Method of control over spacecraft solar battery orientation with control over spinning direction and continuous change of data on solar battery angular position

FIELD: transport.

SUBSTANCE: invention relates to spacecraft electric power supply with the help of solar batteries. Proposed method comprises definition of preset and current angles of solar battery orientation and solar battery angular velocity (ω_SB). Design angle is computed to assign measured angle magnitude thereto and memorised prior to start of control over solar battery. Solar battery is spinned in direction of decrease in mismatch between preset and design angles. Defined are angles of solar battery acceleration and deceleration (t_AC, α_DEC) and threshold (t_THR, α_THR) and maximum tolerable angle of its deflection (α_MAX) proceeding from minimum tolerable currents of solar battery. Said angles are used to set operation threshold (α_S). The latter exceeded, said mismatch is generated. The latter is not taken into account if lower than drop-away threshold (α_DROP). The latter reached, solar battery spinning is terminated. Solar battery design angle is corrected with the limits of one discrete sector of solar battery spinning circle. Discrete sector magnitude depends of angles α_AC, α_THR and α_S. Depending upon α_S and ω_SB threshold of the interval of control over continuous variation of data on solar battery angular position is set. Count of said interval is made if current measured angle differs from memorised one by more than one discrete sector and is terminated otherwise. Threshold of the time of control over solar battery spinning is set depending upon t_AC, t_THR, α_MAX, ω_SB and discrete sector magnitude. This time is counted at zero time of control over continuity is sign of mismatch between measured and memorised angles dose not satisfy the solar battery preset direction of spinning. Otherwise, count is terminated to zero the time of control of spinning direction. Note here that when measured angle varies by one discrete sector, angular angle of boundary between discrete sectors is taken to be design angle to assign new measured angle to memorised angle. In case the time of control over continuity or that over spinning direction exceeds its threshold, failure signal is generated to terminate control over solar battery.

EFFECT: higher survivability and efficiency.

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Proposed method of control the orientation of the solar batteries (SB) of the SPACECRAFT (SC) to control the direction of rotation and continuity of information changes the angular position of the solar battery relates to power supply systems of the SPACECRAFT. This method can be applied to control the orientation SAT satellites, space stations and other SPACECRAFT operating in Earth orbit.

Modern SPACECRAFT, decisive, for example, the tasks of remote sensing, communications, television and radio should operate in Earth orbit for several years, which imposes increased requirements for uninterrupted supply of on-Board equipment that is part of the AC power. As a rule, the supply of on-Board equipment SPACECRAFT using SAT. The panel SAT and the corresponding gauge its angular position is fixed on the output shaft of the Electromechanical drive is included with the device turning SA, which is controlled by on-Board automatic control system. On-Board SPACECRAFT control systems include on-Board digital computers, which have implemented the algorithms that control the orientation and systems of SPACECRAFT, including the management orientation SAT.

As is known, the magnitude of the current generated SAT, depends on Orien the emission plane of its working surface relative to the Sun. The determination of the direction of the Sun relative to the body of the SPACECRAFT is carried out using algorithms traffic management system on the basis of information received, for example, from astrogation or solar sensors. The control algorithms orientation Coll determine the angular position of the security Council on the basis of information received from the angle sensor, carry out the comparison with the information about the specified direction to the Sun. When there is a mismatch between these angles algorithms form a team to the SB rotation along the shortest path in the direction of its reduction, and in the absence of the error, a command for stopping the rotation of the SAT.

During the flight specified on the SPACECRAFT orbit is affected by various external factors: Solar radiation, cosmic radiation, temperature extremes, micrometeorites, and others. These factors can lead to disruption and failure of the functioning of the aircraft equipment. Due to geomagnetic phenomena in the magnetosphere on the surfaces of the blocks airborne equipment in their various points can accumulate electrostatic charges having different potentials. Causes their accumulation may be the injection of electrons and protons of cosmic plasma, ionizing cosmic radiation, the energy of the incident particles, the secondary electron emission and other factors. After accumulation of eticheskoi potential difference occurs electrostatic discharge, which is an electrical breakdown. During this discharge occurs, the signal interference that can distort the information transmitted from the sensors of the angular position of the security Council, through the onboard cable network in the onboard digital computer control system of the SPACECRAFT. These failures are usually of short duration, however, they can lead to abrupt changes in the information about the angular position SB, i.e. violations of its continuity. The nature of the electrostatic charge has a complex nature. To reduce the effects of electrification using different methods, in this constructive solutions for the protection of on-Board equipment from electrostatic discharge, as a rule, is not enough. Thus, to avoid receiving false information in the onboard automatic control system from sensors angular position of the security Council when such interference is required to provide algorithmic protection. In addition to these reasons, the violation information from a sensor of angular position SAT, may also be due to failure of part of the measuring elements or breakages in chains onboard cable network KA.

In the process of SPACECRAFT into orbit is influenced by vibration, sudden congestion and other external influences. In achiev is Tate impact of these factors can cause failures in the control system SC, device rotation SB, including Electromechanical actuator. In addition, possible breaks, short circuits in the circuits for the transmission of position signals and control commands SB. During ground processing, SPACECRAFT control systems, and systems orientation SAT in the stands with the involvement of actual equipment failures associated with incorrect operation of the software or hardware. These failures can be caused, for example, improper operation, for example, drivers that enable interaction with equipment orientation SAT, or mistakes made in the process of developing electronic units or in the wiring connection between the blocks of the onboard equipment of the SPACECRAFT. When working on the ground stands the possible errors associated with incorrect units connection of the onboard equipment of the SPACECRAFT. These failures and errors can lead including a breach of the proper execution of commands on the rotating SAT.

The closest technical solution adopted for the prototype, is the method of controlling the position of the SB, the essence of which is that detect the angular speed of the SB, then the time of crossing security boundaries between discrete sectors of the angle sensor calculates the estimated angle relative to the measured angular position of the SAT. This angle is calculated as the product of the head speed SAT during its rotation. Rotate SB in the direction of reducing the mismatch between the specified and calculated angles. On the respective inclination angles of the normal to the working surface SAT define the corners of the acceleration and deceleration SAT. Corrects the estimated angle on the measured angular position of the specified normals in moments reading changes angle sensor by the value of one discrete sector. At the corners of acceleration and deceleration, as well as for a minimum and maximum possible currents generated SAT, set the threshold. When exceeding this threshold is formed by a mismatch between the specified and calculated angles Coll. Set the threshold of release, below which stops the error between the desired and calculated angles Coll. The rotation stop SB, if the error between the desired and calculated angles starts to increase, but does not exceed threshold [1].

The disadvantage of this method is that possible violations of the continuity of change information from the angle sensor SA, any discrepancy between the actual direction of rotation of the SAT issued the command result in an incorrect orientation SAT on the direction of the Sun. The result is a reduction current produced by the SAT, which ultimately reduces the survivability of the SPACECRAFT and to the violation KA performed the task.</>

The technical objective of the proposed method is an extension of functional capabilities, improving the survivability and effectiveness of the management system orientation SAT through control of the direction of rotation and SAT exception of receiving bad information not corresponding to the actual angular position of the Council.

This technical result is achieved by the fact that in the known method of controlling the orientation of the solar panels of the spacecraft, namely, that define a given angle of the solar battery as the position of the projection unit direction vector to the Sun in the plane of rotation normal to its working surface is relatively related to the spacecraft coordinate axes, measure the current angle of the solar battery as the angular position of the normal to the working surface of the solar battery in the plane of its rotation with accuracy up to a discrete sector angle sensor, determine the angular velocity of the solar battery, calculate the estimated angle as the product of the angular velocity of the solar battery during its rotation, rotate the solar battery in the direction to reduce the error between the desired and calculated angles to determine the angle acceleration of the solar battery as the angle between the normal to the working surface of the solar panels relative to these coordinate axes with IOM, the NTA start the rotation of the solar battery when the error until it reaches a steady-state angular velocity, determine the angle of deceleration of the solar battery as the deflection angle of the normals from the date of termination of the error until the end of the rotation, corrects the estimated angle of the solar battery in moments of change in the measured angular positions of the normal to the value of one discrete sector, determine the maximum angle α_MAXthat may deviate solar battery:

$${\alpha }_{MAX}=\arccos \frac{I_{MIN}}{I_{MAX}}$$

where I_MIN- the minimum current produced by the solar battery;

I_MAX- maximum current produced by the solar battery,

set the threshold α_CPabove which is formed a mismatch between the specified and calculated angles as:

(α_ACCEL+α_TORM)<α_CP<α_MAX,

where α_ACCELα_TORMrespectively the angles of the acceleration and deceleration of the solar battery,

set the threshold release α_OTPless that stopped the error between the desired and calculated angles of the solar battery, as α_OTP≈α_TORMstop the rotation of the solar battery when Costigan and threshold release, additionally determine the acceleration and deceleration time of the solar battery corresponding to the corners of acceleration and deceleration, break the circle angle sensor on an equal discrete sector value:

(α_RASB+α_TORM)<σ<α_CP,

where σ is the angular value of one discrete sector angle sensor, set the threshold value control time continuity information changes the angular position of the solar battery within the range:

$$0<T_{PKNY}<\frac{{\alpha }_{CP}}{{\omega }_{\mathrm{With\; a}B}}$$

where T_PKO- the threshold value control time continuity information changes the angular position of the solar battery;

ω_SAT- steady-state angular velocity of the solar battery,

set the threshold time control of the direction of rotation of the solar battery within the range:

$$(t_{P\mathrm{And}CG}+t_{T\mathrm{About}PM}+\frac{\sigma }{{\omega }_{\mathrm{With\; a}B}})<T_{PKN\mathrm{In}}<\frac{{\alpha MAX}_{}}{{\omega }_{\mathrm{With\; a}B}}$$

where T_PNEC- threshold-time control of the direction of rotation of the solar battery;

t_ACCEL, t_TORM- acceleration and deceleration time of the solar battery before beginning the attitude control of solar assign the calculated angle is the measured angle and memorize the measured angle during rotation of the solar battery ticking control continuity, if the current measured angle is different from the preset angle by more than one discrete sector, the stop timing control continuity and reset it, if the current measured angle is different from the preset angle of not more than one sector at zero time control of continuous ticking control the direction of rotation, if the sign of the mismatch between the current measured and memorized angles does not match a given direction of rotation of the solar battery, stop timing control rotation and reset it, if the sign of the mismatch between the current measured and memorized angles corresponds to the specified direction of rotation of the solar battery, if the current measured angle is changed to one discrete sector and the NAC mismatch between the current measured and memorized angles corresponds to the specified direction of rotation of the solar battery, at the time of change of the current measured angle specify the estimated corner of the boundary between these discrete sectors, and assign memorized corner of the new value of the measured angle, generate a fault signal and stop the management solar panel, if the continuity control or time control of the direction of rotation exceeds a corresponding threshold value.

Figure 1 presents the range of rotation of the SAT, divided into discrete sectors, figure 2 presents the sequence diagram for monitoring the continuity of change in the measured angular position of the SB in figure 3 - sequence diagram of the control of the direction of rotation SAT.

The method of controlling the orientation of the solar panels of the spacecraft with control of the direction of rotation and continuity of information changes the angular position of the solar battery is as follows.

In the design phase and surface preparation on your passport, as well as the results of experiments to determine the angular velocity SS as the angular velocity of rotation of the output shaft of the Electromechanical drive device rotating SAT. In addition, determine the time and angle acceleration SA as a deviation of the normal to the working surface SB relatively associated with the SPACECRAFT coordinate axes since the beginning of the rotation SAT in the presence of misalignment between the specified and races is to maintain the corners until it reaches a steady-state angular velocity. Then determine the time and the braking angle SAT as the deflection angle of the normals from the date of termination of the error until the end of the rotation.

Next, determine the maximum allowable deviation of the angular position normal to the working surface SS from the direction to the Sun (α_MAX) as

$${\alpha }_{MAX}=\arccos \frac{I_{MIN}}{I_{MAX}},\left(1\right)$$

where α_MAX- maximum allowable deviation of the angular position normal to the working surface SS from the direction to the Sun;

I_MIN- set the minimum allowable current produced SB to power on-Board equipment of the spacecraft;

I_MAX- maximum current produced when the coincidence of the normal to the working surface SB and the projection of the unit direction vector to the Sun in the plane of its rotation.

The threshold, above which is formed a mismatch between the specified and calculated angles, ask:

$$({\alpha }_{P\mathrm{And}CG}+{\alpha }_{T\mathrm{About}PM})<{\alpha }_{CP}<{\alpha }_{MAX},\left(2\right)$$

where α_CPthe threshold of the solar battery;

α_ACCELα_TORMrespectively the angles of the acceleration and deceleration SAT.

Set the threshold release α_OTP,less that stopped the error between the desired and calculated angles SAT, taking the angle of release is approximately equal to the angle of deceleration, that is: α_OTP≈α_TORM.

For measuring the angular position normal to the working surface

SB relative to these coordinate axes using the angle sensor, divided into the same discrete angular sector value:

$$\left({\alpha }_{P\mathrm{And}CG}+{\alpha }_{T\mathrm{About}PM}\right)<\sigma <{\alpha }_{CP},\left(3\right)$$

where σ is the angular size of the discrete sector angle sensor.

The angle sensor generates angular values corresponding to angular positions of the bisectors of discrete sectors.

To monitor the functioning of SB use the time counter is La continuity modify the values of the angle sensor and time control the rotation direction of the Council.

To control the continuity of the set threshold value control time continuity in the range:

$$0<T_{PKNY}<\frac{{\alpha }_{CP}}{{\omega }_{\mathrm{With\; a}B}},\left(4\right)$$

where T_PKO- the threshold value control time continuity information changes the angular position of the SAT;

ω_SAT- steady-state angular velocity SS.

To control the direction of rotation define a threshold time control of the direction of rotation, range:

$$(t_{P\mathrm{And}CG}+t_{T\mathrm{About}PM}+\frac{\sigma }{{\omega }_{\mathrm{With\; a}B}})<T_{PKN\mathrm{In}}<\frac{{\alpha }_{MAX}}{{\omega }_{\mathrm{With\; a}B}},\left(5\right)$$

where T_PNEC- the threshold amount of time controlling the direction of rotation of the SAT;

t_ACCEL, t_TORMthe time acceleration and deceleration time SB;

σ - angular value of one discrete sector angle sensor.

Before management SAT settlement corner assigns the value of the measured angle and remember the current measured angle, the zero time control of continuous time control of the direction of rotation and the signal failure of control of the SS, that is:

$${\alpha }_P={\alpha }_{\mathrm{And}CMi},{\alpha }_{C\mathrm{And}P}={\alpha }_{\mathrm{And}CMi},t_{KNY}=\mathrm{0,}{t}_{KN\mathrm{In}}=\mathrm{0,}{U}_{\mathrm{About}TK}=\mathrm{0,}\left(6\right)$$

where α_P- the calculated angle SAT;

α_ISM- the measured angle SA, the corresponding i-number of discrete sectors, in this case, 0≤i≤n-1, where n is the number of discrete sectors of the angle sensor;

α_ZAP- memorized angle;

t_NUCthe time control of continuous changes of values of the angle sensor;

t_KNVthe time control of the direction of rotation SB;

U_OTCsignal failure management SAT.

Based on the information generated by ectrodactyly or dates what IKI the position of the Sun using algorithms movement management system, determine the angle has SAT as the angular position of the projection unit direction vector to the Sun in the plane of rotation normal to the working surface SB relatively associated with the SPACECRAFT coordinate axes.

During rotation SAT until the end of the braking measure the angular position of the normal to the working surface SB relatively associated with the SPACECRAFT coordinate axes in the plane of its rotation with the accuracy of discrete angular sector of angle sensor.

When reaching the mismatch value between the specified and calculated angles greater than the threshold, i.e. when:

$$\left|{\alpha }_{C\mathrm{And}D}-{\alpha }_P\right|>{\alpha }_{CP},\left(7\right)$$

where α_ASS- set angle SAT;

α_P- the calculated angle SAT;

α_CP- angle actuation SAT,

give the command to start the rotation of the SB in the direction of reducing the specified error.

When reaching the mismatch value between the specified and calculated angles equal to the angle of release, issue the command for stopping the rotation of the SAT, that is, when:

$$\left|{\alpha }_{C\mathrm{And}D}-{\alpha }_P\right|\le {\alpha }_{\mathrm{About}TP},\left(8\right)$$

where α_OTP- angle release SAT.

Control continuity modify the values of the angle sensor is as follows. If during rotation of the SB current measured angle is different from the preset angle by the value of more than one discrete sector, that is, when |α_ZAPα_ISM|>σ, ticking control continuity. If the time control continuity exceeds a threshold, generate a fault signal and stop control of SAT, i.e.: if t_NUC>T_PKOthen U_OTC=1.

Stop timing control continuity,if the measured and memorized the angles are equal, or the measured angle is different from the memorized by the value of one discrete sector, i.e. t_NUC=0, if |α_ZAPα_ISM|≤σ.

At zero time value of the continuity control, that is, when t_NUC=0 exercise control of the direction of rotation of the SB as follows.

When you change a preset angle upward relative to the associated SPACECRAFT coordinate axes, the rotation of the SAT should be accomplished by the periodic formation of the team, "Forward", while the SB rotation is in direction is toward increasing the angular position of the SB from the zero sector i=0 to the last sector i=(n-1). The value of the measured angle when rotating forward, should change in the direction of increasing angle, which corresponds to the time change of the measured angle positive sign of the error between the measured and memorized angles, that is:

$${\alpha }_{\mathrm{And}CMi}-{\alpha }_{C\mathrm{And}P}>\mathrm{0,}\text{if the command "Forward"}\text{,}\left(\text{9}\right)$$

When you change a preset angle downward relative to the associated SPACECRAFT coordinate axes of rotation of the SAT should be accomplished by the periodic formation of the team Back in the direction of decreasing the angle of the provisions of SB from the last sector i=(n-1) to the zero sector i=0. The value of the measured angle must change in the direction of decreasing the angle that corresponds to the time change of the measured angle is negative the sign of the error between the measured and memorized angles, that is:

$${\alpha }_{\mathrm{And}CMi}-{\alpha }_{C\mathrm{And}P}<\mathrm{0,}\text{if the "Back"command}\text{,}\left(\text{10}\right)$$

If during rotation of the SB current measured angle is different from the preset angle, i.e. α_ZAP≠α_ISMand thus the sign of the mismatch between these angles does not match the specified direction of rotation, i.e. the condition (9) or (10) fails, then ticking control the direction of rotation. Generate a fault signal and stop running SB, if the value of the time control of the direction of rotation exceeds a threshold, that is:

U_OTC=1, if t_KNV>T_PNEC

where t_KNVthe time control of the direction of rotation.

If the continuity control is set to zero and the direction of change of the measured angle defined by the condition (9) or (10), corresponds to the direction of the issued command, then at the time of change of the current measured angle stop counting and reset time control of the direction of rotation, that is, t_KNV=0, while assign memorized the corner of new, changed one discrete sector of the value of the current measured angle, that is, when the forward rotation:

$${\alpha }_{C\mathrm{And}P}={\alpha }_{\mathrm{And}CMi+1},\left(11\right)$$

where α_ISM+1- the gross value of the bisectors (i+1)-th discrete sector angle sensor, where 0≤i≤n-1, where n is the number of discrete sectors of the angle sensor SA.

When rotating ago:

$${\alpha }_{C\mathrm{And}P}={\alpha }_{\mathrm{And}CMi-1},\left(12\right)$$

where α_ISM-1the angular value of the bisectors (i-1)-th discrete sector angle sensor.

At the same time carry out the correction of the calculated angle from the angular position of the boundaries between discrete angular sectors, with specified boundary, for example, the rotation of the SB in the direction of increasing angle, is calculated as:

$${\alpha }_{\mathrm{And}CMGi+1}=\left({\alpha }_{\mathrm{And}CMi+1}-\mathrm{0,5}\sigma \right),\left(13\right)$$

where α_Ismg+1angular value of i+1-th boundary between discrete sectors of the angle sensor.

During the rotation of SB in the direction of decreasing the angle above the boundary is calculated as:

$${\alpha }_{\mathrm{And}CMGi-1}=\left({\alpha }_{\mathrm{the}CMi-1}+\mathrm{0,5}\sigma \right),\left(14\right)$$

α_ISM-1the angular value of the bisectors (i-1)-th discrete sector angle sensor.

During rotation of the SB, in case of compliance with the conditions of correction, from the point of intersection of the normal boundaries between adjacent discrete sectors of the angle sensor, calculates the estimated angle relative to the specified limits taking into account the sign corresponding to the direction of rotation, for example, the rotation in the direction of increasing angle, as:

$${\alpha }_P={\alpha }_{\mathrm{And}CMGi}+{\omega }_{\mathrm{With\; a}B}\cdot \Delta t,\left(15\right)$$

where ∆t is the time of rotation of the SB after crossing the border between discrete sectors.

Figure 1 presents the circle of rotation of the solar panels, divided into discrete sectors, where:

SAT - solar battery;

And the center of the circle of rotation normal to the working surface SB;

DS₀DC_i-1DC_iDC_(n-1)discrete sector angle sensor;

i - number of discrete sector, 0≤i≤n-1;

n is the number of discrete sectors;

AB - the bisector of the i-th discrete sector DS_i;

α_CP- angle actuation SAT;

N_SBSposition normal to the working surface SAT at the corner of actuation;

α_CP- the calculated angle SAT at the mismatch between the specified direction and the normal angle of actuation;

N - position of the projection unit direction vector to the Sun in the plane of rotation normal to the working surface SB;

α_ASS- set angle SAT;

ω_SAT- direction angular velocity SS;

α_OTP- angle release SB;

N_Btesposition normal to the working surface SAT in the corner of the release;

α_PO- the calculated angle SAT at the mismatch between the specified direction and the normal is equal to the angle of release;

α_Ismg- corner boundary between sectors DS_i-1and DS_i;

AC - border (i-1)-th and i-th discrete sector angle sensor.

Figure 1 shows a circle which rotates SAT around the center of a Circle divided into equal discrete sector DS₀, ..., DS_i-1DC_i, ... DS_(n-1)size σ and the angle sensor SA generates values corresponding to the provisions of the bisectors of each of the discrete sectors, similar to the bis is ectasy AB discrete sector DS _i. When reaching the corner of the actuation α_CPbetween the angular position of the normals N_SBSto the working surface SB corresponding to the calculated angle α_PCand the position of the projection of N with angular position α_ASSstarts rotating SAT with angular velocity ω_SAT. At the corner of releasing α_OPTthe position of the normals N_Btescorresponds to the angle α_PO. Adjusting the calculated angle is in the moment of crossing the normal boundaries between discrete sectors of the angle sensor. For example, at the intersection of the normal boundaries of speakers between discrete sectors DS_i-1and DS_ithe calculated angle is assigned to the angular value of the boundaries between these sectors α_Ismgcalculated by equations (4) and (5).

Figure 2 presents the sequence diagram for monitoring the continuity of change in the measured angular position of the SS, where:

α_ASS- set angle SAT;

α_ISM- the measured angle SAT;

α_P- the calculated angle SAT;

α_CP- angle operation;

α_OTP- the angle of release;

σ - discrete sector angle sensor;

α₁- the first value of the measured angle SAT;

∆α₁, ∆α₂- change the values of the measured angles SAT with faults angle sensor;

U_FEsignal the presence of rotation or braking SAT;

t_NUCthe time control continuously the minute information changes the angular position of the security Council;

t_KNOthe time control continuity at the time of zeroing;

T_PKO- threshold value control time continuity;

U_OTCsignal failure;

U_Psignal interference that is causing the failure of the measured angle;

1, 11 - moments start the rotation of the SAT;

7 - the beginning of the braking SAT;

8 - the end of the braking SAT;

2, 3, 6 - moments correction of the calculated angle SAT;

4-5, 9-10, 11-12 - time ranges failure angle sensor;

12 - point signal failure.

Presented in figure 2 the sequence diagram of the control of the continuity of change in the measured angular position of the SB at time 1, when reaching the corner of the mismatch between the set of α_ASSand the estimated α_Pangles greater than threshold α_CPstarts the rotation of the SB in the direction of decrease of the error, thus forming the signal of presence of motion U_FE=1. In points 2 and 3 changes of the measured angle α_ISMthe value of one discrete sector angle sensor σ corrects the estimated angle α_Pon the border of the measured angle, i.e. α_P=α_Ismgwhile the boundary between discrete sectors, depending on the direction of rotation of the SB, is calculated by the equations (13) or (14). In the time range from point 4 to point 5 is formed by the interference signal, the calling line is the measured angle U _P>0, while the measured angle α_ISM=0°, that is, changes to the value of more than one discrete sector angle sensor with respect to the value at point 4, that is, ∆α₁>σ. Starting from the point 4 to point 5, a signal is generated interference that is causing the failure angle sensor, at the same time control the continuity of t_NUCduring a failure increases with the values of t_KN=0 to a value of t_NUC=t_KNO. At the moment 5 crash sensor angle stops, at this time, control continuity is not changed. At the moment 6 adjusts the calculated angle α_Ptime continuity control is set to zero, i.e. t_KN=0, since the measured value of the angle sensor is changed to a value of one discrete angular sector of angle sensor. At the moment 7 mismatch between the specified α_ASSand the estimated α_Pangles reaches the value of the angle α release_OTPwhen this starts braking SAT, which ends at point 8. Starting from 8 until 11, mismatch between the calculated α_Pand given α_ASSangles less than threshold α_CPwhen this rotation SB no. On the interval 9-10 bad sensor value of the angle α_ISM=0 ignored, because the rotation SB no. In point 11, while achieving the mismatch between the calculated α_Pand given the _ASSangles greater than threshold α_CPstarts the rotation of the SAT. Starting from the point 11 to point 12, a signal is generated interference, the value of the measured angle is changed by ∆α₂and takes the value α₁values of the calculated angle α_Pis not changed. From point 11 to point 12, the value of the time control the continuity of t_NUCincreasing values of t_KN=0 to the threshold value t_NUC=T_PKO. When exceeding the time control the continuity of t_NUCthe threshold value at the time 12, a signal is generated failure U_OTC=1 and management SAT terminated.

Figure 3 presents the sequence diagram for controlling the direction of rotation of the SS, where:

α_ASS- set angle SAT;

α_ISM- the measured angle SAT;

α_P- the calculated angle SAT;

U_FEsignal the presence of rotation or braking SAT;

t_KNVthe time control of the direction of rotation;

T_PNEC- threshold value control time direction of rotation;

U_OTCsignal failure;

13, 17 - moments start the rotation of the SAT;

16 - the end of the rotation and braking SAT;

14, 15, 18, 19, 20 - moments adjust estimated angle SAT;

21 - point signal failure.

On figure 3 presents the sequence diagram for controlling the direction of rotation of the SB at the moment 13 when exceeding the attachment angle of misalignment between the given α _ASSand the estimated α_Pangles greater than threshold α_CPSaturday starts rotation in the direction to reduce the error, when a signal of the presence of motion U_FE=1. In points 14, 15 are used for correction of the calculated angle α_Pon the border of the measured angle, i.e. α_P=α_Ismg. At the moment 16 after braking the rotation of the SS stops. Since 17 is formed a team to the SB rotation in the direction to reduce the error between the desired α_ASSand the estimated α_Pangles, while a signal is generated in the presence of motion U_FE=1. In moments 18, 19, 20 adjustment of the estimated angle measured by the angle, the direction of change of the measured angle α_ISMdoes not coincide with the direction issued by the team on rotation and, accordingly, the direction of change of the calculated angle α_P. Since 18, the value of the time control of the direction of rotation t_KNVincreasing values of t_KNV=0 to the threshold value t_KNV=T_PNECat the moment 21. In point 21 is exceeding the time control of the direction of rotation t_KNVthe threshold value T_PNEC, resulting in a fault signal U_OTC=1 and management SAT terminated.

The proposed method allows visit survivability and effectiveness of the functioning of the SB due to timely detection of failures control orientation SAT, related omissions or receiving false information from the angle sensor, as well as failures associated with a violation of executing commands on the rotating SAT. Timely detection of system failure management orientation SAT prevents interruption of power supply on-Board equipment from SAT. The denial of the continuity of the information changes the angular position of the SAT can be preroman by switching, for example, to backup the angle position sensors SA, based on other physical principles. The failure associated with the violation of the direction of rotation of the SB can be preroman, for example, by switching on the backup control commands SB.

Sources of information

1. RF patent 2356788, VS 1/00, 28.12.2007,

The method of controlling the orientation of the solar panels of the spacecraft with control of the direction of rotation and continuity of information changes the angular position of the solar panels, which determine the angle of the solar battery as the angular position of the projection unit direction vector to the Sun in the plane of rotation normal to its working surface is relatively related to the spacecraft coordinate axes, measure the current angle of the solar battery as the angular position of the normal to the working surface of the solar battery in the plane of its rotation with an accuracy of d is a discrete sector angle sensor, determine the angular velocity of the solar battery, calculate the estimated angle as the product of the angular velocity of the solar battery during its rotation, rotate the solar panel in the direction of reducing the mismatch between the specified and calculated angles to determine the angle acceleration of the solar battery as the angle between the normal to the working surface of the solar panels relative to these coordinate axes since the beginning of the rotation of the solar battery when the error until it reaches a steady-state angular velocity, determine the angle of deceleration of the solar battery as the deflection angle of the specified normal upon cessation of the error until the end of the rotation, corrects the estimated angle of the solar battery in moments of change in the measured angular positions of the normal to the amount of one discrete sector, determine the maximum angle α_MAXthat may deviate solar panel:
$${\alpha }_{MAX}=\arccos \frac{I_{MIN}}{I_{MAX}}$$
where I_MIN- the minimum current produced by the solar battery;
I_MAX- maximum current produced by the solar is atarea,
set the threshold α_CPabove which is formed a mismatch between the specified and calculated angles:
(α_ACCEL+ α_TORM)< α_CP< α_MAX,
where α_ACCELα_TORMrespectively the angles of the acceleration and deceleration of the solar battery,
set the threshold release α_OTPless that stopped the error between the desired and calculated angles of the solar battery: α_OTP≈ α_TORMstop the rotation of the solar battery when the threshold is reached, release, characterized in that the determined acceleration and deceleration time of the solar battery corresponding to the corners of acceleration and deceleration, break the circle angle sensor on an equal discrete sector value:
(α_ACCEL+ α_TORM)<σ<α_CP,
where σ is the angular value of one discrete sector angle sensor, set the threshold value control time continuity information changes the angular position of the solar battery within the range:
$$0<T_{PKNY}<\frac{{\alpha }_{CP}}{{\omega }_{\mathrm{With\; a}B}}$$
where T_PKO- the threshold value control time of continuous change information Uglova the position of the solar battery;
ω_SAT- steady-state angular velocity of the solar battery,
set the threshold time control of the direction of rotation of the solar battery within the range:
$$(t_{P\mathrm{And}CG}+t_{T\mathrm{About}PM}+\frac{\sigma }{{\omega }_{\mathrm{With\; a}B}})<T_{PKN\mathrm{In}}<\frac{{\alpha }_{MAX}}{{\omega }_{\mathrm{With\; a}B}}$$
where T_PNEC- threshold-time control of the direction of rotation of the solar battery;
t_ACCEL, t_TORM- acceleration and deceleration time of the solar battery before beginning the attitude control of solar assign the calculated angle is the measured angle and memorize the measured angle during rotation of the solar battery ticking control continuity, if the current measured angle is different from the preset angle by more than one discrete sector, the stop timing control continuity and reset it, if the current measured angle is different from the preset angle of not more than one sector, with zero time value to which ntrolle continuity ticking control the direction of rotation, if the sign of the mismatch between the current measured and memorized angles do not match the direction of rotation of the solar battery, stop timing control rotation and reset it, if the sign of the mismatch between the current measured and memorized angles corresponds to the specified direction of rotation of the solar battery, if the current measured angle is changed to one discrete sector and the sign of the mismatch between the current measured and memorized angles corresponds to the specified direction of rotation of the solar battery, the time change of the current measured angle specify the estimated corner of the boundary between these discrete sectors, and assign memorized corner of the new value of the measured angle, generate a fault signal and stop control solar panel, if the continuity control or time control of the direction of rotation exceeds a corresponding threshold value.