[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
[0043] In order to make the above objectives, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0044] Reference figure 1 As shown, this embodiment provides an ultra-stable satellite platform, including a load module, an attitude adjustment module, and a flexible cable. The load module and the attitude adjustment module are connected by the flexible cable; the load module is connected to the The posture adjustment modules do not touch each other.
[0045] The load module is used to carry a payload, which has high stability requirements for the satellite platform; the load module is provided with a first attitude sensor, a first attitude adjustment coil group, and a first wireless transceiver module ;
[0046] The first attitude sensor is used to sense attitude information of the load module;
[0047] The first attitude adjustment coil group is used for fine adjustment of the posture of the load; in this embodiment, a first attitude adjustment coil is respectively provided at the four corners of the load module, as specifically figure 2 Shown.
[0048] The first wireless transceiver module is configured to communicate with the attitude adjustment module, and send the attitude information collected by the first attitude sensor to the attitude adjustment module through a wireless transmission mode;
[0049] The attitude adjustment module is used to adjust the attitude of the load module; the attitude adjustment module includes a attitude adjustment platform, a robot arm, and a controller; the controller is connected to the robot arm, and the robot arm is connected to the The attitude adjustment platform is connected, and the attitude adjustment platform is connected to the load module through the flexible cable.
[0050] The attitude adjustment platform is used to drive the load module to perform attitude adjustment; the attitude adjustment platform is provided with a second attitude sensor, an electromagnet, a non-contact position sensor, and a second attitude adjustment coil group;
[0051] The second attitude sensor is used to sense attitude information of the attitude adjustment platform;
[0052] The electromagnet completes the connection and separation between the attitude adjustment platform and the load module through power-on and power-off;
[0053] The non-contact position sensor is used to sense relative position information between the attitude adjustment platform and the load module;
[0054] The second posture adjustment coil group corresponds to the number and position of the first posture adjustment coil group; by energizing the first posture adjustment coil group and the second posture adjustment coil group, the first posture adjustment coil group The coil group and the second attitude adjustment coil group generate magnetic force, the magnetic force is thrust or pull, and the magnetic force between the first attitude adjustment coil group and the second attitude adjustment coil group is used to fine-tune the posture of the load module, The high-precision pointing and vibration suppression of the satellite platform are realized.
[0055] The mechanical arm is used to drive the movement of the attitude adjustment platform; the mechanical arm adopts a six-degree-of-freedom mechanical arm, and the six-degree-of-freedom mechanical arm is provided with several ultrasonic motors, and the ultrasonic motors are used to drive the six degrees of freedom. Degree of freedom robotic arm.
[0056] The controller is used to control the six-degree-of-freedom mechanical arm; the controller includes a second wireless transceiver module and a control module, and the control module is connected to the six-degree-of-freedom mechanical arm;
[0057] The second wireless transceiving module is used to communicate with the first wireless transceiving module and receive the posture information collected by the first posture sensor;
[0058] The control module is used to drive the six-degree-of-freedom mechanical arm, and the six-degree-of-freedom mechanical arm drives the attitude adjustment platform to move.
[0059] The flexible cable is used for energy transmission between the attitude adjustment module and the load module.
[0060] The payload of a satellite in orbit, such as a deep-space telescope, needs to be adjusted for pointing and attitude in space. This embodiment provides an attitude adjustment control method, which includes the following steps:
[0061] Step S1: Connect the attitude adjustment platform and the load module.
[0062] The first attitude sensor senses and collects the attitude information of the load module, and transmits the attitude information of the load module to the controller through the first wireless transceiver module and the second wireless transceiver module. The second attitude sensor senses and collects the attitude information of the attitude adjustment module. Attitude information, the non-contact position sensor senses and collects the relative position information between the load module and the attitude adjustment module; the control module drives the six degrees of freedom according to the information collected by the first attitude sensor, the second attitude sensor and the non-contact position sensor The robot arm moves the attitude adjustment platform to a position parallel to the load module and the distance between the attitude adjustment platform and the load module is less than 1mm.
[0063] Because the ultrasonic motor has the power-off self-locking ability, the six-degree-of-freedom manipulator cannot move freely without power. Through the control module, the in-phase current is supplied to each ultrasonic motor on the six-degree-of-freedom manipulator. Under the action of the in-phase current, the ultrasonic motor rotor is in the ultrasonic suspension state, so the six-degree-of-freedom manipulator is in a state of free motion. When the iron is energized, the attitude adjustment platform and the load module can be connected by an electromagnet with minimal impact.
[0064] Step S2, the load module is driven by the six-degree-of-freedom manipulator to adjust the pose.
[0065] The control module drives the six-degree-of-freedom manipulator through the information collected by the first attitude sensor and the new pose information of the load module, so that the attitude adjustment platform drives the load module to move to the new pose; the new pose information is carried by the satellite payload For example, adjust the load module so that the satellite points to the new star. The six-degree-of-freedom manipulator drives the attitude adjustment platform to drive the load module to move the attitude adjustment, which realizes the large-angle attitude adjustment of the load module, avoids the use of high-power reaction wheels for large-angle attitude, and because the ultrasonic motor responds quickly, it can achieve Quick response to the posture adjustment of the load module.
[0066] Step S3: Separate the attitude adjustment platform and the load module, and fine-tune the attitude of the load module.
[0067] After the load module moves to the new position, the electromagnet is powered off to separate the attitude adjustment platform from the load module. The control module sends the information collected by the first attitude sensor to the first attitude adjustment coil group and the second attitude adjustment coil group. Apply current of appropriate size and direction, and use the magnetic force between the first and second attitude adjustment coils to drive the load module to perform a small displacement, complete the fine adjustment of the load module's attitude, and effectively improve the attitude of the load module The accuracy of the adjustment. Then, the control module drives the six-degree-of-freedom manipulator according to the information collected by the first attitude sensor, the second attitude sensor and the non-contact position sensor, so that the attitude adjustment platform moves parallel to the load module, and the attitude adjustment platform and the load module The distance between them is greater than 1mm.
[0068] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention, rather than indicating or It is implied that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.
[0069] The above-mentioned embodiments only describe the preferred mode of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, those of ordinary skill in the art have made various contributions to the technical solutions of the present invention. Variations and improvements should fall within the protection scope determined by the claims of the present invention.
