CN112046789B - Control method of solar panel driving mechanism - Google Patents

Abstract

The invention discloses a novel control method of a solar sailboard driving mechanism, which is characterized in that step counting of a stepping motor in the driving mechanism is preferably used as control input, potentiometer information is simultaneously acquired as redundant information, and when the step counting fails, the potentiometer information is used as the control input.

Description

Control method of solar panel driving mechanism

Technical Field

The invention relates to the technical field of aerospace, in particular to a control method of a solar panel driving mechanism.

Background

In order to meet the energy requirement of a satellite and increase the equivalent area of a sailboard, a common three-axis stable satellite is provided with a solar sailboard driving mechanism so as to drive the normal line of the solar sailboard to point to the sun to obtain the maximum energy.

The control of the traditional solar sailboard driving mechanism is closed-loop control by a satellite computer by collecting sun vector angle information provided by a sun sensor and angle information provided by angle sensors such as a potentiometer and the like in the driving mechanism.

However, the control using the potentiometer information has the following 3 problems:

firstly, the potentiometer has a dead zone, and the potentiometer has no resistance value within the range of the dead zone, so that a sampling circuit cannot receive a resistance value signal within an angle interval of the dead zone, and the signal jumps;

secondly, the accuracy of the potentiometer is generally not high, so that high-accuracy control is difficult to realize;

thirdly, if the potentiometer has the phenomena of wild value, jump and the like, the instability and even failure of the system can be caused.

Disclosure of Invention

In view of some or all of the problems in the prior art, the present invention provides a control method for a solar panel driving mechanism, which calculates a driving mechanism angle by collecting a step count of the driving mechanism, the control method comprising:

calculating a target rotation angle according to the sun vector;

calculating the current absolute angle of the driving mechanism according to the step count and the step angle of a stepping motor in the driving mechanism; and

and judging the state of the driving mechanism, and if the state is normal, controlling the driving mechanism to rotate to the target rotation angle position according to the current absolute angle.

Further, the control method further includes:

and if the state of the driving mechanism is abnormal, controlling the driving mechanism by adopting the angle acquired by the potentiometer.

Further, the control method further comprises:

and judging whether the current of the sailboard is normal or not, and if the current of the sailboard is abnormal, switching to a backup solar sailboard driving mechanism.

Further, the determination of the state of the drive mechanism includes:

judging whether the driving mechanism is subjected to mechanical zero calibration or not;

and judging whether the difference value between the step count of the driving mechanism and the target rotation angle and the difference value between the step count of the driving mechanism and the count of the potentiometer meet the preset requirement or not within the specified time.

Further, the specified time includes 30 control cycles.

Further, the preset requirements include: the preset requirements include: the current absolute angle phi and the target rotation angle of the driving mechanism

And the angle information psi collected by the potentiometer does not satisfy

And is

Further, the control method further comprises:

when the drive mechanism reaches the target angle, the drive mechanism enters a hold state.

The invention provides a control method of a solar sailboard driving mechanism, which is used for calculating the rotation angle of the driving mechanism by collecting the step counting of a step motor of the driving mechanism, preferably takes the step counting as the input of sailboard control, has higher control precision, can be accurate to the minimum step angle output by the motor, and simultaneously avoids the problems of dead zone, wild value and the like of a potentiometer. In addition, the control method also collects the information of the potentiometer as auxiliary judgment, the potentiometer value is checked in each control period, if the step counting fails, the potentiometer can be automatically switched to the potentiometer for control, errors are avoided, when both the step counting and the potentiometer fail, the potentiometer can be automatically switched to a backup driving mechanism, and the control method has higher reliability and control precision compared with the control method of singly using the potentiometer.

Drawings

To further clarify the above and other advantages and features of various embodiments of the present invention, a more particular description of various embodiments of the invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, the same or corresponding parts will be denoted by the same or similar reference numerals for clarity.

Fig. 1 shows a flow diagram of a control method of a solar panel driving mechanism according to an embodiment of the invention;

fig. 2 is a schematic diagram illustrating a selection flow of control inputs in a control method of a solar panel driving mechanism according to an embodiment of the present invention; and

fig. 3 shows a state transition diagram of a solar panel driving mechanism according to an embodiment of the present invention.

Detailed Description

In the following description, the present invention is described with reference to examples. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details, or with other alternative and/or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention. Similarly, for purposes of explanation, specific numbers, materials and configurations are set forth in order to provide a thorough understanding of the embodiments of the invention. However, the invention is not limited to these specific details. Further, it should be understood that the embodiments shown in the figures are illustrative representations and are not necessarily drawn to scale.

Reference in the specification to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

It should be noted that the embodiment of the present invention describes the process steps in a specific order, however, this is only for illustrating the specific embodiment and is not meant to limit the sequence of the steps. Rather, in various embodiments of the invention, the order of the steps may be adjusted according to process adjustments.

Aiming at the problems existing when the potentiometer information is adopted to control the solar panel driving mechanism, the invention provides a novel control method of the solar panel driving mechanism. The technical scheme of the invention is further described by combining the embodiment drawings.

Fig. 1 is a flow chart illustrating a control method of a solar panel driving mechanism according to an embodiment of the present invention. As shown in fig. 1, a method for controlling a solar panel driving mechanism includes:

first, in step 101, a target rotation angle is calculated. Collecting the solar vector of the system given on the satellite

Assuming that the mechanical zero position of the driving mechanism is-Z and the clockwise direction is positive, the target rotation angle which needs to be reached by the driving mechanism at the + Y side can be calculated according to the sun vector

Next, at step 102, the current absolute angle is calculated. Calculating the current absolute angle phi of the driving mechanism according to the step count N and the step angle theta after the mechanical zero calibration of the stepping motor in the driving mechanism:

φ＝N·θ，

meanwhile, acquiring an absolute angle value psi of the driving mechanism acquired by the current potentiometer; and

finally, in step 103, the drive mechanism is controlled. Firstly, the current absolute angle phi calculated according to the step counting is used as the control input of the driving mechanism, but when the step counting fails, such as mechanical zero calibration, single-particle overturn, step loss and the like, the absolute angle value psi of the driving mechanism acquired by a potentiometer is used as the control input of the driving mechanism, in one embodiment of the invention, the selection process of the control input is shown in fig. 2 and comprises the following steps:

first, in step 201, it is determined whether or not control is forcibly performed using a potentiometer:

if yes, entering step 204, and adopting the absolute angle value psi of the driving mechanism acquired by the potentiometer as the control input of the driving mechanism; and

if not, go to step 202 for further determination;

in step 202, it is determined whether the drive mechanism has undergone mechanical zero calibration:

if yes, go to step 203 for further determination; and

if not, entering step 204, and adopting the absolute angle value psi of the driving mechanism acquired by the potentiometer as the control input of the driving mechanism;

in step 203, it is determined whether the difference between the target rotation angle and the current absolute angle obtained by the driving mechanism and the absolute angle value of the driving mechanism acquired by using the potentiometer satisfies a preset requirement within a specified time, in an embodiment of the present invention, the specified time includes 30 control cycles, and the preset requirement includes: the difference between the current absolute angle obtained by the driving mechanism and the target rotation angle is less than 5 degrees, and the difference between the absolute angle value of the driving mechanism acquired by the potentiometer and the target rotation angle is more than 10 degrees:

if it is

And is

Step 204 is carried out, and the absolute angle value psi of the driving mechanism acquired by the potentiometer is used as the control input of the driving mechanism; and

if not satisfied

And is provided with

Step 205 is entered and the current absolute angle phi calculated according to the step count is used as the control input of the driving mechanism;

in step 204, the absolute angle value ψ of the drive mechanism collected by the potentiometer is used as a control input of the drive mechanism, and when the drive mechanism reaches a target angle, the drive mechanism enters a holding state, as shown in fig. 3;

in step 205, the current absolute angle φ calculated from the step count is used as the control input of the driving mechanism, and when the driving mechanism reaches the target angle, the driving mechanism enters a hold state, as shown in FIG. 3; and

when the absolute angle psi of the driving mechanism acquired by the potentiometer is used as the control input of the driving mechanism, the step 206 is required to be further performed to further judge whether the current of the sailboard is normal:

in step 206, judging whether the current of the sailboard is normal, if so, continuously adopting the absolute angle value psi of the driving mechanism, which is acquired by the potentiometer, as the control input of the driving mechanism; and if not, the step count and the potentiometer are both invalid, and then step 207 is entered, and the driving mechanism of the solar panel is switched to the backup.

Thus, the dual redundant control of the solar panel driving mechanism is realized.

While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various combinations, modifications, and changes can be made thereto without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.

Claims (4)

1. A method of controlling a solar panel drive mechanism, the method comprising:

calculating a target rotation angle according to the sun vector;

calculating the current absolute angle of the driving mechanism according to the step count and the step angle of the stepping motor; and

judging the state of the driving mechanism:

if the current absolute angle is normal, controlling the driving mechanism to rotate to the target rotation angle position according to the current absolute angle; and

and if the state of the driving mechanism is abnormal, judging whether the current of the sailboard is normal, if so, controlling the driving mechanism by adopting angle information acquired by the potentiometer, and otherwise, switching to a backup solar sailboard driving mechanism.

2. The control method according to claim 1, wherein the judgment of the state of the drive mechanism includes:

if the potentiometer is not forcibly adopted for control, and the driving mechanism is subjected to mechanical zero calibration; and

if within the designated time, the target rotation angle

The difference value between the current absolute angle phi of the driving mechanism and the angle information psi acquired by the potentiometer meets the following requirements:

and/or

Then the state of the drive mechanism is normal, otherwise, the state of the drive mechanism is abnormal.

3. The control method according to claim 2, wherein the specified time includes 30 control cycles.

4. The control method according to claim 1, characterized by further comprising:

when the drive mechanism reaches the target angle, the drive mechanism enters a hold state.

Images