CN112650260A - Solar sailboard variable-speed driving method under inclined orbit satellite yaw guidance - Google Patents

Solar sailboard variable-speed driving method under inclined orbit satellite yaw guidance Download PDF

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CN112650260A
CN112650260A CN202011357736.6A CN202011357736A CN112650260A CN 112650260 A CN112650260 A CN 112650260A CN 202011357736 A CN202011357736 A CN 202011357736A CN 112650260 A CN112650260 A CN 112650260A
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solar panel
angle
solar
current moment
satellite
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CN112650260B (en
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王蕊
王静吉
张小伟
修艳红
周静静
陈银河
李正军
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Shanghai Aerospace Control Technology Institute
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a solar sailboard variable-speed driving method under the yaw guidance of an inclined orbit satellite, which comprises the following processes: calculating the solar altitude angle and the satellite orbit angle in real time; calculating a theoretical rotation angle and a theoretical driving angular speed of the solar panel at the current moment in real time according to the solar altitude angle and the satellite orbit angle; calculating the angle of the solar panel at the current moment required to be driven according to the theoretical turning angle of the solar panel at the current moment; selecting the gear closest to the theoretical driving angular speed of the solar panel at the current moment from the gears of the solar panel driving mechanism as a central value, and determining a slight adjustment amount according to the angle of the solar panel at the current moment to be driven, so as to obtain the driving angular speed of the solar panel at the current moment. The solar sailboard is driven by the variable angular speed, so that the solar sailboard is perpendicular to the sun at all times, and satellite energy is guaranteed.

Description

Solar sailboard variable-speed driving method under inclined orbit satellite yaw guidance
Technical Field
The invention relates to a tilt orbit satellite attitude control technology, in particular to a solar sailboard variable speed driving method under yaw guidance of a tilt orbit satellite.
Background
With the rapid development of the aerospace industry, the functions of the satellite are more and more abundant, the power of the carried effective load is more and more, and the precision of the solar sailboard aiming at the sun is also in an accurate range. If the inclined orbit satellite drives the solar sailboard only in the opposite direction of the orbital angular velocity, the included angle between the solar sailboard and the sun is larger and larger along with the change of the solar altitude angle, so that the use requirement of the load on the satellite cannot be met, and therefore the yawing direction must be guided and maneuvered regularly or in real time along with the change of the solar altitude angle. Otherwise, the solar sailboard needs to be driven two-dimensionally in two directions at any time, so that the aim at the sun can be realized. However, the two-dimensional driving mechanism has high cost, and the reliability of long-service life indexes and the like needs to be verified. At present, more and more inclined orbit satellites adopt a yaw direction attitude maneuver and a solar sailboard driving scheme with reasonable design to meet the requirement of aligning to the sun and ensure the on-satellite energy.
Disclosure of Invention
The invention provides a variable-speed driving method for a solar sailboard under yaw guidance of an inclined orbit satellite, which can enable the solar sailboard to vertically align to the sun at any moment through variable-speed driving control under the condition that the yaw direction of the inclined orbit satellite is guided to be flexible in real time, and ensures sufficient energy on the satellite.
In order to achieve the above object, the present invention provides a method for driving a solar panel under yaw guidance of an inclined orbit satellite at a variable speed, comprising the following steps:
calculating the solar altitude angle and the satellite orbit angle in real time;
calculating a theoretical rotation angle and a theoretical driving angular speed of the solar panel at the current moment in real time according to the solar altitude angle and the satellite orbit angle;
calculating the angle of the solar panel at the current moment required to be driven according to the theoretical turning angle of the solar panel at the current moment;
selecting the gear closest to the theoretical driving angular speed of the solar panel at the current moment from the gears of the solar panel driving mechanism as a central value, and determining a slight adjustment amount according to the angle of the solar panel at the current moment to be driven, so as to obtain the driving angular speed of the solar panel at the current moment.
Further, the calculation formula of the solar altitude angle is as follows:
Figure BDA0002803074490000021
wherein beta is the solar altitude; siThe projection of a first sun vector, namely the sun position at the current moment, in an inertial coordinate system; h isiThe normal of the orbit surface, namely the projection of the normal of the orbit of the satellite at the current moment in an inertial coordinate system;
the calculation formula of the satellite orbit angle is as follows:
Figure BDA0002803074490000022
wherein s isoxThe projection of the second sun vector in the X direction under the orbit coordinate system is obtained; sozThe projection of a second sun vector in the z direction under the orbit coordinate system is shown, and the second sun vector is the projection of the sun position at the current moment in the satellite orbit coordinate system.
Further, the calculation formula of the theoretical rotation angle α of the solar sailboard is as follows:
α＝a sin(cosβ·sin us)
theoretical driving angular velocity of the solar sailboard
Figure BDA0002803074490000025
The calculation formula of (2) is as follows:
Figure BDA0002803074490000023
wherein the content of the first and second substances,
Figure BDA0002803074490000024
is the satellite orbital angular velocity.
Further, the calculation formula of the angle at which the solar panel needs to be driven at the current moment is as follows:
Δα＝α0-α
wherein alpha is0The current corner position of the solar panel at the current moment.
Further, the driving angular velocity of the solar panel at the present time is equal to the sum of the gear position value as the center value and the fine adjustment amount in the gear position of the solar panel driving mechanism.
Further, the method for determining the micro-adjustment amount according to the angle of the solar panel to be driven at the current moment comprises the following steps: and determining the micro-adjustment amount according to the angle required to be driven by the solar panel at the current moment and the angle required to be kept between the solar panel and the position of the sun.
The invention has the following advantages:
on the premise that the yaw attitude of the satellite continuously implements guiding maneuver, the solar sailboard is driven by the variable angular speed, so that the solar sailboard is perpendicular to the sun at all times, the energy of the satellite is guaranteed, and the cost of using a two-dimensional driving mechanism is saved.
Drawings
Fig. 1 is a flowchart of a method for driving a solar panel under yaw guidance of an inclined orbit satellite according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a variation of a theoretical turning angle of a solar panel of a satellite operating for one orbital cycle according to an embodiment of the present invention;
FIG. 3 is a graph illustrating the variation of the theoretical driving angular velocity of a solar panel during one orbital period of the satellite according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the driving control of the solar panel according to the embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
The orbit in which the included angle between the sun and the orbit surface does not change much comprises a sun synchronous orbit, a geostationary orbit and the like, and the position of the solar sailboard and the sun can be relatively fixed by driving the solar sailboard in the opposite direction of the orbital angular velocity of a satellite running on the orbit. The angle range between the sun and the orbit surface of the satellite is very large when the satellite runs on the inclined orbit, if the yaw direction attitude of the satellite is not maneuvered, the solar sailboard only rotates along the angular velocity of the orbit in the opposite direction, and the included angle between the solar sailboard and the sun is also very large along with the accumulation of time, so that the energy use requirement cannot be met. In order to relatively fix the relation between the solar sailboard and the sun, the solar sailboard driving mechanism needs to be driven and rotated in two directions, and because the two-dimensional driving mechanism is high in cost and reliability such as long-life indexes is to be verified, the inclined orbit satellite can change according to the solar altitude angle, and the yaw direction posture needs to be guided and maneuvered regularly or in real time.
The invention provides a variable-speed driving method for a solar sailboard under yaw guidance of an inclined orbit satellite.
In the embodiment of the invention, the orbit inclination angle of the satellite is 53.13 degrees, the orbit height is 20182 kilometers, the yaw axis of the satellite needs real-time guiding maneuvering, and the range of maneuvering needed by the yaw attitude in one orbit period is 5 degrees to 175 degrees. The solar array is installed along the +/-Y axis of the satellite body coordinate system, and the position of the zero-degree rotation angle of the solar array is defined as the position of the coincidence of the normal of the solar array and the X direction of the satellite body coordinate system.
As shown in fig. 1, the method for driving a solar panel under yaw guidance of an inclined orbit satellite according to the present invention comprises the following steps:
s1, calculating the solar altitude angle beta and the satellite orbit angle u in real times。
The sun altitude is the angle between the sun and the orbital plane of the satellite, i.e. the first sun vector SiNormal h to the satellite orbit planeiThe complement of the included angle. The calculation formula of the solar altitude angle is as follows:
Figure BDA0002803074490000041
wherein S isiThe projection of a first sun vector, namely the sun position at the current moment, in an inertial coordinate system; h isiIs the projection of the normal of the orbit plane, namely the normal of the orbit of the satellite at the current moment, in the inertial coordinate system. When the first sun vector direction is the same side as the normal direction of the orbit surface, beta>0; when the sun vector direction is opposite to the normal direction of the orbital plane, beta<0; when the sun vector is in the orbital plane, β is 0. In the actual operation process, the first sun vector and the orbital plane normal can be obtained through an on-board computer on the satellite.
The solar altitude angle beta of the inclined orbit satellite changes along with time, and the change range is related to the orbit inclination angle i of the satellite. In this embodiment, the variation range of the solar elevation angle is i ± 23.65 °, the maximum annual variation range of the solar elevation angle β on the satellite orbit plane is ± 77 °, and the minimum annual variation range is ± 30 °. The solar altitude calculated at the current time is set to 10 °.
The satellite runs one circle in orbit in one period, and the satellite orbit angle usReflecting the position of the satellite in orbit, the satellite orbital angle usIs in the range of 0 to 360. When the satellite is outside the sun-earth line, the satellite orbital angle is defined as 90 °; when the satellite is positioned at the inner side of the connecting line of the sun and the earth, the orbit angle of the satellite is defined as 270 degrees, and a second sun vector s projected on a satellite orbit coordinate system by the sun is specifically calculatedoThus obtaining the product. The satellite orbit angleusThe calculation formula of (2) is as follows:
Figure BDA0002803074490000051
wherein s isoxIs the second sun vector soProjection in the x direction under the orbit coordinate system; sozIs the projection of the second sun vector in the z direction under the orbital coordinate system. In this embodiment, the satellite orbit angle u obtained by calculating the current time is usedsSet to 60.
And S2, calculating the theoretical rotation angle and the theoretical driving angular speed of the solar panel at the current moment in real time according to the solar altitude angle and the satellite orbit angle.
According to the solar altitude angle beta and the satellite orbit angle usAnd satellite orbital angular velocity
Figure BDA0002803074490000057
Calculating theoretical rotation angle alpha and theoretical driving angular speed of solar sailboard
Figure BDA0002803074490000052
The calculation formula of the theoretical rotation angle alpha of the solar sailboard is as follows:
α＝asin(cosβ·sinus)
theoretical driving angular velocity of the solar sailboard
Figure BDA0002803074490000056
The calculation formula of (2) is as follows:
Figure BDA0002803074490000053
solar altitude angle beta and satellite orbit angle usThe values are changed from moment to moment, so the theoretical rotation angle alpha and the theoretical driving angular speed of the solar panel are calculated
Figure BDA0002803074490000054
Is also the time of dayAnd (3) varied. As shown in fig. 2 and 3, the theoretical rotation angle α and the theoretical driving angular velocity of the solar panel are respectively one orbit period for the satellite to run
Figure BDA0002803074490000055
A variation diagram of (2). Wherein, the horizontal axis of fig. 2 is time in seconds, and the vertical axis is the theoretical rotation angle of the solar panel in degrees; the horizontal axis of fig. 3 is time in seconds, and the vertical axis is the theoretical driving angular velocity of the solar panel in degrees/second.
In this embodiment, the orbital height of the inclined orbit satellite is 20182 km, and the orbital angular velocity of the satellite at the orbital height is 1.454 × 10-4Radian/second. Theoretical rotation angle alpha and theoretical driving angular speed of solar sailboard at current moment
Figure BDA0002803074490000061
Respectively as follows:
α＝a sin(cosβ·sin us)＝asin(cos(10*pi/180)·sin(60*pi/180))＝58.525°
Figure BDA0002803074490000062
s3, calculating the angle of the solar panel at the current moment to be driven according to the theoretical rotation angle of the solar panel at the current moment;
the calculation formula of the angle of the solar sailboard required to be driven at the current moment is as follows:
Δα＝α0-α
wherein alpha is0The current corner position of the solar panel at the current moment.
In the actual operation process, the current rotation angle position alpha of the solar sailboard can be read through satellite-borne software0. In this embodiment, the current rotation angle position α of the solar panel is read in real time by satellite-borne software0The theoretical rotation angle α of the solar panel at the present time calculated in step S2 is 58.525 degrees, which is 55 degrees, and therefore, the angle Δ α at which the solar panel at the present time needs to be driven is 3.525 degrees.
S4, selecting the gear closest to the theoretical driving angular speed of the solar panel at the current moment from the gears of the solar panel driving mechanism as a central value, and determining a slight adjustment amount according to the angle of the solar panel at the current moment required to be driven, so as to obtain the driving angular speed of the solar panel at the current moment.
The solar panel is driven by a solar panel drive mechanism to change the turning angle of the solar panel. The stepping motor of the solar panel driving mechanism is provided with a plurality of gears, and the angular speed increment between every two gears is equal. Selecting the theoretical driving angular speed of the solar panel closest to the current moment in the gears of the solar panel driving mechanism
Figure BDA0002803074490000063
The gear of the solar panel is used as a central value, the central value is slightly adjusted according to the angle delta alpha of the solar panel to be driven at the current moment and the angle of the solar panel to be kept with the position of the sun, the slightly adjusted amount is set to delta omega, and the final driving angular speed omega of the solar panel at the current moment is obtainedf. The final driving angular speed of the solar panel at the present moment is equal to the sum of the gear position value and the fine adjustment amount Δ ω that are the central values among the gear positions of the solar panel driving mechanism.
In this embodiment, the gear positions of the stepping motor of the driving mechanism of the solar panel are 0.00886 degrees/sec, 0.00836 degrees/sec, 0.00786 degrees/sec, etc., one step is provided every 0.0005 degrees/sec, the angular velocity increment between every two gear positions is 0.0005 degrees/sec, and the gear positions for quick capturing are 0.6 degrees/sec and-0.6 degrees/sec. The theoretical driving angular velocity of the solar panel at the present time calculated in step S2
Figure BDA0002803074490000071
0.0078 degrees/second, which is closest to 0.00786 degrees/second in the shift position of the solar panel driving mechanism, so that the solar panel rotates with 0.00786 degrees/second as the center value. The theoretical drive angular speed is time-varying, and therefore the centre value of the sailboard drive angular speed gear is also time-varying. Assuming that the solar panel is required to be kept within 5 degrees from the sun position, the driving law of the solar panel is as shown in fig. 4: the current time is tooWhen the angle of the solar sailboard to be driven is within +/-3 degrees, the final driving angular speed omega of the solar sailboard at the current momentfOperating at the current central value gear; when the angle at which the solar panel needs to be driven at the current moment exceeds 3 degrees, two gears need to be reduced near the current central value gear to serve as the final driving angular speed omega of the solar panel at the current momentf(ii) a When the angle at which the solar panel needs to be driven at the current moment exceeds 4 degrees, 4 gears need to be reduced near the current central value gear as the final driving angular speed omega of the solar panel at the current momentf(ii) a When the angle of the solar panel needing to be driven exceeds 5 degrees at the moment, the quick capture gear at-0.6 degrees/second is used as the final driving angular speed omega of the solar panel at the current momentf. The driving angular speed of the solar sailboard drives the solar sailboard to change the turning angle according to the final driving angular speed of the solar sailboard at the current moment, so that the solar sailboard is perpendicular to the sun at the moment, and the satellite energy is guaranteed.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims (6)

1. The solar sailboard variable-speed driving method under the yaw guidance of the inclined orbit satellite is characterized by comprising the following processes:
calculating the solar altitude angle and the satellite orbit angle in real time;
calculating a theoretical rotation angle and a theoretical driving angular speed of the solar panel at the current moment in real time according to the solar altitude angle and the satellite orbit angle;
calculating the angle of the solar panel at the current moment required to be driven according to the theoretical turning angle of the solar panel at the current moment;
selecting the gear closest to the theoretical driving angular speed of the solar panel at the current moment from the gears of the solar panel driving mechanism as a central value, and determining a slight adjustment amount according to the angle of the solar panel at the current moment to be driven, so as to obtain the driving angular speed of the solar panel at the current moment.
2. The method for driving a solar windsurfing board at a variable speed according to claim 1, wherein said calculation formula of the solar altitude angle is:
Figure FDA0002803074480000011
wherein beta is the solar altitude; siThe projection of a first sun vector, namely the sun position at the current moment, in an inertial coordinate system; h isiThe normal of the orbit surface, namely the projection of the normal of the orbit of the satellite at the current moment in an inertial coordinate system;
the calculation formula of the satellite orbit angle is as follows:
Figure FDA0002803074480000012
wherein u issIs the satellite orbital angle, soxThe projection of the second sun vector in the X direction under the orbit coordinate system is obtained; sozThe projection of a second sun vector in the z direction under the orbit coordinate system is shown, and the second sun vector is the projection of the sun position at the current moment in the satellite orbit coordinate system.
3. The method for driving a solar panel at a variable speed according to claim 2, wherein the theoretical rotation angle α of the solar panel is calculated by the formula:
α＝asin(cosβ·sinus)
theoretical driving angular velocity of the solar sailboard
Figure FDA0002803074480000021
The calculation formula of (2) is as follows:
Figure FDA0002803074480000022
wherein the content of the first and second substances,
Figure FDA0002803074480000023
is the satellite orbital angular velocity.
4. The method for driving a solar panel at a variable speed according to claim 3, wherein the angle at which the solar panel is driven at the present time is calculated by the formula:
Δα＝α0-α
wherein alpha is0The current corner position of the solar panel at the current moment.
5. The variable speed driving method for a solar panel according to claim 1, wherein a driving angular speed of the solar panel at the present time is equal to a sum of a gear position value as a center value and a slight adjustment amount in the gear positions of the solar panel driving mechanism.
6. The method for driving a solar panel at a variable speed according to claim 1, wherein the method for determining the amount of fine adjustment according to the angle at which the solar panel is driven at the present time comprises: and determining the micro-adjustment amount according to the angle required to be driven by the solar panel at the current moment and the angle required to be kept between the solar panel and the position of the sun.
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