CN114476134B - Spacecraft energy safety daily target attitude calculation method - Google Patents

Spacecraft energy safety daily target attitude calculation method Download PDF

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CN114476134B
CN114476134B CN202210107623.3A CN202210107623A CN114476134B CN 114476134 B CN114476134 B CN 114476134B CN 202210107623 A CN202210107623 A CN 202210107623A CN 114476134 B CN114476134 B CN 114476134B
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spacecraft
target
sailboard
sun
attitude
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CN114476134A (en
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田科丰
郭子熙
王淑一
关新
雷拥军
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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
    • B64G1/244—Spacecraft control systems
    • 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
    • B64G1/244—Spacecraft control systems
    • B64G1/245—Attitude control algorithms for spacecraft attitude control
    • 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
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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Abstract

The invention discloses a spacecraft energy safety daily target attitude calculation method which is suitable for a remote sensing satellite with agile maneuvering capability. When the solar altitude angle on the spacecraft is large, the spacecraft body maintains a ground posture, and the sailboard rotates for sun; when the solar altitude angle of the spacecraft is smaller, the spacecraft body yaw is opposite to the sun, and a sailboard target rotation rule is determined according to the posture of the spacecraft body; when the sailboard of the spacecraft fails, the sailboard is kept at a zero position, and the spacecraft body-Z axis is opposite to the sun. The method is suitable for sun alignment of different orbits, and aims at realizing the sun alignment of the sailboard of the spacecraft by designing the target gesture of the spacecraft body and the target rotation rule of the sailboard, so that the highest efficiency of energy acquisition is ensured.

Description

Spacecraft energy safety daily target attitude calculation method
Technical Field
The invention belongs to the field of spacecraft attitude control, and relates to a spacecraft energy safety daily target attitude calculation method.
Background
Along with the continuous improvement of high-resolution remote sensing demands, the power consumption of the contemporary large satellite platform is continuously increased, and the energy demand of the whole satellite becomes an increasingly important problem. Because the orientation of the solar array is closely related to energy harvesting, the energy harvesting of the array is considered as an important constraint in designing a control scheme. Therefore, the target gesture design of 'star + sailboard' is necessary to be developed aiming at a large satellite platform so as to meet the energy acquisition requirement of the satellite, but the energy acquisition mode in the prior art is single, the sun gesture cannot be selected according to the actual situation, and the maximum energy acquisition is realized.
Disclosure of Invention
The invention aims to overcome the defects and provide a spacecraft energy safety daily target attitude calculation method which is suitable for remote sensing satellites with agile maneuvering capability. When the solar altitude angle on the spacecraft is large, the spacecraft body maintains a ground posture, and the sailboard rotates for sun; when the solar altitude angle of the spacecraft is smaller, the spacecraft body yaw is opposite to the sun, and a sailboard target rotation rule is determined according to the posture of the spacecraft body; when the sailboard of the spacecraft fails, the sailboard is kept at a zero position, and the spacecraft body-Z axis is opposite to the sun. The method is suitable for sun alignment of different orbits, and aims at realizing the sun alignment of the sailboard of the spacecraft by designing the target gesture of the spacecraft body and the target rotation rule of the sailboard, so that the highest efficiency of energy acquisition is ensured.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a spacecraft energy safety daily target attitude calculation method comprises the following steps:
(1) Calculating coordinates of a solar vector in the track system;
(2) Based on the coordinates of the solar vector in the orbit system, determining the target attitude of the spacecraft body and the target rotation rule of the spacecraft sailboard when the spacecraft sailboard works normally or when the spacecraft sailboard fails:
when the spacecraft sailboard works normally:
when the solar altitude of the spacecraft is more than or equal to 45 degrees, controlling the target attitude of the spacecraft body to maintain the attitude to the ground, and controlling the target rotation rule of the sailboard of the spacecraft to be the rotation to the sun;
when the solar altitude angle of the spacecraft is less than 45 degrees, controlling the target attitude of the spacecraft body to be yaw versus sun, and determining the target rotation rule of the spacecraft sailboard according to the target attitude of the spacecraft body;
when the sailboard of the spacecraft fails:
the target attitude of the spacecraft body is controlled to be the-Z axis pair day, the target rotation rule of the spacecraft sailboard is controlled to be kept at 0 degree, and the coordinate system where the-Z axis is located is the spacecraft body coordinate system.
The target attitude of the spacecraft body includes a target roll angle of the spacecraft body
Figure BDA0003494445490000021
Target pitch angle theta of spacecraft body r And a target yaw angle ψ of a spacecraft body r The method comprises the steps of carrying out a first treatment on the surface of the The target rotation law of the spacecraft sailboard comprises a target rotation angle alpha of the spacecraft sailboard FS And navigateTarget angular velocity of the sailboard of the spacecraft +.>
Figure BDA0003494445490000022
Further, in the step (2),
when the spacecraft sailboard works normally:
when the solar altitude angle of the spacecraft is more than or equal to 45 degrees, the specific method for controlling the target attitude of the spacecraft body to maintain the attitude to the ground and controlling the target rotation rule of the sailboard of the spacecraft to rotate to the sun is as follows:
Figure BDA0003494445490000023
Figure BDA0003494445490000024
Figure BDA0003494445490000025
when the solar altitude angle of the spacecraft is less than 45 degrees, the target attitude of the spacecraft body is controlled to be yaw versus sun, and the specific method for determining the target rotation rule of the spacecraft sailboard according to the target attitude of the spacecraft body is as follows:
Figure BDA0003494445490000026
Figure BDA0003494445490000027
Figure BDA0003494445490000028
wherein,,
Figure BDA0003494445490000031
is the target rolling angle theta of the spacecraft body r Is the target pitch angle of the spacecraft body, psi r Is the target yaw angle alpha of the spacecraft body FS For the target turning angle of the sailboard of the spacecraft, +.>
Figure BDA0003494445490000032
Is the target angular velocity of the sailboard of the spacecraft, S ox 、S oy 、S oz Is the coordinate of the sun vector in the orbit system, omega o Is the track angular velocity.
Further, in the step (2), the specific method for controlling the target posture of the spacecraft body to be-Z axis versus sun and controlling the target rotation rule of the spacecraft sailboard to be kept still is as follows:
Figure BDA0003494445490000033
Figure BDA0003494445490000034
Figure BDA0003494445490000035
α FS ＝0；
Figure BDA0003494445490000036
wherein C is SO(i,j) For the object posture matrix C of the sun SO I=1, 2,3, j=1, 2,3;
Figure BDA0003494445490000037
further, in the step (1), the coordinates S of the solar vector in the track system ox 、S oy 、S oz Based on the coordinates S of the sun vector in the inertial frame ix 、S iy 、S iz The conversion is carried out:
Figure BDA0003494445490000038
wherein C is oi A conversion matrix from an inertial system to a track system;
coordinate S of solar vector in inertial system ix 、S iy 、S iz The calculation method of (1) is as follows:
Figure BDA0003494445490000041
wherein u is Sun Is the solar orbit amplitude angle omega at the current moment sun Is the right ascent and descent of the sun at the initial moment, i sun Is the inclination angle of the solar track.
Further, the method comprises the steps of,
Figure BDA0003494445490000042
wherein M is Sun E is the solar closest point angle at the current moment Sun For solar eccentricity, ω Sun The sun near-place amplitude angle is the initial moment;
Figure BDA0003494445490000043
wherein,,
Figure BDA0003494445490000044
the change rate of the angle of the sun at the point of the sun, t is the current moment, t 0 For the initial moment +.>
Figure BDA0003494445490000045
Is the solar average near point angle at the initial moment.
Further, in the step (2),
when the spacecraft sailboard works normally:
when the solar altitude angle of the spacecraft is more than or equal to 45 degrees, the specific method for controlling the target attitude of the spacecraft body to maintain the attitude to the ground and controlling the target rotation rule of the sailboard of the spacecraft to rotate the sun further comprises the following steps:
Figure BDA0003494445490000046
when the solar altitude angle of the spacecraft is less than 45 degrees, the specific method for controlling the target attitude of the spacecraft body to be yaw versus sun and determining the target rotation rule of the spacecraft sailboard according to the target attitude of the spacecraft body further comprises the following steps:
Figure BDA0003494445490000047
wherein,,
Figure BDA0003494445490000048
for the rate of change of the target roll angle of the spacecraft body over time, +.>
Figure BDA0003494445490000049
For the target pitch angle of the spacecraft body with time,/->
Figure BDA00034944454900000410
Is the rate of change of the target yaw angle of the spacecraft body over time.
Further, in the step (2), when the sailboard of the spacecraft fails, the specific method for controlling the target attitude of the spacecraft body to be the-Z axis opposite date and controlling the target rotation rule of the sailboard of the spacecraft to be stationary further includes:
Figure BDA0003494445490000051
wherein,,
Figure BDA0003494445490000052
for the rate of change of the target roll angle of the spacecraft body over time, +.>
Figure BDA0003494445490000053
For the target pitch angle of the spacecraft body with time,/->
Figure BDA0003494445490000054
Omega, the rate of change of the target yaw angle of the spacecraft body over time sox 、ω soy 、ω soz The three-axis components of the daily target angular velocity in the track system are respectively.
That is, the target pose of the spacecraft body also includes the rate of change of the target roll angle of the spacecraft body over time
Figure BDA0003494445490000055
Target pitch angle of spacecraft body with time rate +.>
Figure BDA0003494445490000056
Target yaw rate of spacecraft body with time>
Figure BDA0003494445490000057
The daily target angular velocity is: and under the relative daily attitude of the spacecraft body-Z axis, the target angular velocity of the spacecraft is achieved.
Further, the method comprises the steps of,
Figure BDA0003494445490000058
wherein omega si For the coordinates of the daily target angular velocity under the inertial system omega so C is the coordinates of the daily target angular velocity in the track system oi Is a conversion matrix from inertial system to track system.
Further, omega si ＝[0 0 ω 0 S oy /(S ox 2 +S oy 2 )] T ；
Wherein omega o Is the track angular velocity.
Compared with the prior art, the invention has at least one of the following beneficial effects:
(1) The invention provides a calculation method of star target postures and sailboard target angles aiming at various working conditions under different orbits and sailboard faults, and compared with the existing whole circle sailboard rotation strategy, the invention can realize that the sailboards of the spacecraft are opposite to the sun under different conditions, and realize the highest efficiency of energy acquisition;
(2) According to the solar altitude angle of the spacecraft, different control strategies are given to the spacecraft body and the spacecraft sailboard, so that the energy is saved to the greatest extent and the efficiency is improved in the process that the spacecraft sailboard faces the sun;
(3) According to the invention, the spacecraft body and the spacecraft sailboard are controlled by adopting a plurality of parameters, so that the accuracy and the reliability of the control process are improved, and meanwhile, the calculation method of each parameter is simple and effective;
(4) The calculation method has strong universality and can be suitable for various track conditions and sailboard fault conditions.
Drawings
FIG. 1 is a view of a target attitude angle of a spacecraft body when the solar altitude is large, wherein the view (a) is a target roll angle of the spacecraft, the view (b) is a target pitch angle of the spacecraft, and the view (c) is a target yaw angle of the spacecraft;
FIG. 2 is a graph of the target rotation law of the sailboard when the solar altitude is large, wherein the graph (a) is the target rotation angle of the sailboard, and the graph (b) is the target angular velocity of the sailboard;
FIG. 3 is a graph of the target attitude angle of the spacecraft body for a small solar altitude of the present invention, wherein graph (a) is the target roll angle of the spacecraft, graph (b) is the target pitch angle of the spacecraft, and graph (c) is the target yaw angle of the spacecraft;
FIG. 4 is a graph of the target rotation law of the sailboard when the solar altitude is small, wherein the graph (a) is the target rotation angle of the sailboard and the graph (b) is the target angular velocity of the sailboard;
FIG. 5 is a graph of the target attitude angle of the spacecraft body at the time of a failure of the sailboard of the present invention, wherein graph (a) is the target roll angle of the spacecraft, graph (b) is the target pitch angle of the spacecraft, and graph (c) is the target yaw angle of the spacecraft;
fig. 6 shows a target rotation rule of the sailboard at the fault of the sailboard according to the present invention, wherein (a) is a target rotation angle of the sailboard and (b) is a target angular velocity of the sailboard.
Detailed Description
The features and advantages of the present invention will become more apparent and clear from the following detailed description of the invention.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
Different from the existing solar array 360-degree rotation solar alignment method, the solar alignment method provided by the invention combines the characteristic that the star body can be agile, and provides a solar alignment method suitable for different orbits, so that the solar array of the spacecraft can be aligned to the sun, and the highest efficiency of energy acquisition is realized. The invention discloses a spacecraft energy safety daily target attitude calculation method, which comprises the following steps:
(1) Calculating coordinates of a solar vector in the track system:
Figure BDA0003494445490000071
Figure BDA0003494445490000072
Figure BDA0003494445490000073
Figure BDA0003494445490000074
wherein M is Sun The sun closest point angle at the current moment;
u Sun the solar orbit amplitude angle at the current moment;
Figure BDA0003494445490000075
at t 0 The sun at moment is at a near point angle;
ω Sun at t 0 The amplitude angle of the sun near the place at moment;
Ω sun at t 0 The sun rising intersection point at moment is right-angled;
t is the current moment;
t 0 is the initial time.
Figure BDA0003494445490000076
The change rate of the solar plane near point angle is constant;
e Sun the eccentricity of the sun is constant;
i sun the inclination angle of the solar track is constant;
S ix 、S iy 、S iz the three-axis coordinates of the solar vector in the inertial system are respectively;
S ox 、S oy 、S oz the three-axis coordinates of the solar vector in the track system are respectively;
C oi is a conversion matrix from inertial system to track system.
(2) When the solar altitude angle on the spacecraft is large, the spacecraft body maintains a ground posture, and the sailboard rotates for 360 degrees for sun;
when the solar altitude of the spacecraft is smaller, the spacecraft body yaw is opposite to the sun, and a target rotation rule of the sailboard is determined according to the posture of the spacecraft body, specifically, the target angular speed of the sailboard is calculated according to the posture of the spacecraft body;
when the sailboard of the spacecraft fails, the sailboard is kept at a zero position, and the spacecraft body-Z axis is opposite to the sun.
The specific calculation method of the step is as follows:
(2-1) when the solar altitude is large on the spacecraft, the target attitude of the spacecraft body is:
Figure BDA0003494445490000081
wherein,,
Figure BDA0003494445490000082
θ r ，ψ r the target roll, pitch and yaw angles of the spacecraft body are respectively.
The derivatives of the three-axis target attitude angles of the spacecraft are as follows:
Figure BDA0003494445490000083
wherein,,
Figure BDA0003494445490000084
the derivatives of target roll, pitch and yaw angles of the spacecraft body, namely the change rate of the target roll angle of the spacecraft body along with time>
Figure BDA0003494445490000085
Rate of change of target pitch angle over time +.>
Figure BDA0003494445490000086
And the rate of change of the target yaw angle over time +.>
Figure BDA0003494445490000087
The target turning angle of the sailboard is:
Figure BDA0003494445490000088
wherein alpha is FS Is the target turning angle of the windsurfing board.
The target angular velocity of the windsurfing board is:
Figure BDA0003494445490000089
wherein,,
Figure BDA00034944454900000810
is the target angular velocity of the windsurfing board;
ω o is the track angular velocity.
The sailboard can be used for daily use.
(2-2) when the solar altitude on the spacecraft is small, the target attitude of the spacecraft body is:
Figure BDA00034944454900000811
wherein,,
Figure BDA00034944454900000812
θ r ，ψ r the target roll, pitch and yaw angles of the spacecraft body are respectively.
The derivatives of the three-axis target attitude angles of the spacecraft are as follows:
Figure BDA0003494445490000091
wherein,,
Figure BDA0003494445490000092
the target roll, pitch, yaw derivatives of the spacecraft body are respectively.
The target turning angle of the sailboard is:
Figure BDA0003494445490000093
the target angular velocity of the windsurfing board is:
Figure BDA0003494445490000094
wherein,,
Figure BDA0003494445490000095
is the target angular velocity of the windsurfing board;
ω o is the track angular velocity.
The sailboard can be used for daily use.
(2-3) when the spacecraft sailboard fails, the target attitude calculation formula of the spacecraft body is:
Figure BDA0003494445490000096
Figure BDA0003494445490000097
θ r ＝arcsin(C SO(3,1) )，
Figure BDA0003494445490000098
wherein C is SO The object pose matrix is a daily object pose matrix;
C SO(i,j) is a matrix C SO I=1, 2,3, j=1, 2,3, the j elements of the ith row, jth column.
The calculation formula of the derivative of the three-axis target attitude angle of the spacecraft is as follows:
ω si ＝[0 0 ω 0 S oy /(S ox 2 +S oy 2 )] T
ω so ＝C oi ω si
Figure BDA0003494445490000101
wherein omega si Is the coordinate of the daily target angular velocity under the inertial system;
ω so is the coordinates of the daily target angular velocity under the track system;
ω sox 、ω soy 、ω soz the three-axis components of the daily target angular velocity in the track system are respectively. The target turning angle of the sailboard is:
α FS ＝0
the target angular velocity of the windsurfing board is:
Figure BDA0003494445490000102
the sailboard can be used for daily use.
Example 1:
(1) Calculating coordinates of a solar vector in the track system:
Figure BDA0003494445490000103
Figure BDA0003494445490000104
Figure BDA0003494445490000105
Figure BDA0003494445490000106
wherein M is Sun The sun closest point angle at the current moment;
u Sun the solar orbit amplitude angle at the current moment;
Figure BDA0003494445490000107
at t 0 The sun at moment is at a near point angle;
ω Sun at t 0 The sun is near the ground at momentA point amplitude angle;
Ω sun at t 0 The sun rising intersection point at moment is right-angled;
t is the current moment;
t 0 is the initial time.
Figure BDA0003494445490000111
The change rate of the solar plane near point angle is constant;
e Sun the eccentricity of the sun is constant;
i sun the inclination angle of the solar track is constant;
S ix 、S iy 、S iz the three-axis coordinates of the solar vector in the inertial system are respectively;
S ox 、S oy 、S oz the three-axis coordinates of the solar vector in the track system are respectively;
C oi is a conversion matrix from inertial system to track system.
(2) When the solar altitude angle on the spacecraft is large, the target attitude of the spacecraft body is as follows:
Figure BDA0003494445490000112
wherein,,
Figure BDA0003494445490000113
θ r ，ψ r the target roll, pitch and yaw angles of the spacecraft body are respectively.
The derivatives of the three-axis target attitude angles of the spacecraft are as follows:
Figure BDA0003494445490000114
wherein,,
Figure BDA0003494445490000115
objects of spacecraft bodies respectivelyTarget roll, pitch, yaw derivatives, i.e. the rate of change of the target roll angle of the spacecraft body over time +.>
Figure BDA0003494445490000116
Rate of change of target pitch angle over time +.>
Figure BDA0003494445490000117
And the rate of change of the target yaw angle over time +.>
Figure BDA0003494445490000118
The target turning angle of the sailboard is:
Figure BDA0003494445490000119
wherein alpha is FS Is the target turning angle of the windsurfing board.
The target angular velocity of the windsurfing board is:
Figure BDA00034944454900001110
wherein,,
Figure BDA00034944454900001111
is the target angular velocity of the windsurfing board;
ω o is the track angular velocity.
The sailboard can be used for daily use.
Fig. 1 and 2 show the actual control results of the attitude of the spacecraft body and the sailboard angle when the solar altitude is large. As can be seen from the figure, when the solar altitude is large, the spacecraft body is in a ground attitude and the sailboard is in a full rotation, wherein the ordinate dα in fig. 2 (b) FS I.e. as described above
Figure BDA0003494445490000121
(3) When the solar altitude of the spacecraft is small, the target attitude of the spacecraft body is as follows:
Figure BDA0003494445490000122
wherein,,
Figure BDA0003494445490000123
θ r ，ψ r the target roll, pitch and yaw angles of the spacecraft body are respectively.
The derivatives of the three-axis target attitude angles of the spacecraft are as follows:
Figure BDA0003494445490000124
wherein,,
Figure BDA0003494445490000125
the target roll, pitch, yaw derivatives of the spacecraft body are respectively.
The target turning angle of the sailboard is:
Figure BDA0003494445490000126
the target angular velocity of the windsurfing board is:
Figure BDA0003494445490000127
wherein,,
Figure BDA0003494445490000128
is the target turning angle of the sailboard;
ω o is the track angular velocity.
The sailboard can be used for daily use.
Fig. 3 and 4 show the actual control results of the attitude of the spacecraft body and the sailboard angle when the solar altitude is small. As can be seen from the figure, when the solar altitude is small, the spacecraft body is yawed to sun and the sailboard is in sinusoidal motion.
(4) When the sailboard of the spacecraft fails, the target attitude calculation formula of the spacecraft body is as follows:
Figure BDA0003494445490000129
Figure BDA0003494445490000131
θ r ＝arcsin(C SO(3,1) )，
Figure BDA0003494445490000132
wherein C is SO The object pose matrix is a daily object pose matrix;
C SO(i,j) is a matrix C SO I=1, 2,3, j=1, 2,3, the j elements of the ith row, jth column.
The calculation formula of the derivative of the three-axis target attitude angle of the spacecraft is as follows:
ω si ＝[0 0 ω 0 S oy /(S ox 2 +S oy 2 )] T
ω so ＝C oi ω si
Figure BDA0003494445490000133
wherein omega si Is the coordinate of the daily target angular velocity under the inertial system;
ω so is the coordinates of the daily target angular velocity under the track system;
ω sox 、ω soy 、ω soz the three-axis components of the daily target angular velocity in the track system are respectively.
The target turning angle of the sailboard is:
α FS ＝0
the target angular velocity of the windsurfing board is:
Figure BDA0003494445490000134
the sailboard can be used for daily use.
Fig. 5 and 6 show the actual control results of the posture of the spacecraft body and the sailboard turning angle at the time of the sailboard failure, respectively. From the figure, when the sailboard fails, the three-axis attitude of the spacecraft body is not zero, and the target turning angle of the sailboard is zero.
The invention has been described in detail in connection with the specific embodiments and exemplary examples thereof, but such description is not to be construed as limiting the invention. It will be understood by those skilled in the art that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, and these fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
What is not described in detail in the present specification is a well known technology to those skilled in the art.

Claims (9)

1. The method for calculating the daily target attitude of the spacecraft energy safety is characterized by comprising the following steps of:
(1) Calculating coordinates of a solar vector in the track system;
(2) Based on the coordinates of the solar vector in the orbit system, determining the target attitude of the spacecraft body and the target rotation rule of the spacecraft sailboard when the spacecraft sailboard works normally or when the spacecraft sailboard fails:
when the spacecraft sailboard works normally:
when the solar altitude of the spacecraft is more than or equal to 45 degrees, controlling the target attitude of the spacecraft body to maintain the attitude to the ground, and controlling the target rotation rule of the sailboard of the spacecraft to be the rotation to the sun;
when the solar altitude angle of the spacecraft is less than 45 degrees, controlling the target attitude of the spacecraft body to be yaw versus sun, and determining the target rotation rule of the spacecraft sailboard according to the target attitude of the spacecraft body;
when the sailboard of the spacecraft fails:
the target attitude of the spacecraft body is controlled to be the-Z axis pair day, the target rotation rule of the spacecraft sailboard is controlled to be kept motionless, and the coordinate system where the-Z axis is located is the spacecraft body coordinate system.
2. The method for computing the attitude of a spacecraft energy safety versus daily target according to claim 1, wherein in the step (2),
when the spacecraft sailboard works normally:
when the solar altitude angle of the spacecraft is more than or equal to 45 degrees, the specific method for controlling the target attitude of the spacecraft body to maintain the attitude to the ground and controlling the target rotation rule of the sailboard of the spacecraft to rotate to the sun is as follows:
Figure FDA0003494445480000011
θ r ＝0，ψ r ＝0；
Figure FDA0003494445480000012
Figure FDA0003494445480000013
when the solar altitude angle of the spacecraft is less than 45 degrees, the target attitude of the spacecraft body is controlled to be yaw versus sun, and the specific method for determining the target rotation rule of the spacecraft sailboard according to the target attitude of the spacecraft body is as follows:
Figure FDA0003494445480000021
θ r ＝0，/>
Figure FDA0003494445480000022
Figure FDA0003494445480000023
Figure FDA0003494445480000024
wherein,,
Figure FDA0003494445480000025
is the target rolling angle theta of the spacecraft body r Is the target pitch angle of the spacecraft body, psi r Is the target yaw angle alpha of the spacecraft body FS For the target turning angle of the sailboard of the spacecraft, +.>
Figure FDA0003494445480000026
Is the target angular velocity of the sailboard of the spacecraft, S ox 、S oy 、S oz Is the coordinate of the sun vector in the orbit system, omega o Is the track angular velocity.
3. The method for calculating the target attitude of the spacecraft energy safety on the sun according to claim 2, wherein in the step (2), the specific method for controlling the target attitude of the spacecraft body to be the target attitude of the spacecraft on the sun on the Z axis and controlling the target rotation rule of the spacecraft sailboard to be kept still is as follows:
Figure FDA0003494445480000027
θ r ＝arcsin(C SO(3,1) )，
Figure FDA0003494445480000028
α FS ＝0；
Figure FDA0003494445480000029
wherein C is SO(i,j) For the object posture matrix C of the sun SO I=1, 2,3, j=1, 2,3;
Figure FDA00034944454800000210
4. a method for calculating the attitude of a solar energy safety pair target of a spacecraft according to any one of claims 1 to 3, wherein in the step (1), the coordinates S of the solar vector in the orbit system ox 、S oy 、S oz Based on the coordinates S of the sun vector in the inertial frame ix 、S iy 、S iz The conversion is carried out:
Figure FDA0003494445480000031
wherein C is oi A conversion matrix from an inertial system to a track system;
coordinate S of solar vector in inertial system ix 、S iy 、S iz The calculation method of (1) is as follows:
Figure FDA0003494445480000032
wherein u is Sun Is the solar orbit amplitude angle omega at the current moment sun Is the right ascent and descent of the sun at the initial moment, i sun Is the inclination angle of the solar track.
5. The spacecraft energy safety daily target attitude calculation method according to claim 4, wherein,
Figure FDA0003494445480000033
wherein M is Sun E is the solar closest point angle at the current moment Sun For solar eccentricity, ω Sun The sun near-place amplitude angle is the initial moment;
Figure FDA0003494445480000034
wherein,,
Figure FDA0003494445480000035
the change rate of the angle of the sun at the point of the sun, t is the current moment, t 0 For the initial moment +.>
Figure FDA0003494445480000036
Is the solar average near point angle at the initial moment.
6. The method for computing the attitude of a spacecraft energy safety versus daily target according to claim 2, wherein in the step (2),
when the spacecraft sailboard works normally:
when the solar altitude angle of the spacecraft is more than or equal to 45 degrees, the specific method for controlling the target attitude of the spacecraft body to maintain the attitude to the ground and controlling the target rotation rule of the sailboard of the spacecraft to rotate the sun further comprises the following steps:
Figure FDA0003494445480000037
when the solar altitude angle of the spacecraft is less than 45 degrees, the specific method for controlling the target attitude of the spacecraft body to be yaw versus sun and determining the target rotation rule of the spacecraft sailboard according to the target attitude of the spacecraft body further comprises the following steps:
Figure FDA0003494445480000041
wherein,,
Figure FDA0003494445480000042
for the rate of change of the target roll angle of the spacecraft body over time, +.>
Figure FDA0003494445480000043
For the target pitch angle of the spacecraft body with time,/->
Figure FDA0003494445480000044
Is the rate of change of the target yaw angle of the spacecraft body over time.
7. The method for calculating the target attitude of the energy safety of the spacecraft for the sun according to claim 3, wherein in the step (2), when the sailboard of the spacecraft fails, the specific method for controlling the target attitude of the spacecraft body to be the target attitude of the solar energy safety of the Z axis and the target rotation rule of the sailboard of the spacecraft to be kept still further comprises:
Figure FDA0003494445480000045
wherein,,
Figure FDA0003494445480000046
for the rate of change of the target roll angle of the spacecraft body over time, +.>
Figure FDA0003494445480000047
For the target pitch angle of the spacecraft body with time,/->
Figure FDA0003494445480000048
Omega, the rate of change of the target yaw angle of the spacecraft body over time sox 、ω soy 、ω soz The three-axis components of the daily target angular velocity in the track system are respectively.
8. The spacecraft energy safety daily target attitude calculation method according to claim 7, wherein,
Figure FDA0003494445480000049
wherein omega si For the coordinates of the daily target angular velocity under the inertial system omega so C is the coordinates of the daily target angular velocity in the track system oi Is a conversion matrix from inertial system to track system.
9. The spacecraft energy safety daily target attitude calculation method according to claim 8, wherein ω is si ＝[0 0 ω 0 S oy /(S ox 2 +S oy 2 )] T ；
Wherein omega o Is the track angular velocity.
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