CN113401365B - Energy control method in high-precision orbit control process of inclined orbit marine power satellite - Google Patents

Energy control method in high-precision orbit control process of inclined orbit marine power satellite Download PDF

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CN113401365B
CN113401365B CN202110662110.4A CN202110662110A CN113401365B CN 113401365 B CN113401365 B CN 113401365B CN 202110662110 A CN202110662110 A CN 202110662110A CN 113401365 B CN113401365 B CN 113401365B
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satellite
attitude
sailboard
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CN113401365A (en
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周剑敏
张俊玲
袁军
张庆君
赵性颂
刘彤
李浛
张涛
刘忻
刘彩平
蔡娅雯
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Beijing Institute of Control Engineering
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    • 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
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/242—Orbits and trajectories
    • 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
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Abstract

The invention discloses an energy control method in a high-precision orbit control process of an inclined orbit marine power satellite, which comprises the following steps: determining the track change time Torbit and the track change time length L1(ii) a Determining a maneuver time T at which a satellite begins to return to zero attitude to ground from a yaw tracking mode0(ii) a When T is more than or equal to T0When the satellite sailboard tracking is set, a corner control mode is adopted, and the satellite starts to return in a yawing mode; calculating to obtain a control target angle alpha of the sailboardfrOutputting a control instruction of the sailboard; when the satellite attitude approaches to 0, the satellite automatically keeps a normal ground zero attitude; when t is Torbit, the satellite autonomously starts to change the orbit until the orbital change time length L is met1(ii) a When t is more than or equal to Torbit + L1+T1When the system is in use, yaw tracking is carried out from a zero attitude; and when the attitude error meets a threshold condition, converting the rotation angle control mode into a simulated sun control mode. The invention well realizes the high-precision orbit control of the satellite on the premise of ensuring the energy safety of the whole satellite.

Description

Energy control method in high-precision orbit control process of inclined orbit marine power satellite
Technical Field
The invention belongs to the technical field of spacecraft orbit control, and particularly relates to an energy control method in a high-precision orbit control process of an inclined orbit marine power satellite.
Background
The main mission of the marine dynamic environment observation satellite is as follows: observing global marine dynamic environment parameters, wherein the global marine dynamic environment parameters comprise important marine parameters such as a sea surface wind field, a sea surface altitude field, a wave field, ocean currents, an offshore storm, tides, a marine dynamic field, ocean circulation, a sea surface temperature field and the like. The method is an important monitoring means for marine disaster prevention and reduction, wherein global high-resolution marine geodetic level data can be directly served for national defense.
In order to realize continuous real-time observation of the ocean and reduce the time required by the global ocean area coverage of the ocean dynamic environment, the ocean dynamic environment monitoring network satellite generally comprises three ocean dynamic environment observation satellites, one satellite runs on a polar orbit, and two satellites run on an inclined orbit. In order to enable a marine dynamic environment satellite to have high-precision high-resolution marine geodesic measurement data, high requirements are provided for satellite orbit maintaining precision, the maximum drift range of a ground track is generally required to be better than 1km, the satellite orbit half-field axis control error is required to be better than 1m, for a polar orbit marine satellite, an HY-2 satellite can be adopted to realize a low-thrust orbit control scheme under an wheel control mode, but for an inclined orbit marine dynamic environment observation satellite, the satellite high-precision orbit control is realized under the constraints of energy, yaw maneuvering control, orbit and the like, and great challenges are provided.
Disclosure of Invention
The technical problem of the invention is solved: the method overcomes the defects of the prior art, provides an energy control method in the high-precision orbit control process of the inclined orbit marine power satellite, and well realizes the high-precision orbit control of the satellite on the premise of ensuring the energy safety of the whole satellite.
In order to solve the technical problem, the invention discloses an energy control method in a high-precision orbit control process of an inclined orbit marine power satellite, which comprises the following steps:
step 1, injecting a track change data block on the ground, and determining track change time Torbit and track change time length L1；
Step 2, when the satellite determines that the orbit transfer data block injected from the ground is effective, the satellite performs the following stepsDetermining the maneuvering time T when the satellite starts to return to the ground zero attitude from the yaw tracking mode at the moment of orbital transfer Torbit0；
Step 3, when T is more than or equal to T0The satellite automatically sets the fault diagnosis mark of the on-satellite sailboard and the simulated sun fault diagnosis mark as forbidden, and simultaneously sets the satellite sailboard tracking to adopt a corner control mode, so that the satellite starts to return by yawing; wherein t represents the current satellite time;
step 4, calculating to obtain a sailboard control target angle alpha on the satellite according to the current satellite attitude and the sun vectorfr；
Step 5, the turning angle alpha of the sailboard returned by the sailboard driving circuit on the satellitefAnd the target angle alpha of the sailboard controlfrOutputting a control instruction of the sailboard according to the difference;
step 6, when the satellite attitude approaches to 0, the satellite automatically keeps a normal ground zero attitude;
and 7, when t is Torbit, the satellite autonomously starts to change the orbit, the orbit changing time starts to be accumulated on the satellite, and the accumulated orbit changing time meets the orbit changing duration L1The satellite automatically turns off the orbit control engine, and the orbit transfer is finished;
step 8, when t is more than or equal to Torbit + L1+T1When the satellite automatically starts to perform yaw tracking from a zero attitude; wherein, T1Representing the attitude control waiting time after the track transfer is finished;
and 9, when the attitude error tracked by the satellite meets the condition that the attitude error tracked by the satellite is less than the threshold value continuously for multiple times, the satellite autonomously converts the sailboard control mode from the corner control mode to the simulated sun control mode, and sets the sailboard fault diagnosis permission mark and the simulated sun autonomous diagnosis mark as permission.
In the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite, the energy safety autonomous diagnosis mark is marked as Powerauto; wherein, PowerAuto is 1, which means that the diagnosis of energy safety mode is allowed on the satellite; the Powerauto is 0, which means that the on-satellite autonomous energy safety mode diagnosis is forbidden;
the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite further comprises the following steps:
before step 1, setting an on-satellite energy safety autonomous diagnosis mark as forbidden on the ground;
after step 9, the ground injection on-board energy safety autonomous diagnosis permission flag is enabled.
In the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite, the orbit-changing data block injected on the ground is determined to be valid when the following three conditions are simultaneously met:
condition 1:
Figure BDA0003115769730000021
condition 2:
Figure BDA0003115769730000022
condition 3: torbi-t>TLmit；
Wherein the content of the first and second substances,
Figure BDA0003115769730000031
θr,ψrrespectively representing the rolling attitude angle error, the pitching attitude angle error and the yawing attitude angle error of the satellite relative to the target attitude,
Figure BDA0003115769730000032
respectively representing the rolling attitude angular velocity error, the pitching attitude angular velocity error and the yawing attitude angular velocity error of the satellite relative to the target attitude, alphaLmitThe attitude angle error margin value is represented,
Figure BDA0003115769730000033
indicating attitude angular velocity error margin, TLmitRepresenting the maximum length of the yaw maneuver, fabs () being a function of the absolute value, max () being a function of the maximum value, T0＝Torbit-detaT1，detaT1The time for the satellite to maneuver from the maximum yaw attitude back to the earth zero attitude is 1.5 times.
In the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite,
the on-satellite sailboard fault diagnosis mark is marked as BaptaAuto; wherein, BaptaAuto is 1, which means that the onboard autonomous sailboard fault diagnosis is allowed; baptaauto is 0, which means that the autonomous sailboard fault diagnosis on the satellite is prohibited;
the simulated sun fault diagnosis mark is marked as AssAuto; wherein, AssAuto is 1, which indicates that the satellite is allowed to autonomously carry out simulation-sensitive fault diagnosis; AssAuto is 0, which means that satellite autonomous simulation of the fault-sensitive fault diagnosis is prohibited;
the satellite sailboard tracking mode is written as Babtacct; wherein, the BabtaCtr is 1, which means that the sailboard output corner is adopted to carry out sailboard control; AssAuto is 0, which means that the sailboard control is performed by adopting a simulated sun;
when T is more than or equal to T0When the BaptaAuto is set to 1, AssAuto is 0, and BabtaCtr is 1.
In the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite, the target angle alpha is controlled by the sailboardfrThe calculation flow of (2) is as follows:
according to sun vector [ Sox,Soy,Soz]TAnd calculating to obtain the projection S of the sun vector under the body coordinate systembφ：
Sbφ＝Rz(ψz)·[Sox,Soy,Soz]T
Wherein R isz(ψz) Rotation psi about Z-axiszDirection cosine array ofzA yaw angle representing a pose;
calculating to obtain a control target angle alpha of the sailboardfr：
αfr＝arctan2(-Sbφx,-Sbφz)
Wherein S isbφxAnd SbφzAre respectively SbφThe components in the x-direction and the z-direction.
In the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite, the satellite returns the rotating angle alpha of the sailboard according to the sailboard driving circuitfAnd the target angle alpha of the sailboard controlfrDifference, output sailboard control command, packetComprises the following steps:
according to alphafAnd alphafrAnd calculating the difference between the rotation directions of the sailboard mechanisms BabtacmDD:
BabtaCMDD＝sgn(αfr-αf)
acquiring a sailboard line execution step width BabtaCMDF;
executing step distance BabtaCMDF according to the sailboard circuit, and calculating to obtain a sailboard corner count BabtaCMDN:
Figure BDA0003115769730000041
wherein sgn () is a sign function, fabs () is an absolute value function, and floor () is a rounding function.
In the above method for controlling energy in the high-precision orbit control process of the inclined orbit marine power satellite, when the attitude of the satellite approaches 0, the satellite automatically keeps a normal zero attitude to the ground, which comprises:
when in use
Figure BDA0003115769730000042
And
Figure BDA0003115769730000043
satisfy continuous N1Is less than
Figure BDA0003115769730000044
And
Figure BDA0003115769730000045
the satellite automatically keeps a normal ground zero attitude; wherein the content of the first and second substances,
Figure BDA0003115769730000046
theta and psi respectively represent the dynamic attitude angle error, the pitching attitude angle error and the yawing attitude angle error of the satellite relative to the ground zero attitude,
Figure BDA0003115769730000047
rolling attitude angular velocity error, pitch respectively representing satellite relative to ground zero attitudeElevation attitude angular velocity error and yaw attitude angular velocity error,
Figure BDA0003115769730000048
θ0,ψ0respectively representing a rolling attitude angle error threshold, a pitching attitude angle error threshold and a yawing attitude angle error threshold of the satellite relative to the ground zero attitude,
Figure BDA0003115769730000049
respectively representing a rolling attitude angular velocity error threshold, a pitching attitude angular velocity error threshold and a yawing attitude angular velocity error threshold of the satellite relative to the earth zero attitude, N1Is any constant set.
In the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite, when t is Torbit, the satellite time t is the orbit transfer time Torbit, the satellite autonomously starts to switch on the orbit control thruster to control the satellite orbit, meanwhile, the orbit transfer time starts to be accumulated on the satellite, and when the accumulated orbit transfer time meets the orbit transfer duration L1And (5) automatically turning off the orbit control engine by the satellite, and ending the orbit transfer.
In the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite, when t is more than or equal to Torbit + L1+T1The satellite adopts a momentum wheel to control the satellite to automatically start yaw tracking from a zero attitude; wherein T is more than or equal to 100s1≤600s。
In the above method for controlling energy in the process of high-precision orbit control of an inclined orbit marine power satellite, when the attitude error tracked by the satellite is less than the threshold value for a plurality of times, the satellite autonomously converts the windsurfing board control mode from the turning angle control mode to the simulated sun control mode, and sets the windsurfing board fault diagnosis permission flag and the simulated sun autonomous diagnosis flag as permission, the method includes:
when in use
Figure BDA0003115769730000051
And
Figure BDA0003115769730000052
satisfy continuous N2Is less than
Figure BDA0003115769730000053
And
Figure BDA0003115769730000054
the satellite autonomously converts the control mode of the sailboard from a corner control mode to a simulated sun control mode, and simultaneously autonomously sets the fault diagnosis permission mark and the simulated sun autonomous diagnosis mark of the sailboard as permission to keep a normal ground zero attitude; wherein the content of the first and second substances,
Figure BDA0003115769730000055
θr0,ψr0respectively representing a rolling attitude angle error threshold, a pitching attitude angle error threshold and a yawing attitude angle error threshold of the satellite relative to the target attitude,
Figure BDA0003115769730000056
respectively representing a rolling attitude angular velocity error threshold, a pitching attitude angular velocity error threshold and a yawing attitude angular velocity error threshold of the satellite relative to a target attitude, N2Is any constant set.
The invention has the following advantages:
(1) the invention provides an energy control method in the high-precision orbit control process of an inclined orbit marine power satellite aiming at the difficult problem of realizing the high-precision orbit control of the satellite under the constraints of multiple aspects such as energy, yaw maneuvering control, orbit and the like of the inclined orbit marine power environment observation satellite, and the high-precision orbit control of the satellite is well realized on the premise of ensuring the energy safety of the whole satellite.
(2) In the orbit control process of the ocean satellite with the inclined orbit, the energy control strategy of real-time yaw attitude of the satellite body and rotation angle control of the sailboard is utilized, the potential safety hazard of solar energy in the maneuvering process of the satellite with the inclined orbit, which is not suitable for the traditional ASS control sailboard strategy, is effectively solved, the high-precision orbit control of the satellite is realized, and the whole satellite energy safety in the orbit control process is ensured.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the invention illustrating operation of an orbiting marine satellite;
FIG. 2 is a schematic view of a track surface precession according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a variation of an orbital solar incident angle β according to an embodiment of the invention;
FIG. 4 is a schematic illustration of a satellite shadow time in an embodiment of the invention;
fig. 5 is a flowchart illustrating steps of an energy control method in a high-precision orbit control process of an inclined orbit marine power satellite according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, in order to make the marine dynamic environment satellite have high precision and high resolution marine geodesic measurement data, a high requirement is provided for maintaining the precision of the satellite orbit, and the maximum drift range of the ground track is generally required to be better than 1km, so that the satellite control system is required to implement the following requirements:
Figure BDA0003115769730000061
the error of the semi-major axis of the track is less than 1 m;
Figure BDA0003115769730000062
the track inclination error is less than 0.007 degrees;
Figure BDA0003115769730000063
eccentricity is not more than 0.00007;
Figure BDA0003115769730000064
the argument error of the perigee is less than 3.5 degrees.
In the case of the 66 ° non-solar synchronous regression freezing orbit, the right ascension point of the J2000 inertial coordinate system recedes 2.492 ° west every day, the satellite orbit surface rotates one turn for about 145 days, the orbit surface precession is as shown in fig. 2, and the orbit solar incident angle β changes as shown in fig. 3 to about ± 89.5 ° at the maximum.
The satellite earth shadow situation during long-term operation is shown in fig. 4, the satellite has full sunshine, the maximum earth shadow time is about 35min (i.e. 1/3 orbit period), the minimum earth shadow time is 0min, and the earth shadow time is about 145 days. In order to ensure the safety of satellite power supply, the energy system generally requires that the discharge depth of a storage battery pack does not exceed 30 percent, so that the illumination time of a satellite in one orbital circle is not less than 1/3 orbital circles.
The invention provides an energy control method in a high-precision orbit control process of an inclined orbit marine power satellite, aiming at the problem that the inclined orbit marine power environment observation satellite realizes high-precision orbit control of the satellite under the constraint of multiple aspects such as energy, yaw maneuvering control, orbit and the like.
As shown in fig. 5, the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite comprises the following steps:
step 501, setting an onboard energy safety autonomous diagnosis mark as forbidden on the ground.
In this embodiment, the energy safety autonomous diagnostic flag may be denoted as PowerAuto. Wherein, PowerAuto is 1, which means that the diagnosis of energy safety mode is allowed on the satellite; PowerAuto ═ 0, which indicates that on-board autonomous energy safety mode diagnosis is prohibited.
502, injecting a track change data block into the ground, and determining track change time Torbit and track change time length L1。
Step 503, when the satellite determines that the orbit change data block injected from the ground is effective, the satellite determines the maneuvering time T when the satellite starts to return to the ground zero attitude from the yaw tracking mode according to the orbit change time Torbit0。
In the present embodiment, it is determined that the surface-injected orbital data block is valid when the following three conditions are simultaneously satisfied:
condition 1:
Figure BDA0003115769730000071
condition 2:
Figure BDA0003115769730000072
condition 3: torbi-t>TLmit。
Wherein the content of the first and second substances,
Figure BDA0003115769730000073
θr,ψrrespectively representing the rolling attitude angle error, the pitching attitude angle error and the yawing attitude angle error of the satellite relative to the target attitude,
Figure BDA0003115769730000074
respectively representing the rolling attitude angular velocity error, the pitching attitude angular velocity error and the yawing attitude angular velocity error of the satellite relative to the target attitude, alphaLmitThe attitude angle error margin value is represented,
Figure BDA0003115769730000075
indicating attitude angular velocity error margin, TLmitRepresenting the maximum length of the yaw maneuver, fabs () being a function of the absolute value, max () being a function of the maximum value, T0＝Torbit-detaT1，detaT1The time for the satellite to maneuver from the maximum yaw attitude back to the earth zero attitude is 1.5 times, and t represents the current satellite time. .
Step 504, when T is more than or equal to T0And meanwhile, a satellite sailboard tracking rotation angle control mode is set, and the satellite starts to return in a yaw mode.
In this embodiment, the satellite sailboard fault diagnosis mark is denoted as BaptaAuto, the simulated sun fault diagnosis mark is denoted as AssAuto, and the satellite sailboard tracking mode word is denoted as BabtaCtr. Wherein, BaptaAuto is 1, which means that the onboard autonomous sailboard fault diagnosis is allowed; BaptaAuto ═ 0, meaning inhibitionCarrying out fault diagnosis on the sailboard on the satellite; AssAuto 1, which means that satellite autonomous simulation of the fault diagnosis is allowed; AssAuto is 0, which means that satellite autonomous simulation of the fault-sensitive fault diagnosis is prohibited; the Babtacct is 1, which means that the sailboard output corner is adopted to carry out sailboard control; AssAuto ═ 0, indicates windsurfing control with a simulated sun. That is, when T ≧ T0When the BaptaAuto is set to 1, AssAuto is 0, and BabtaCtr is 1.
505, calculating to obtain a sailboard control target angle alpha on the satellite according to the current satellite attitude and the sun vectorfr。
In the present embodiment, the windsurfing board control target angle αfrThe calculation flow of (2) is as follows:
according to sun vector [ Sox,Soy,Soz]TAnd calculating to obtain the projection S of the sun vector under the body coordinate systembφ：
Sbφ＝Rz(ψz)·[Sox,Soy,Soz]T
According to SbφAnd calculating to obtain a control target angle alpha of the sailboardfr：
αfr＝arctan2(-Sbφx,-Sbφz)
Wherein R isz(ψz) Rotation psi about Z-axiszDirection cosine array ofzYaw angle, S, representing attitude determinationbφxAnd SbφzAre respectively SbφThe components in the x-direction and the z-direction.
Step 506, the turning angle alpha of the sailboard returned by the sailboard driving circuit on the satellitefAnd the target angle alpha of the sailboard controlfrAnd outputting a control command of the sailboard according to the difference.
In the present embodiment, first, according to αfAnd alphafrAnd calculating the difference between the rotation directions of the sailboard mechanisms BabtacmDD:
BabtaCMDD＝sgn(αfr-αf)
further, acquiring a sailboard line execution step distance BabtaCMDF, and calculating to obtain a sailboard corner count BabtaCMDN according to the sailboard line execution step distance BabtaCMDF:
Figure BDA0003115769730000081
wherein sgn () is a sign function, fabs () is an absolute value function, and floor () is a rounding function.
In step 507, when the satellite attitude approaches 0, the satellite automatically keeps a normal attitude to ground zero.
In this embodiment, when
Figure BDA0003115769730000082
And
Figure BDA0003115769730000083
satisfy continuous N1Is less than
Figure BDA0003115769730000084
And
Figure BDA0003115769730000091
when the satellite attitude approaches 0, the satellite automatically keeps a normal attitude to the ground. Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003115769730000092
theta and psi respectively represent the dynamic attitude angle error, the pitching attitude angle error and the yawing attitude angle error of the satellite relative to the earth zero attitude,
Figure BDA0003115769730000093
respectively representing the rolling attitude angular velocity error, the pitching attitude angular velocity error and the yawing attitude angular velocity error of the satellite relative to the earth zero attitude,
Figure BDA0003115769730000094
θ0,ψ0respectively representing a rolling attitude angle error threshold value, a pitching attitude angle error threshold value and a yawing attitude angle error threshold value of the satellite relative to the ground zero attitude,
Figure BDA0003115769730000095
respectively representing a rolling attitude angular velocity error threshold, a pitching attitude angular velocity error threshold and a yawing attitude angular velocity error threshold of the satellite relative to the ground zero attitude, N1Is any constant set.
Step 508, when t is Torbit, the satellite autonomously starts to change orbit, the satellite starts to accumulate the time of changing orbit, and the accumulated time of changing orbit meets the time length L of changing orbit1And the satellite automatically turns off the orbit control engine, and the orbit transfer is finished.
In this embodiment, when t is Torbit, the satellite time t is the orbital transfer time Torbit, the satellite autonomously starts to switch on the orbital control thruster to perform satellite orbit control, and meanwhile, the satellite starts to accumulate the orbital transfer time, and when the accumulated orbital transfer time meets the orbital transfer duration L1And when the satellite automatically turns off the orbit control engine, the orbit transfer is finished.
Step 509, when t is greater than or equal to Torbit + L1+T1The satellite automatically begins yaw tracking from zero attitude.
In this embodiment, when t ≧ Torbit + L1+T1And in time, the satellite adopts the momentum wheel to control the satellite to automatically start yaw tracking from a zero attitude. Wherein, T1Representing the attitude control waiting time after the track change is finished, the value range can be as follows: t is more than or equal to 100s1≤600s。
And step 510, when the attitude error tracked by the satellite is less than the threshold value continuously for multiple times, the satellite autonomously converts the sailboard control mode from the corner control mode to the simulated sun control mode, and sets the sailboard fault diagnosis permission mark and the simulated sun autonomous diagnosis mark as permission.
In this embodiment, when
Figure BDA0003115769730000096
And
Figure BDA0003115769730000097
satisfy continuous N2Is less than
Figure BDA0003115769730000098
And
Figure BDA0003115769730000099
during the operation, the satellite autonomously converts the sailboard control mode from the corner control mode to the simulated sun control mode, and simultaneously autonomously sets sailboard fault diagnosis permission marks and simulated sun autonomous diagnosis marks as permission (namely: Baptaauto 1, AssAuto 1 and Babtacct 0), and the normal ground zero attitude is kept. Wherein the content of the first and second substances,
Figure BDA00031157697300000910
θr0,ψr0respectively representing a rolling attitude angle error threshold, a pitching attitude angle error threshold and a yawing attitude angle error threshold of the satellite relative to the target attitude,
Figure BDA00031157697300000911
respectively representing a rolling attitude angular velocity error threshold, a pitching attitude angular velocity error threshold and a yawing attitude angular velocity error threshold of the satellite relative to a target attitude, N2Is any constant set.
And 511, the ground injection onboard energy safety autonomous diagnosis permission mark is allowed.
In this embodiment, when the satellite passes through the border, the ground injection on-board energy security autonomous diagnosis permission flag is "permit", that is, PowerAuto ═ 1 ", which allows the on-board autonomous energy security mode diagnosis.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (10)

1. An energy control method in a high-precision orbit control process of an inclined orbit marine power satellite is characterized by comprising the following steps:
step 1, injecting a track change data block on the ground, and determining track change time Torbit and track change time length L1；
Step 2, when the satellite determines that the orbit change data block injected from the ground is effective, the satellite determines the maneuvering time T when the satellite starts to return to the ground zero attitude from the yaw tracking mode according to the orbit change time Torbit0；
Step 3, when T is more than or equal to T0The satellite automatically sets the fault diagnosis mark of the on-satellite sailboard and the simulated sun fault diagnosis mark as forbidden, and simultaneously sets the satellite sailboard tracking to adopt a corner control mode, so that the satellite starts to return by yawing; wherein t represents the current satellite time;
step 4, calculating to obtain a sailboard control target angle alpha on the satellite according to the current satellite attitude and the sun vectorfr；
Step 5, the turning angle alpha of the sailboard returned by the sailboard driving circuit on the satellitefAnd the target angle alpha of the sailboard controlfrOutputting a control instruction of the sailboard according to the difference;
step 6, when the satellite attitude approaches to 0, the satellite automatically keeps a normal ground zero attitude;
and 7, when t is Torbit, the satellite autonomously starts to change the orbit, the orbit changing time starts to be accumulated on the satellite, and the accumulated orbit changing time meets the orbit changing duration L1The satellite automatically turns off the orbit control engine, and the orbit transfer is finished;
step 8, when t is more than or equal to Torbit + L1+T1When the satellite automatically starts to perform yaw tracking from a zero attitude; wherein, T1Representing the attitude control waiting time after the track change is finished;
and 9, when the attitude error tracked by the satellite meets the condition that the attitude error tracked by the satellite is less than the threshold value continuously for multiple times, the satellite autonomously converts the sailboard control mode from the corner control mode to the simulated sun control mode, and sets the sailboard fault diagnosis permission mark and the simulated sun autonomous diagnosis mark as permission.
2. The method for controlling energy in the process of high-precision orbit control of an inclined orbit marine power satellite according to claim 1, characterized in that the energy safety autonomous diagnosis mark is marked as PowerAuto; wherein, PowerAuto is 1, which means that the diagnosis of energy safety mode is allowed on the satellite; the Powerauto is 0, which means that the on-satellite autonomous energy safety mode diagnosis is forbidden;
the energy control method in the high-precision orbit control process of the inclined orbit marine power satellite further comprises the following steps:
before step 1, setting an on-satellite energy safety autonomous diagnosis mark as forbidden on the ground;
after step 9, the ground injection onboard energy safety autonomous diagnosis permission flag is enabled.
3. The method for controlling energy in the process of high-precision orbit control of an inclined orbit marine power satellite according to claim 1, characterized in that the orbit change data block injected from the ground is determined to be valid when the following three conditions are simultaneously satisfied:
condition 1:
Figure FDA0003115769720000021
condition 2:
Figure FDA0003115769720000022
condition 3: torbi-t>TLmit；
Wherein the content of the first and second substances,
Figure FDA0003115769720000023
θr,ψrrespectively representing the rolling attitude angle error, the pitching attitude angle error and the yawing attitude angle error of the satellite relative to the target attitude,
Figure FDA0003115769720000024
respectively representing rolling attitude angular velocity error, pitching attitude angular velocity error and yawing attitude angular velocity error of satellite relative to target attitude，αLmitThe attitude angle error margin value is represented,
Figure FDA0003115769720000025
indicating attitude angular velocity error margin, TLmitRepresenting the maximum length of the yaw maneuver, fabs () being a function of the absolute value, max () being a function of the maximum value, T0＝Torbit-detaT1，detaT1The time for the satellite to maneuver from the maximum yaw attitude back to the earth zero attitude is 1.5 times.
4. The method for controlling energy in a high-precision orbit control process of an inclined orbit marine power satellite according to claim 1,
the on-satellite sailboard fault diagnosis mark is marked as BaptaAuto; wherein, BaptaAuto is 1, which means that the onboard autonomous sailboard fault diagnosis is allowed; BaptaAuto is equal to 0, which means that the autonomous sailboard fault diagnosis on the satellite is forbidden;
the simulated sun fault diagnosis mark is marked as AssAuto; wherein, AssAuto is 1, which indicates that the satellite is allowed to autonomously carry out simulation-sensitive fault diagnosis; AssAuto is 0, which means that satellite autonomous simulation of the fault-sensitive fault diagnosis is prohibited;
the satellite sailboard tracking mode is written as Babtacct; wherein, the BabtaCtr is 1, which means that the sailboard output corner is adopted to carry out sailboard control; AssAuto is 0, which means that the sailboard control is performed by adopting a simulated sun;
when T is more than or equal to T0When the system is used, BaptaAuto is set to 1, AssAuto is set to 0, and BabtaCtr is set to 1.
5. The method for controlling energy in the process of high-precision orbit control of an inclined-orbit marine power satellite according to claim 1, characterized in that a target angle alpha of sailboard control is alphafrThe calculation flow of (2) is as follows:
according to sun vector [ Sox,Soy,Soz]TAnd calculating to obtain the projection S of the sun vector under the body coordinate systembφ：
Sbφ＝Rz(ψz)·[Sox,Soy,Soz]T
Wherein R isz(ψz) Rotation psi about Z-axiszDirection cosine array ofzA yaw angle representing a pose;
calculating to obtain a control target angle alpha of the sailboardfr：
αfr＝arctan2(-Sbφx,-Sbφz)
Wherein S isbφxAnd SbφzAre respectively SbφThe components in the x-direction and the z-direction.
6. The method for controlling energy in a high precision orbiting process of an inclined orbit marine power satellite of claim 1, wherein the turn angle α of the sailboard returned from the sailboard driving circuit on the satellite isfAnd the target angle alpha of the sailboard controlfrAnd outputting a control command of the sailboard according to the difference, wherein the control command comprises:
according to alphafAnd alphafrAnd calculating the difference between the rotation directions of the sailboard mechanisms BabtacmDD:
BabtaCMDD＝sgn(αfr-αf)
acquiring a sailboard line execution step width BabtaCMDF;
executing step distance BabtaCMDF according to the sailboard circuit, and calculating to obtain a sailboard corner count BabtaCMDN:
Figure FDA0003115769720000031
wherein sgn () is a sign function, fabs () is an absolute value function, and floor () is a rounding function.
7. The method for controlling energy in the process of high-precision orbit control of an inclined orbit marine power satellite according to claim 1, wherein when the attitude of the satellite approaches 0, the satellite automatically keeps a normal zero-earth attitude, and the method comprises the following steps:
when in use
Figure FDA0003115769720000032
And
Figure FDA0003115769720000033
satisfy continuous N1Is less than
Figure FDA0003115769720000034
And
Figure FDA0003115769720000035
the satellite automatically keeps a normal ground zero attitude; wherein the content of the first and second substances,
Figure FDA0003115769720000036
theta and psi respectively represent the dynamic attitude angle error, the pitching attitude angle error and the yawing attitude angle error of the satellite relative to the earth zero attitude,
Figure FDA0003115769720000037
respectively representing the rolling attitude angular velocity error, the pitching attitude angular velocity error and the yawing attitude angular velocity error of the satellite relative to the earth zero attitude,
Figure FDA0003115769720000038
θ0,ψ0respectively representing a rolling attitude angle error threshold value, a pitching attitude angle error threshold value and a yawing attitude angle error threshold value of the satellite relative to the ground zero attitude,
Figure FDA0003115769720000041
respectively representing a rolling attitude angular velocity error threshold, a pitching attitude angular velocity error threshold and a yawing attitude angular velocity error threshold of the satellite relative to the earth zero attitude, N1Is any constant set.
8. The method as claimed in claim 1, wherein when t is Torbit, the on-board time t is the orbital transfer time Torbit, and the satellite autonomously starts to switch on the orbital control thruster to perform the orbital control of the satelliteControlling the track, simultaneously accumulating the track transfer time on the satellite, and when the accumulated track transfer time meets the track transfer duration L1And (5) automatically turning off the orbit control engine by the satellite, and ending the orbit transfer.
9. The method for controlling the energy in the high-precision orbit control process of the inclined orbit marine power satellite as claimed in claim 1, wherein when t is more than or equal to Torbit + L1+T1The satellite adopts a momentum wheel to control the satellite to automatically start yaw tracking from a zero attitude; wherein T is more than or equal to 100s1≤600s。
10. The method for controlling energy in the process of high-precision orbit control of an inclined orbit marine power satellite according to claim 3, wherein when the attitude error tracked by the satellite meets the condition that the attitude error tracked by the satellite is less than the threshold value continuously for a plurality of times, the satellite autonomously switches the sailboard control mode from the corner control mode to the simulated sun control mode, and sets the sailboard fault diagnosis permission flag and the simulated sun autonomous diagnosis flag to be permitted, comprising the following steps:
when in use
Figure FDA0003115769720000042
And
Figure FDA0003115769720000043
satisfy continuous N2Is less than
Figure FDA0003115769720000044
And
Figure FDA0003115769720000045
when the satellite autonomously converts the control mode of the sailboard from a corner control mode to a simulated sun control mode, and simultaneously, the satellite autonomously sets the sailboard fault diagnosis permission mark and the simulated sun autonomous diagnosis mark as permission and keeps a normal ground zero attitude; wherein the content of the first and second substances,
Figure FDA0003115769720000046
θr0,ψr0respectively representing a rolling attitude angle error threshold, a pitching attitude angle error threshold and a yawing attitude angle error threshold of the satellite relative to the target attitude,
Figure FDA0003115769720000047
respectively representing a rolling attitude angular velocity error threshold, a pitching attitude angular velocity error threshold and a yawing attitude angular velocity error threshold of the satellite relative to a target attitude, N2Is any constant set.
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