阅读说明：本技术 一种基于太阳帆板输出电流信息的应急对日方法 (Emergency sun-checking method based on solar panel output current information ) 是由 林佳伟 李巍 耿洁 宫经刚 黎飞 徐菁宇 王玉峰 王韬 蔡诚 于 2019-09-24 设计创作，主要内容包括：一种基于太阳帆板输出电流信息的应急对日方法,包括步骤：1)控制卫星使卫星实时角速度在卫星本体系三轴上的分量均低于姿态稳定槛值；2)根据太阳帆板法线在卫星本体系中的投影,确定角速度偏置方向矢量；3)根据太阳帆板输出电流的变化和步骤2)确定的所述角速度偏置方向矢量,调整卫星角速度,使卫星太阳帆板法向矢量指向太阳。本发明方法在不使用太阳敏感器和太阳帆板驱动机构的条件下,可以实现卫星太阳帆板应急对日,进而保证卫星能源安全。(An emergency sun-checking method based on solar panel output current information comprises the following steps: 1) controlling the satellite to enable components of the real-time angular velocity of the satellite on three axes of the system of the satellite to be lower than an attitude stabilization threshold value; 2) determining an angular velocity bias direction vector according to the projection of the solar panel normal in the satellite system; 3) and adjusting the satellite angular speed according to the change of the output current of the solar sailboard and the angular speed bias direction vector determined in the step 2), so that the normal vector of the satellite solar sailboard points to the sun. The method can realize emergency sun-checking of the satellite solar sailboard without using a sun sensor and a solar sailboard driving mechanism, thereby ensuring the energy safety of the satellite.)

1. An emergency sun-checking method based on solar sailboard output current information is characterized by comprising the following steps:

1) controlling the satellite to enable components of the real-time angular velocity of the satellite projected on three axes of the system of the satellite to be lower than an attitude stabilization threshold value; the value of the attitude stabilization threshold is not more than 0.1 degree/s;

2) determining an angular velocity bias direction vector according to the projection of the solar panel normal in the satellite system;

3) and adjusting the angular speed of the satellite according to the change of the output current of the solar sailboard and the angular speed bias direction vector determined in the step 2), so that the normal vector of the solar sailboard of the satellite points to the sun.

2. The emergency sun-checking method based on the output current information of the solar sailboard according to claim 1, wherein the step 2) of offsetting the direction vector of the angular velocity specifically includes:vector v of direction of first rotation ₁And a second rotation direction vector v ₂The method specifically comprises the following steps:

wherein, | | represents modulo of the vector;

when | a | > | b |, and | a | > | c |:

when | b | > | a |, and | b | > | c |:

otherwise, then:

wherein, [ a b c] ^TFor the projection of the unit vector of the sun sailboard normal in the satellite system, k ₁And k ₂Real numbers that are not all zero.

3. An emergency sun-checking method based on solar panel output current information according to claim 2, wherein the step 3) of directing the satellite solar panel normal vector to the sun includes the steps of:

31) the first rotation direction vector v according to the step 2) ₁Performing coarse alignment work on the satellite solar sailboards, and entering a step 32 after the coarse alignment work on the satellite solar sailboards is completed);

32) the second rotation direction vector v according to the step 2) ₂And carrying out precise alignment work on the satellite solar sailboards, so that the normal vectors of the satellite solar sailboards point to the sun.

4. An emergency sun-finding method based on solar panel output current information according to claim 3, wherein the step 31) of performing a satellite solar panel rough alignment work method includes the steps of:

311) adjusting the direction of the satellite angular velocity when the direction of the satellite angular velocity is equal to v ₁After the directions are the same, go to step 312);

312) judging whether the output current of the solar sailboard becomes smaller along with the time, if so, entering a step 313), and if not, entering a step 314);

313) adjusting the current angular velocity direction of the satellite to make the angular velocity direction of the satellite and the vector v ₁In the opposite direction, the output current of the solar panel is increased with time, the change of the output current of the solar panel with time is continuously monitored, and when the current is again decreased with time, the step 315 is entered);

314) keeping the magnitude and the direction of the current angular speed of the satellite unchanged until the output current of the solar sailboard is reduced along with the time, and entering step 315);

315) and maintaining the current satellite three-axis attitude, and finishing the coarse alignment work of the satellite solar sailboard.

5. The emergency sun-checking method based on the solar panel output current information according to claim 4, wherein the step 32) of performing the satellite solar panel fine alignment work comprises the steps of:

321) adjusting the direction of the satellite angular velocity when the direction of the satellite angular velocity is equal to v ₂After the directions are the same, go to step 322);

322) judging whether the output current of the solar panel becomes smaller along with time, if so, entering a step 323), and if not, entering a step 324);

323) adjusting the current angular velocity direction of the satellite to make the angular velocity direction of the satellite and v ₂In the opposite direction, the output current of the solar panel increases with timeContinuously monitoring the change of the output current of the solar sailboard along with the time, and entering step 325 when the current is smaller along with the time again);

324) keeping the current angular speed and direction of the satellite unchanged until the output current of the solar panel is reduced along with the time, and then entering step 325);

325) and maintaining the current satellite three-axis attitude, and finishing the precise alignment work of the satellite solar sailboard.

6. An emergency counterglow method based on solar panel output current information according to any one of claims 1 to 5, wherein the attitude stabilization threshold has a value of not more than 0.07 °/s.

Technical Field

The invention relates to an emergency sun-checking method based on solar sailboard output current information, and belongs to the technical field of satellite control.

Background

The sun sensor measures the included angle between the normal direction of the sailboard and the sun, and can be used as the measurement reference of the sailboard to the sun. The solar sailboard driving mechanism can rotate the sailboards, so that the sailboards can be matched with the sun. Current high orbit satellites use the solar capture mode as the last life saving means to ensure satellite energy safety. In the mode, the sun sensor is used for realizing the search of the sun in the whole celestial sphere, and the solar panel driving mechanism is used for pointing the solar panel to the sun direction.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, an emergency sun-checking method based on the output current information of the solar sailboard is provided, and emergency sun-checking of the sailboard can be realized under the condition that a sun sensor and a solar sailboard driving mechanism are not used.

The technical scheme of the invention is as follows:

an emergency sun-checking method based on solar panel output current information comprises the following steps:

1) controlling the satellite to enable components of the real-time angular velocity of the satellite projected on three axes of the system of the satellite to be lower than an attitude stabilization threshold value; the value of the attitude stabilization threshold is not more than 0.1 degree/s; preferably, the value of the attitude stabilization threshold is not more than 0.07 degrees/s;

2) determining an angular velocity bias direction vector according to the projection of the solar panel normal in the satellite system;

3) and adjusting the angular speed of the satellite according to the change of the output current of the solar sailboard and the angular speed bias direction vector determined in the step 2), so that the normal vector of the solar sailboard of the satellite points to the sun.

The angular velocity bias direction vector of step 2) specifically includes: first rotation directorQuantity v ₁And a second rotation direction vector v ₂The method specifically comprises the following steps:

wherein, | | represents modulo of the vector;

when | a | > | b |, and | a | > | c |:

when | b | > | a |, and | b | > | c |:

otherwise, then:

wherein, [ a b c] ^TFor the projection of the unit vector of the sun sailboard normal in the satellite system, k ₁And k ₂Real numbers that are not all zero.

Compared with the prior art, the invention has the beneficial effects that:

the emergency sun-checking method used in the invention does not require the configuration of a sun sensor and a sun sailboard driving mechanism. For newly-researched satellites, the configuration can be reduced by considering that a sun sensor and a sun sailboard driving mechanism are not configured, and the cost is reduced on the premise of ensuring the safety of the satellites; for the satellite provided with the sun sensor and the sun sailboard driving mechanism, if the sun sensor and the sun sailboard driving mechanism break down, the satellite also has the capability of emergency sun checking, and therefore energy safety is guaranteed.

Drawings

FIG. 1 is a flow chart of the method of the present invention.

Detailed Description

The invention relates to an emergency sun-checking method based on solar sailboard output current information, which comprises the following steps as shown in figure 1:

1) a gyroscope is used as a measuring sensor to control a satellite, so that components of the real-time angular velocity of the satellite projected on three axes of a system of the satellite are all lower than an attitude stabilization threshold value; the value of the attitude stabilization threshold is not more than 0.1 degree/s; preferably, the value of the attitude stabilization threshold is not more than 0.07 degrees/s;

2) the satellite computer determines an angular velocity bias direction vector according to the projection of the solar panel normal in the satellite system; the angular velocity bias direction vector specifically includes: vector v of direction of first rotation ₁And a second rotation direction vector v ₂The method specifically comprises the following steps:

wherein, | | represents modulo of the vector;

when | a | > | b |, and | a | > | c |:

when | b | > | a |, and | b | > | c |:

otherwise, then:

wherein, [ a b c] ^TThe values of a, b, c, which are the projections of the unit vectors of the sun panel normal in the system of the satellite, depend on the orientation of the sun panel. k is a radical of ₁And k ₂Is a real number not all zero, k ₁And k ₂The value of (b) can be arbitrarily chosen within the real number range.

3) And adjusting the angular speed of the satellite according to the change of the output current of the solar sailboard and the angular speed bias direction vector determined in the step 2), so that the normal vector of the solar sailboard of the satellite points to the sun.

The step 3) of enabling the normal vector of the satellite solar sailboard to point to the sun comprises the following steps:

31) the first rotation direction vector v according to the step 2) ₁Performing coarse alignment work on the satellite solar sailboards, and entering a step 32 after the coarse alignment work on the satellite solar sailboards is completed);

32) the second rotation direction vector v according to the step 2) ₂And carrying out precise alignment work on the satellite solar sailboards, so that the normal vectors of the satellite solar sailboards point to the sun.

The step 31) of the method for performing the coarse alignment work of the satellite solar sailboard comprises the following steps:

311) adjusting the direction of the satellite angular velocity when the direction of the satellite angular velocity is equal to v ₁After the directions are the same, go to step 312);

312) judging whether the output current of the solar sailboard becomes smaller along with the time, if so, entering a step 313), and if not, entering a step 314);

313) adjusting the current angular velocity direction of the satellite to make the angular velocity direction of the satellite and the vector v ₁When the direction of the satellite is opposite, the angular velocity of the satellite is not changed, the output current of the solar sailboard is increased along with the time, the change of the output current of the solar sailboard along with the time is continuously monitored, and when the current is smaller along with the time again, the step 315 is carried out);

314) keeping the magnitude and the direction of the current angular speed of the satellite unchanged until the output current of the solar sailboard is reduced along with the time, and entering step 315);

315) and setting the target value of the satellite angular velocity to be 0, so that the current satellite three-axis attitude is maintained, and the coarse alignment work of the satellite solar sailboard is completed.

The step 32) of the method for performing the precise alignment work of the satellite solar sailboard comprises the following steps:

321) adjusting the direction of the satellite angular velocity when the direction of the satellite angular velocity is equal to v ₂After the direction of the first and second beams is the same,enter step 322);

322) judging whether the output current of the solar panel becomes smaller along with time, if so, entering a step 323), and if not, entering a step 324);

323) adjusting the current angular velocity direction of the satellite to make the angular velocity direction of the satellite and v ₂When the direction of the satellite is opposite, the angular velocity of the satellite is not changed, the output current of the solar sailboard is increased along with the time, the change of the output current of the solar sailboard along with the time is continuously monitored, and when the current is smaller along with the time again, the step 325) is carried out;

324) keeping the current angular speed and direction of the satellite unchanged until the output current of the solar panel is reduced along with the time, and then entering step 325);

325) and setting the target value of the angular speed of the satellite to be 0, so that the current three-axis attitude of the satellite is maintained, and the precise alignment work of the solar sailboard of the satellite is completed.