position of the satellite exiting the sunshine area dead point according to the satellite orbit parameters and the initial time;
s5, when the satellite reaches the position of the time when the satellite enters the starting point of the sunshine area, the satellite starts to be controlled to change from the initial solar sailboard attitude, the change is to control the satellite to rotate around the yaw axis at a constant speed, the rotation angular speed is 4 beta/T, T is the orbit period, and simultaneously the SADA is driven to rotate around the Y axis of the satellite orbit coordinate system at a constant speed, and the rotation angular speed is the orbit angular speed omega0Stopping the changing action until the satellite reaches the position of the moment when the satellite exits the dead point of the sunshine area;
s6, when the satellite reaches the position of the moment when the satellite exits the sunshine area dead point, adjusting the solar sailboard to the initial solar sailboard posture until the satellite reaches the position of the moment when the satellite enters the sunshine area starting point, and repeating the step S5.
Compared with the prior art, the double-freedom-degree solar sailboard control method provided by the application drives the satellite and the solar sailboard by combining yaw maneuvering and SADA (satellite solar sailboard driving mechanism) with single freedom degree, only needs one yaw axis executing mechanism, one SADA with single freedom degree, and a Beidou satellite navigation system and a sun sensor for measuring local time, satellite orbit parameters, the time and the position of the starting point of the satellite entering the sunshine area and the time and the position of the satellite exiting the dead point of the sunshine area, and has fewer required devices; the SADA with single degree of freedom is adopted, and compared with the SADA with double degrees of freedom (namely double-shaft SADA) in the prior art, the SADA with double degrees of freedom has the advantages of simple structure and high reliability; the control on the posture change of the solar sailboard is continuous, the rotation angular speed is used as the control input, and the reliability of system control can be greatly improved; moreover, the satellite is driven by the yaw axis actuating mechanism and the solar sailboard is controlled by the SADA with single degree of freedom, so that compared with the method of controlling the satellite in the prior art, the method has the advantages of lower realization difficulty, higher accuracy, suitability for the satellite requiring the effective load to point to the ground and wider use; and the satellite is controlled by the angular speed, and because the external force borne by the satellite in the space is small, the satellite basically does not need to output a control torque any more after the angular speed is established, so that the uniform-speed rotation can be kept, and the method saves energy and improves the stability and the reliability of control. Moreover, for the low-orbit low-inclination-angle satellite, the satellite passes through a shadow area which occupies about 40% of the whole orbit period, and the sun sailboard is not needed to carry out the sun-tracking motion in the shadow area.
Further, the moment and the position that the satellite got into sunshine district starting point do the satellite passes through the moment and the position that the off-star point in local time is 6 am, the moment and the position that the star withdraws from sunshine district dead center do the satellite passes through the moment and the position that the off-star point in local time is 6 pm.
The position of the satellite passing by the local time of the off-satellite 6 am is very close to the position of the time when the satellite actually enters the sunshine area starting point, and the spatial geometrical relationship of the satellite is not greatly different from the spatial geometrical relationship of the sun, and the position of the satellite passing by the local time of the off-satellite 6 pm is very close to the position of the time when the satellite actually exits the sunshine area dead point, and the spatial geometrical relationship of the satellite is not greatly different from the spatial geometrical relationship of the sun. The influence on energy acquisition is negligible when the initial position and the final position of the control are determined to be 6 am and 6 pm at the local time of the sunday, and the time and the position are more determined relative to the time and the position of the starting point and the stopping point of each actual sunshine area, so that the system setting is more convenient and the implementation is better.
Furthermore, a sun sensor is arranged on the X surface of the satellite to measure the position of the time when the satellite enters the sunshine area starting point and the position of the time when the satellite exits the sunshine area dead point.
The sun sensor has the advantages of high measurement reliability, simple structure, low power, energy conservation, large field of view and high resolution.
Further, the initial time, the track inclination angle zeta and the orbit ascending intersection point right ascension η at the initial time are measured through a Beidou satellite navigation system0And the moment when the satellite enters the sunshine area starting point and the moment when the satellite exits the sunshine area dead point.
The Beidou satellite navigation system is a mature satellite navigation system at present, has high reliability and convenient use, and can ensure the accuracy of measured data.
Further, in the step S6, the solar panel is adjusted to the initial solar panel attitude by controlling the change in a reverse direction.
The mode has simple principle, high reliability and convenient and quick operation.
Further, the satellite employs a low-orbit low-inclination orbit having an orbit inclination ζ of 45 degrees.
Because the low-orbit low-inclination-angle orbit with the 45-degree orbit inclination angle is a satellite orbit which is widely used, the technical scheme is more extensive and has higher research value.
Further, the yaw mechanism includes a momentum wheel for controlling rotation of a yaw axis thereof.
The momentum wheel has simple and reliable structure and obvious effect.
A second aspect of the present application provides a two-degree-of-freedom solar panel control system, configured to implement the two-degree-of-freedom solar panel control method based on any one of the foregoing, including:
the SADA with single degree of freedom is arranged on the Y surface of the satellite, and the rotating shaft of the SADA is parallel to the Y axis of the orbit coordinate system;
the yawing mechanism is arranged on a satellite and comprises a yawing shaft and a momentum wheel for controlling the yawing shaft to rotate, wherein the yawing shaft is overlapped with a Z shaft of a satellite coordinate system;
the sun sensor is arranged on the X surface of the satellite and used for measuring the position of the satellite at the moment of entering the starting point of the sunshine area and the position of the satellite at the moment of exiting the dead point of the sunshine area; and
and the controller is in control connection with the SADA, the yaw mechanism, the sun sensor and the Beidou satellite navigation system.
The control system has the advantages of few required devices, high structural control precision, high control stability, high reliability, low implementation difficulty, high accuracy and wider application.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
Fig. 1 is a flowchart of a two-degree-of-freedom solar panel control method provided in an embodiment of the present application.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Detailed Description
The present application is described in further detail below with reference to specific embodiments and with reference to the attached drawings.
As shown in fig. 1, an embodiment of the present application provides a two-degree-of-freedom solar panel control method and a control system thereof, where the two-degree-of-freedom solar panel control method includes the following steps:
s1, determining the local time as the initial time, and satellite orbit parameters including orbit inclination angle zeta and orbit ascending intersection point Chijing eta of the initial time0The device can be specifically measured through a Beidou satellite navigation system, the Beidou satellite navigation system is a mature satellite navigation system at present, the reliability is high, the use is convenient, and the accuracy of measured data can be ensured.
S2, calculating the time t from the spring point according to the initial time, and combining the track inclination angle zeta and the initial time track ascending intersection point Chi Jing eta0Substituting into a calculation formula (1) to obtain an included angle beta between the sun vector and the Y axis of the orbit coordinate system,
wherein x iso＝sinζcos(η0+ωut)，
yo＝cosζ，
zo＝sinζsin(η0+ωut)，
sxo＝cos(ωit)，
syo＝sin(ωit)sin23.5°，
szo＝sin(ωit)cos23.5°，
Where ζ is the track inclination angle η0The right ascension, omega, of the orbit at the initial momentuThe west receding angular velocity of the track, t the time from spring minute point, 23.5 degrees of yellow-red crossing angle, omegaiIs the revolution angular velocity of the earth.
S3, mounting the SADA (satellite solar panel driving mechanism) on the Y plane of the satellite, namely: the rotation axis of the SADA is parallel to the Y axis of the orbit coordinate system, the zero position is set to be the normal direction of the solar array of sailboard batteries to point to the X axis of the satellite coordinate system, the yaw mechanism arranged on the satellite controls the satellite to rotate 90-beta around the yaw axis, namely the Z axis of the satellite coordinate system, the SADA is kept at the zero position, and therefore the solar array of sailboard batteries can be in the posture of facing the sun, namely the initial solar array posture.
In step S2, an angle β between the sun vector and the Y axis of the orbital coordinate system is calculated, and in step S3, the operation of the yaw mechanism controlling the satellite to rotate by 90 ° - β around the yaw axis is performed in consideration of the medium-long period motion of the satellite caused by the periodic change of the angle between the sun vector and the equatorial plane due to the west recession of the orbital plane and the revolution of the earth due to the gravity of the non-spherical earth, and the main influence of the medium-long period motion is the component of the sun vector on the Y axis of the orbital coordinate system, i.e., the angle between the sun vector and the Y axis of the orbital coordinate system, and the two-degree-of-freedom control principle is involved.
Specifically, a low-orbit low-inclination-angle orbit with an orbit inclination angle ζ of 45 degrees can be taken as an example, the period of the west-west retreat of the orbit surface is approximately 2 to 3 months, and the movement of the Y axis of the orbit coordinate system in the geocentric equatorial coordinate system is that without considering the change of the included angle between the sun vector and the geocentric plane: an included angle between the Y axis of the track coordinate system and the north pole is kept constant at 45 degrees, and circular conical motion for 2-3 months is performed around the north pole.
The motion equation of the Y axis of the orbital coordinate system in the geocentric equatorial coordinate system is as follows:
xo＝sinζcos(η0+ωut)，
yo＝cosζ，
zo＝sinζsin(η0+ωut)，
in the formula, the track inclination angle zeta is 45 degrees, eta0The right ascension, omega, of the orbit at the initial momentuThe track west exit angular velocity, t is the time from the spring minute point.
The included angle between the sun vector and the earth equatorial plane periodically changes due to the revolution of the earth and is generated by the joint action of the revolution angular velocity (one circle per year) and the included angle between the revolution angular velocity and the north pole, and the motion equation of the sun vector in the earth center equatorial coordinate system is as follows:
sxo＝cos(ωit)，
syo＝sin(ωit)sin 23.5°，
szo＝sin(ωit)cos 23.5°，
wherein 23.5 degree is yellow-red crossing angle omegaiThe revolution angular velocity of the earth, and t is the time from the spring minute point.
The included angle beta between the sun vector and the Y axis of the orbital coordinate system is calculated by taking orbital west retreat and earth revolution into comprehensive consideration as the following formula (1):
s4, determining the time and position of the satellite entering the sunshine area starting point and the time and position of the satellite exiting the sunshine area dead point through the satellite orbit parameters and the initial time, specifically, measuring the time of the satellite entering the sunshine area starting point and the time of the satellite exiting the sunshine area dead point through the Beidou satellite navigation system, and measuring the position of the satellite entering the sunshine area starting point and the position of the satellite exiting the sunshine area dead point through a sun sensor arranged on the X surface of the satellite, wherein the sun sensor determines the position of the sun vector in the satellite coordinate system through the position of the sensitive sun vector, thereby acquiring the information of the satellite relative to the sun position. For most applications, the sun can be regarded as a point light source approximately, and the sunlight source is strong, so the sun sensor has a simple structure, the power requirement is also small, the field of view of the sun sensor is large, the resolution is high, and the measurement reliability is high.
Preferably, the time and position of the satellite entering the sunshine area starting point are the time and position of the satellite passing the local time of the off-satellite by 6 am, and the time and position of the satellite exiting the sunshine area dead point are the time and position of the satellite passing the local time of the off-satellite by 6 am. The position of the satellite passing by the local time of the off-satellite 6 am is very close to the position of the time when the satellite actually enters the sunshine area starting point, and the spatial geometrical relationship of the satellite is not greatly different from the spatial geometrical relationship of the sun, and the position of the satellite passing by the local time of the off-satellite 6 pm is very close to the position of the time when the satellite actually exits the sunshine area dead point, and the spatial geometrical relationship of the satellite is not greatly different from the spatial geometrical relationship of the sun. The influence on energy acquisition is negligible when the initial position and the final position of the control are determined to be 6 am and 6 pm at the local time of the sunday, and the time and the position are more determined relative to the time and the position of the starting point and the stopping point of each actual sunshine area, so that the system setting is more convenient and the implementation is better.
S5, when the satellite reaches the position of the time when the satellite enters the sunshine area starting point (or the time when the satellite passes the local time of the off-satellite point and is 6 points earlier), the satellite starts to be controlled to change from the initial solar sailboard attitude, the change is to control the satellite to rotate around the yaw axis at a constant speed, the rotation angular speed is 4 beta/T, T is the orbit period, meanwhile, the SADA is driven to rotate around the Y axis of the satellite orbit coordinate system at a constant speed, and the rotation angular speed is the orbit angular speed omega0Stopping the changing action until the satellite reaches the position of the moment when the satellite exits the dead point of the sunshine area; the attitude change controlled by the step relates to a two-degree-of-freedom control principle and considers the influence of short-period motion.
Design of solar array fingersIn the method of controlling the sun, the most direct influence is the movement of the sun vector in the orbital coordinate system caused by the cyclic movement of the satellite along the orbit, i.e. the aforementioned short-cycle movement, which is caused by the orbital angular velocity
And (4) causing. The expression of the sun vector in the orbital coordinate system is as follows:
differential on both sides, taking into account only the track angular velocity ω0Obtaining:
wherein the formula shows: the component of the sun vector on the Y axis of the orbital coordinate system is unchanged, and the component of the sun vector on the XOZ plane of the orbital coordinate system rotates periodically around the Y axis of the coordinate system, and the period is the same as the period of the orbit. The following expression is given:
in the formula: beta is the included angle between the sun vector and the Y axis of the orbit coordinate system,0the included angle between the projection of the sun vector on the XOZ surface of the orbit coordinate system and the X axis of the orbit coordinate system is shown, when the satellite is at the moment of 6 am of the local time of the satellite, namely the moment of 6 am of the local time of the satellite is selected as an initial value, then the satellite is used for solving the problem that the satellite is not in the orbit, namely the satellite is in the orbit, and the satellite is in the orbit, namely the satellite0Is 0.
The SADA is driven to rotate around the Y axis of the satellite orbit coordinate system at a constant speed in the step S5, and the rotation angular speed is the orbit angular speed omega0Adjustment made in consideration of the influence caused by the aforementioned short-period motion of the satellite; the satellite rotates around the yaw axis at a constant speed, and the rotation angular speed of the satellite is 4 beta/T, which is made by considering the orbital motion of the satellite.
The two-degree-of-freedom control principle mentioned in the foregoing steps S3 and S5 is to first define the solar panel fixing coordinate system as follows: the origin is at the geometric center of the solar array, the normal direction of the solar array is the X axis, the rotating shaft of the SADA connected with the solar array is the Y axis along the direction that the satellite points to the solar array, and the Z axis is determined by the right-hand rule.
The expression of the sun vector in the fixed coordinate system of the solar sailboard is assumed as Sx，Sy，Sz]TThe included angle between the sun vector and the Z axis of the solar sailboard fixed connection coordinate system is alpha, namely: the included angle between the projection of the sun vector on the XOY surface of the solar sailboard fixed coordinate system and the X axis of the solar sailboard fixed coordinate system is lambda. Then there are: sx＝sin α cos λ，Sy＝sin α sin λ，SzThe method comprises the steps of firstly rotating around a Z axis by psi, then rotating around a Y axis by theta, and setting the coordinate of a rotated sun vector in a fixed coordinate system of the solar sailboard as cos alpha
Then there are:
when the normal direction of the solar array of sailboard cells is directed to the sun, there are:
Indicating a first rotation ψ about the Z axis so that the X axis, Z axis, sun vector lie in one plane, perpendicular to the Y axis. And the second rotation theta is indicated, the X axis is coincided with the sun vector, and the normal direction of the satellite sailboard battery array points to the sun.
S6, when the satellite reaches the position of the time when the satellite exits the dead center of the sunshine area (or the time when the satellite passes 6 pm local time under the satellite), adjusting the solar panel to the initial solar panel attitude until the satellite reaches the position of the time when the satellite enters the starting point of the sunshine area (or the time when the satellite passes 6 am local time under the satellite), repeating the above step S5.
Preferably, the solar panel is adjusted to the initial solar panel attitude by controlling said change in the reverse direction. The mode has simple principle, high reliability and convenient and quick operation. In addition, the yaw mechanism specifically comprises a momentum wheel for controlling the yaw axis to rotate, and the momentum wheel is simple and reliable in structure and obvious in effect.
Compared with the prior art, the double-freedom-degree solar sailboard control method provided by the embodiment of the application combines yaw maneuvering and single-freedom-degree SADA (satellite solar sailboard driving mechanism) to drive the satellite and the solar sailboard, only a yaw axis executing mechanism, a single-freedom-degree SADA and a Beidou satellite navigation system and a sun sensor for measuring local time, satellite orbit parameters, the time and the position of the starting point of the satellite entering the sunshine area and the time and the position of the stop point of the satellite exiting the sunshine area are needed, and the number of needed devices is small; the SADA with single degree of freedom is adopted, and compared with the SADA with double degrees of freedom (namely double-shaft SADA) in the prior art, the SADA with double degrees of freedom has the advantages of simple structure and high reliability; the control on the posture change of the solar sailboard is continuous, the rotation angular speed is used as the control input, and the reliability of system control can be greatly improved; moreover, the satellite is driven by the yaw axis actuating mechanism and the solar sailboard is controlled by the SADA with single degree of freedom, so that compared with the method of controlling the satellite in the prior art, the method has the advantages of lower realization difficulty, higher accuracy, suitability for the satellite requiring the effective load to point to the ground and wider use; and the satellite is controlled by the angular speed, and because the external force borne by the satellite in the space is small, the satellite basically does not need to output a control torque any more after the angular speed is established, so that the uniform-speed rotation can be kept, and the method saves energy and improves the stability and the reliability of control. Furthermore, for the low-orbit low-inclination satellite, the satellite passes through a shadow area which occupies about 40% of the whole orbit period, and the sun sailboard is not needed to carry out sun-tracking movement in the shadow area actually.
The double-freedom-degree solar sailboard control system provided by the embodiment of the application can comprise a single-freedom-degree SADA (synthetic aperture radar) arranged on a Y surface of a satellite, wherein a rotating shaft of the SADA is parallel to a Y axis of an orbit coordinate system; and a yaw mechanism mounted on the satellite and including a yaw axis and a momentum wheel controlling rotation of the yaw axis, the yaw axis coinciding with a Z-axis of the satellite coordinate system. The sun sensor is arranged on the X surface of the satellite and is used for measuring the position of the time when the satellite enters the starting point of the sunshine area and the position of the time when the satellite exits the dead point of the sunshine area; the Beidou satellite navigation system can also be used for measuring the initial time, the track inclination angle zeta and the orbit ascent point eta of the initial time0The time when the satellite enters the sunshine area starting point and the time when the satellite exits the sunshine area dead point; and the controller is in control connection with the SADA, the yaw mechanism, the sun sensor and the Beidou satellite navigation system and is used for controlling the devices to execute corresponding operations. The control system has the advantages of few required devices, simple structure, high control stability, high reliability, low implementation difficulty, high accuracy and wider application.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (7)
1. A double-freedom-degree solar sailboard control method is characterized by comprising the following steps:
s1, determining the local time as the initial time, and satellite orbit parameters including orbit inclination angle zeta and orbit ascending intersection point Chijing eta of the initial time0；
S2, according toCalculating the time t from the spring point at the initial moment, and calculating the inclination angle zeta of the track and the rising point eta of the track at the initial moment0Substituting into a calculation formula (1) to obtain an included angle beta between the sun vector and the Y axis of the orbit coordinate system,
wherein x iso＝sinζcos(η0+ωut)，
yo＝cosζ，
zo＝sinζsin(η0+ωut)，
sxo＝cos(ωit)，
syo＝sin(ωit)sin23.5°，
szo＝sin(ωit)cos23.5°，
Where ζ is the track inclination angle η0The right ascension, omega, of the orbit at the initial momentuThe west receding angular velocity of the track, t the time from spring minute point, 23.5 degrees of yellow-red crossing angle, omegaiIs the revolution angular velocity of the earth;
s3, the satellite solar sailboard driving mechanism SADA is installed on the Y surface of the satellite, namely: enabling a rotating shaft of the SADA to be parallel to an axis Y of an orbit coordinate system, setting a zero position as a normal direction of the solar array to point to an axis X of a satellite coordinate system, controlling the satellite to rotate by 90-beta around a yaw axis, namely an axis Z of the satellite coordinate system, by a yaw mechanism arranged on the satellite, stopping the SADA at the zero position, and enabling the solar array to be in a posture facing the sun, namely an initial solar array posture;
s4, determining the time and the position of the satellite entering the sunshine area starting point and the time and the position of the satellite exiting the sunshine area dead point according to the satellite orbit parameters and the initial time;
s5, when the satellite reaches the position of the time when the satellite enters the sunshine area, the satellite starts to be controlled to change from the initial solar sailboard attitude, and the change is to control the satellite to be uniform around the yaw axis of the satelliteRotating at a speed of 4 beta/T and T as an orbit period, and simultaneously driving the SADA to rotate at a constant speed around the Y axis of the satellite orbit coordinate system at an orbit angular speed of omega0Stopping said change until said satellite reaches a position at which it exits the dead point of the daylighting zone;
s6, repeating said step S5 when said satellite reaches a position at a time when it exits a dead point of the daylighting zone, by adjusting said solar panel to said initial solar panel attitude in a manner to control said change in reverse until said satellite reaches a position at a time when it enters a starting point of the daylighting zone.
2. The two degree of freedom solar windsurfing board control method of claim 1, wherein,
the time and the position that the satellite got into sunshine district starting point do the satellite is through the time and the position of 6 am at the off-star local time, the time and the position that the satellite withdrawed from sunshine district dead point do the satellite is through the time and the position of 6 am at the off-star local time.
3. The two-degree-of-freedom solar windsurfing board control method according to claim 1 or 2, wherein a sun sensor is installed on an X-plane of the satellite to measure a position of a time point when the satellite enters a sunshine area starting point and a position of a time point when the satellite exits a sunshine area ending point.
4. The two-degree-of-freedom solar sailboard control method according to claim 1 or 2, characterized in that the initial time, the track inclination angle ζ, the initial time track ascending intersection point declination η are measured by a Beidou satellite navigation system0And the moment when the satellite enters the sunshine area starting point and the moment when the satellite exits the sunshine area dead point.
5. The two degree of freedom solar windsurfing board control method of claim 2, wherein,
the satellite adopts a low-orbit low-inclination-angle orbit with an orbit inclination angle zeta of 45 degrees.
6. The two degree of freedom solar windsurfing board control method of claim 1, wherein,
the yaw mechanism includes a momentum wheel for controlling rotation of a yaw axis thereof.
7. A two-degree-of-freedom solar windsurfing board control system for implementing the two-degree-of-freedom solar windsurfing board control method according to any one of claims 1 to 6, comprising:
the SADA with single degree of freedom is arranged on the Y surface of the satellite, and the rotating shaft of the SADA is parallel to the Y axis of the orbit coordinate system;
the yawing mechanism is arranged on a satellite and comprises a yawing shaft and a momentum wheel for controlling the yawing shaft to rotate, wherein the yawing shaft is overlapped with a Z shaft of a satellite coordinate system;
the sun sensor is arranged on the X surface of the satellite and used for measuring the position of the satellite at the moment of entering the starting point of the sunshine area and the position of the satellite at the moment of exiting the dead point of the sunshine area; and
and the controller is in control connection with the SADA, the yaw mechanism, the sun sensor and the Beidou satellite navigation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911013715.XA CN110641741B (en) | 2019-10-23 | 2019-10-23 | Double-freedom-degree solar panel control method and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911013715.XA CN110641741B (en) | 2019-10-23 | 2019-10-23 | Double-freedom-degree solar panel control method and control system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110641741A CN110641741A (en) | 2020-01-03 |
| CN110641741B true CN110641741B (en) | 2020-12-18 |
Family
ID=69013337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911013715.XA Active CN110641741B (en) | 2019-10-23 | 2019-10-23 | Double-freedom-degree solar panel control method and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110641741B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111619825B (en) * | 2020-04-29 | 2021-12-21 | 北京航空航天大学 | Cross-cut formation method and device based on star-sail rope system |
| CN112937919B (en) * | 2021-03-05 | 2022-04-19 | 航天科工空间工程发展有限公司 | Low-orbit satellite double-freedom-degree solar wing control method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4949922A (en) * | 1988-12-09 | 1990-08-21 | Hughes Aircraft Company | Satellite control system |
| FR3013685B1 (en) * | 2013-11-25 | 2017-05-19 | Astrium Sas | METHOD AND DEVICE FOR CONTROLLING A SUN ACQUISITION PHASE BY A SPATIAL DEVICE |
| CN105035364B (en) * | 2015-07-24 | 2017-05-03 | 上海卫星工程研究所 | Solar array driving swinging method for low-dip-angle orbit radar satellite |
| CN105197259B (en) * | 2015-10-23 | 2017-04-12 | 中北大学 | Turnover type solar panel capable of unfolding towards light directionally |
| CN105819004B (en) * | 2016-04-21 | 2018-01-16 | 上海微小卫星工程中心 | Solar wing control method, system and the satellite of a kind of satellite |
| KR101898641B1 (en) * | 2017-08-16 | 2018-10-31 | 한국항공우주연구원 | Satellite and method for controlling the same |
| CN107703975A (en) * | 2017-08-30 | 2018-02-16 | 长光卫星技术有限公司 | Wireless energy transfer type windsurfing is to day tracking system |
| CN109655070B (en) * | 2018-12-28 | 2022-05-17 | 清华大学 | Multi-mode attitude determination method for remote sensing micro-nano satellite |
-
2019
- 2019-10-23 CN CN201911013715.XA patent/CN110641741B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110641741A (en) | 2020-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110641741B (en) | Double-freedom-degree solar panel control method and control system thereof | |
| JP2542094B2 (en) | Satellite control system | |
| CN106096148B (en) | A kind of high inclination-angle orbiter solar array pointing method under simple gesture stability | |
| EP0544198B1 (en) | Method and apparatus for controlling a solar wing of a satellite using a sun sensor | |
| US6293502B1 (en) | System and method for enhanced solar array pointing in sun-nadir steering | |
| CN108657470B (en) | Spacecraft windsurfing one dimensional driving mechanism stagnates position in-orbit identification and modification method | |
| CN107367942B (en) | Small celestial body fixed point hovering constant thrust control method | |
| CN103955224B (en) | Attitude control method for relative motion visual line tracking | |
| CN108750148B (en) | Spacecraft windsurfing two dimension driving mechanism stagnates position in-orbit identification method | |
| CN101727107B (en) | Flexible sun tracking system in solar collecting device | |
| CN101858747A (en) | Method for resolving and determining counterglow oriented object posture of satellite sailboard by effectively using earth irradiation energy | |
| CN104090612A (en) | Inclined orbit spacecraft energy obtaining method based on yaw steering | |
| CN105425833A (en) | Efficient heliostat sun tracking method | |
| KR20100119007A (en) | Sun tracker with a computation part calculating the location of the sun | |
| CN112061424B (en) | Maneuvering process energy angle dynamic tracking method based on fusion target attitude | |
| CN108657467B (en) | A kind of spacecraft yawing maneuvering control method and system using virtual solar vector | |
| US4909460A (en) | Device and method for aiming a space probe toward a celestial body | |
| JPH07228299A (en) | Solar battery paddle drive control device for three-axis stable satellite | |
| KR100959078B1 (en) | The appatatus and method of sun location tracking | |
| US3206141A (en) | Space vehicle attitude control | |
| RU2414392C1 (en) | Method of spacecraft axes orientation in solar orbital coordinate system | |
| CN111846289B (en) | Satellite sun-facing directional control method during offset installation of solar sailboard and satellite | |
| RU2428361C1 (en) | Method of orienting spaceship bound coordinate system axes in space | |
| CN113772130A (en) | Method for determining normal vector of solar cell array | |
| RU2207969C2 (en) | Method of forming control actions on spacecraft provided with powered gyroscopes and swivel solar batteries |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |