Supporting table and supporting method for control moment gyroscope

Abstract

The invention relates to the technical field of aerospace, in particular to a supporting table and a supporting method for a control moment gyroscope. The supporting table comprises a position moving device, a positioning locking device, a damping adjusting device and a mounting disc for mounting the control moment gyroscope; the position moving device comprises a supporting flexible beam, one end of the supporting flexible beam is connected with the installation disc, when the positioning locking device is in a locking state, the positioning locking device locks and fixes the part, making contact with the positioning locking device, of the supporting flexible beam, and when the positioning locking device is in a sliding state, the positioning locking device can slide on the flexible beam. The supporting rigidity of the mounting disc can be changed by changing a positioning and locking device in a locking state on the supporting flexible beam; the damping adjusting device comprises a compression spring and a damping fin, the damping fin is connected with the mounting disc, the compression spring is connected with the damping fin, and the damping of the mounting disc is adjusted by adjusting the elastic force of the compression spring. The invention provides a supporting table and a supporting method for a control moment gyroscope. The supporting rigidity and damping can be adjusted.

Description

Technical Field

[0001] The invention relates to the field of aerospace technology, and in particular to a support platform and a support method for controlling a moment gyroscope. Background Art

[0002] The optical cabin of the space station is the largest comprehensive scientific research and application facility for manned space engineering application systems. The control moment gyro is the main attitude control actuator for large spacecraft such as the optical cabin of the space station. The mission requires the control moment gyro to achieve extremely high control accuracy and ultra-low micro-vibration at the same time. The realization of extremely high control accuracy and ultra-low micro-vibration requires the control moment gyro to be installed on a vibration isolation platform. When the control moment gyro is installed on the vibration isolation platform, the flexibility and damping of the vibration isolation platform will seriously affect the control performance of the control moment. In order to study the influence of the support stiffness and damping of the vibration isolation platform on the control performance of the control moment gyro, it is necessary to develop a support platform with adjustable support stiffness and damping. Summary of the invention

[0003] The embodiment of the present invention provides a support platform and a support method for controlling a moment gyroscope, and can provide a support platform with adjustable support stiffness and damping.

[0004] In a first aspect, an embodiment of the present invention provides a support platform for a control moment gyroscope, comprising a position moving device, a positioning locking device, a damping adjustment device, and a mounting plate for mounting the control moment gyroscope;

[0005] The position moving device comprises a supporting flexible beam, one end of which is connected to the mounting plate, the positioning locking device is sleeved on the supporting flexible beam, the positioning locking device comprises a locking state and a sliding state, when the positioning locking device is in the locking state, the positioning locking device locks and fixes the part of the supporting flexible beam in contact with it, when the positioning locking device is in the sliding state, the positioning locking device can slide on the flexible beam, and the supporting stiffness of the mounting plate is changed by changing the positioning locking device in the locking state on the supporting flexible beam;

[0006] The damping adjustment device comprises a compression spring and a damping plate, wherein the damping plate is connected to the mounting plate, and the compression spring is connected to the damping plate, and the damping of the mounting plate is adjusted by adjusting the elastic force of the compression spring.

[0007] In a possible design, the position moving device further includes a first servo motor, a bracket, a guide rail, a first lead screw, a first lead screw nut, and a guide rail slider;

[0008] One end of the supporting flexible beam is fixedly connected to the bracket, the rotating shaft of the first servo motor is connected to the first lead screw, the first lead screw nut is threadedly connected to the first lead screw, the two ends of the first lead screw nut are respectively connected to the guide rail slider and the positioning locking device, and the guide rail slider is slidably connected to the guide rail.

[0009] In a possible design, the locking device includes a second servo motor, a pin, a first movable slider provided with a threaded through hole and a linear bearing, a second movable slider, and a locking bolt;

[0010] The first movable slider and the second movable slider are fixed to each other from both sides of the supporting flexible beam to be slidably mounted on the supporting flexible beam. The rotating shaft of the second servo motor is connected to the locking bolt, and the locking bolt is threadedly connected to the threaded through hole. One end of the pin shaft is fixed to the second servo motor, and the other end is inserted into the linear bearing. The second servo motor drives the locking bolt to select so that the locking bolt presses or releases the supporting flexible beam.

[0011] In a possible design, the damping adjustment device includes a third servo motor, a second lead screw, a damping plate, a compression spring, a second lead screw nut, and a moving plate;

[0012] The rotating shaft of the third servo motor is connected to the second lead screw, the second lead screw is threadedly connected to the second lead screw nut, the second lead screw nut is connected to the movable plate, the movable plate is connected to one end of the compression spring, and the other end of the compression spring is connected to the damping plate. The second lead screw is driven to rotate by the third servo motor to adjust the pressure applied by the compression spring to the damping plate.

[0013] In a possible design, the damping sheet is arranged in the damper seat, two damping plates are arranged on both sides of the damping sheet, and the compression spring provides elastic force to press one damping plate, the damping sheet and another damping plate against the damper seat wall in sequence.

[0014] In a possible design, one end of the compression spring is connected to a pressure plate, a guide rod is provided on the pressure plate, the guide rod passes through the movable plate, and the guide rod is used to limit the movable plate to move only along the guide rod.

[0015] In a possible design, a cross-section of the supporting flexible beam includes a trapezoid.

[0016] In a possible design, the supporting flexible beam includes two plates with different stiffnesses, and the two plates are connected along the thickness direction.

[0017] In a possible design, the position moving device is mounted on a bottom plate, the bottom plate is provided with a groove, the size of the groove matches the bottom shape of the position moving device, and the position moving device and the groove are detachably connected by bolts;

[0018] The length of the slot is greater than the length of the bottom of the position moving device, so that the position moving device can slide in the slot to adjust its position.

[0019] In a second aspect, an embodiment of the present invention further provides a supporting method for a controlled moment gyroscope, based on any supporting platform in the above embodiments, the supporting method comprises:

[0020] Adjusting the locking position of the positioning locking device to adjust the support stiffness of the mounting plate;

[0021] The elastic force of the compression spring of the damping adjuster is adjusted to adjust the damping of the mounting plate.

[0022] Compared with the prior art, the present invention has at least the following beneficial effects:

[0023] The technical problem to be solved by the present invention is to provide a flexible support platform with variable stiffness and damping to simulate the influence of the vibration isolation platform on the control performance of the control moment gyro. The flexible support platform includes a position moving device, a positioning locking device, a damping adjustment device and a mounting plate for mounting the control moment gyro. The mounting plate is supported by four flexible beams of the position moving device, and the position moving device is fixed on the base plate; the damping adjustment device is fixed on the base plate, and its upper connecting piece is fixed on the mounting plate, and the base plate is fixed on the test ground rail to form a stable foundation. The positioning locking device can slide on the flexible beam, thereby supporting the flexible beam at different positions to change the support stiffness of the control moment gyro; during the vibration process, the upper connecting piece of the damping adjustment device vibrates with the mounting plate, and the damping of the damping plate is changed by changing the elastic force applied to the damping plate by the compression spring of the damping adjustment device, thereby changing the tension and pressure applied to the mounting plate by the damping plate through the connecting piece, thereby changing the damping of the flexible support platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 is a structural schematic diagram of a support platform provided by an embodiment of the present invention;

[0026] Figure 2is a structural schematic diagram of a position moving device provided by an embodiment of the present invention;

[0027] Figure 3 It is a structural schematic diagram of a positioning and locking device provided by an embodiment of the present invention;

[0028] Figure 4 is a structural schematic diagram of another positioning and locking device provided by an embodiment of the present invention;

[0029] Figure 5 is a structural schematic diagram of a damping adjustment device provided by an embodiment of the present invention;

[0030] Figure 6 It is a schematic diagram of the cross-section of a trapezoidal supporting flexible beam and a cross-section of a movable slider provided in an embodiment of the present invention;

[0031] Figure 7 is a structural schematic diagram of a supporting flexible beam provided by an embodiment of the present invention;

[0032] Figure 8 is a schematic diagram of another structure of a supporting flexible beam provided by an embodiment of the present invention;

[0033] Fig. 9 It is a structural schematic diagram of a chassis provided by an embodiment of the present invention.

[0034] In the figure:

[0035] 1- Bottom plate;

[0036] 11-slot;

[0037] 12-threaded hole;

[0038] 2-position moving device;

[0039] 201-first servo motor;

[0040] 202-first coupling;

[0041] 203-Stand;

[0042] 204-guide rail seat;

[0043] 205-guide rail;

[0044] 206-first screw;

[0045] 207-first screw nut;

[0046] 208-guide rail slider;

[0047] 209-locking device connector;

[0048] 210-flexible beam;

[0049] 211- bracket cross connector;

[0050] 3- Positioning locking device;

[0051] 31- second servo motor;

[0052] 32-pin;

[0053] 33-Linear bearing;

[0054] 34-first moving slider;

[0055] 35- second moving slider;

[0056] 36-locking bolt;

[0057] 37- tableting;

[0058] 4- Damping adjustment device;

[0059] 401- third servo motor;

[0060] 402- reducer;

[0061] 403-Motor mounting seat;

[0062] 404- second coupling;

[0063] 405-damper seat;

[0064] 406-mobile board;

[0065] 407-second lead screw;

[0066] 408-pressure plate;

[0067] 409-damping plate;

[0068] 410-damping sheet;

[0069] 411- damping plate interface;

[0070] 412-screw mounting seat;

[0071] 413-guide rod;

[0072] 414-compression spring;

[0073] 415-second lead screw nut;

[0074] 5- Installation disk. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0076] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance; unless otherwise specified or explained, the term "multiple" refers to two or more; the terms "connected" and "fixed" should be understood in a broad sense, for example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] In the description of this specification, it should be understood that the directional words such as "upper" and "lower" described in the embodiments of the present invention are described at the angles shown in the drawings and should not be understood as limiting the embodiments of the present invention. In addition, in the context, it should also be understood that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element.

[0078] like Figure 1 As shown, an embodiment of the present invention provides a support platform for a control moment gyro, comprising a position moving device 2, a positioning locking device 3, a damping adjustment device 4 and a mounting plate 5 for mounting the control moment gyro;

[0079] The position moving device 2 includes a supporting flexible beam 210, one end of which is connected to the mounting plate 5, and a positioning locking device 3 is sleeved on the supporting flexible beam 210. The positioning locking device 3 includes a locking state and a sliding state. When the positioning locking device 3 is in the locking state, the positioning locking device 3 locks and fixes the part of the supporting flexible beam 210 in contact with it. When the positioning locking device 3 is in the sliding state, the positioning locking device 3 can slide on the flexible beam 210. By changing the positioning locking device in the locking state on the supporting flexible beam 210, the supporting stiffness of the mounting plate 5 can be changed.

[0080] The damping adjustment device 4 includes a compression spring 414 and a damping plate 410 . The damping plate 410 is connected to the mounting plate 5 . The compression spring 414 is connected to the damping plate 410 . The damping of the mounting plate 5 can be adjusted by adjusting the elastic force of the compression spring 414 .

[0081] The technical problem to be solved by the present invention is to provide a flexible support platform with variable stiffness and damping to simulate the influence of the vibration isolation platform on the control performance of the control moment gyro. The flexible support platform includes a position moving device 2, a positioning locking device 3, a damping adjustment device 4 and a mounting plate 5 for mounting the control moment gyro. The mounting plate 5 is supported by four flexible beams 210 of the position moving device 2, and the position moving device 2 is fixed on the base plate 1; the damping adjustment device 4 is fixed on the base plate 1, and its upper connecting piece is fixed on the mounting plate 5, and the base plate 1 is fixed on the test ground rail to form a stable foundation. The positioning locking device 3 can slide on the flexible beam 210, thereby supporting the flexible beam 210 at different positions to change the support stiffness of the control moment gyro; during the vibration process, the upper connecting piece of the damping adjustment device 4 vibrates together with the mounting plate 5, and the damping of the damping plate 410 is changed by changing the elastic force applied by the compression spring 414 of the damping adjustment device 4 to the damping plate 410, thereby changing the tension and pressure applied by the damping plate 410 to the mounting plate 5 through the connecting piece, thereby changing the damping of the flexible support platform.

[0082] Please refer to Figure 2 , in some embodiments of the present invention, the position moving device 2 further includes a first servo motor 201, a bracket 203, a guide rail 205, a first lead screw 206, a nut of the first lead screw 206, and a guide rail slider 208;

[0083] One end of the supporting flexible beam 210 is fixedly connected to the bracket 203, the rotating shaft of the first servo motor 201 is connected to the first lead screw 206, the nut of the first lead screw 206 is threadedly connected to the first lead screw 206, and the two ends of the nut of the first lead screw 206 are respectively connected to the guide rail slider 208 and the positioning locking device 3, and the guide rail slider 208 is slidably connected to the guide rail 205.

[0084] Specifically, the position moving device includes a first servo motor 201, a first coupling 202, a bracket 203, a guide rail seat 204, a guide rail 205, a first lead screw 206, a first lead screw nut 207, a guide rail slider 208, a locking device connector 209, a flexible beam 210, and a bracket cross connector 211. The bracket cross connector 211 fixes one end of the flexible beam 210 to the bracket 203, and the other end of the flexible beam 210 is fixedly connected to the mounting plate through the mounting plate cross connector. The first coupling 202 is fixedly connected to the first servo motor 201 and the first lead screw 206. When the first servo motor 201 rotates, it drives the first lead screw 206 to rotate. When the first lead screw rotates, the first lead screw nut 207 on the first lead screw moves on the first lead screw; the bottom of the first lead screw nut is fixedly connected to the guide rail slider 208, and the top of the first lead screw nut 207 is fixed to the locking device connector 209. The locking device connector 209 connects the first lead screw nut 207 and the locking device 3, so that when the first lead screw nut 207 moves, the locking device 3 moves together; during the specific movement, the guide rail slider 208, the first lead screw 206 nut, the locking device connector 209, and the locking device move together. When the locking device does not slide, it is in a locked state, supporting the flexible beam at its position. When sliding is required, the locking device will be released first. The closer the locking device is to the mounting plate 5, the greater the support stiffness.

[0085] Please refer to Figure 3 and Figure 4 In some embodiments of the present invention, the locking device includes a second servo motor 31, a pin 32, a first movable slider 34 provided with a threaded through hole and a linear bearing 33, a second movable slider 35, and a locking bolt 36;

[0086] The first movable slider 34 and the second movable slider 35 are fixed to each other from both sides of the supporting flexible beam 210 to be slidably mounted on the supporting flexible beam 210. The rotating shaft of the second servo motor 31 is connected to the locking bolt 36. The locking bolt 36 is threadedly connected to the threaded through hole. One end of the pin shaft 32 is fixed to the second servo motor 31, and the other end is inserted into the linear bearing 33. The second servo motor 31 drives the locking bolt 36 to select so that the locking bolt 36 presses or releases the supporting flexible beam 210.

[0087] In this embodiment, the locking device includes a second servo motor 31, a pin shaft 32, a linear bearing 33, a first moving slider 34, a second moving slider 35, a locking bolt 36, and a pressing plate 37. The first moving slider 34 and the second moving slider 36 are bolted together to form a moving slider, and the middle of the first moving slider has a threaded through hole that cooperates with the locking bolt 36. The second servo motor 31 is fixed to the locking bolt 36; one end of the pin shaft 32 is fixed to the second servo motor 31, and the other end is inserted into the linear bearing 33 of the first moving slider 34. When the second servo motor 31 rotates, it moves up and down with the locking bolt 36 at the same time. When moving downward, it presses the supporting flexible beam 210 in the moving slider groove against the pressing plate 37, thereby locking the supporting flexible beam 210. When moving upward, the pressing plate 37 is released, thereby releasing the supporting flexible beam 210, so that the moving slider can slide freely on the supporting flexible beam 210.

[0088] Please refer to Figure 5 , in some embodiments of the present invention, the damping adjustment device 4 includes a third servo motor 401, a second lead screw 407, a damping plate 410, a compression spring 414, a second lead screw nut 415, and a moving plate 406;

[0089] The rotating shaft of the third servo motor 401 is connected to the second lead screw 407, the second lead screw 407 is threadedly connected to the second lead screw nut 415, the second lead screw nut 415 is connected to the movable plate 406, the movable plate 406 is connected to one end of the compression spring 414, and the other end of the compression spring 414 is connected to the damping plate 410. The second lead screw 407 is driven to rotate by the third servo motor 401 to adjust the pressure applied by the compression spring 414 to the damping plate 410.

[0090] In this embodiment, the third servo motor 401 can be rotated to drive the second lead screw 407 to rotate, thereby driving the movable plate 406 to move to compress or release the compression spring 414. The elastic force on the damping plate 410 pressed by the compression spring 414 changes, thereby achieving a change in the damping of the mounting plate 5 connected to the damping plate 410.

[0091] In some embodiments of the present invention, a damping sheet 410 is disposed in a damper seat 405, two damping plates 409 are disposed on both sides of the damping sheet 410, and a compression spring 414 provides elastic force to press a damping plate 409, a damping sheet 410 and another damping plate 409 against the wall of the damper seat 405 in sequence.

[0092] In some embodiments of the present invention, one end of the compression spring 414 is connected to a pressure plate 408 , and a guide rod 413 is provided on the pressure plate 408 . The guide rod 413 passes through the movable plate 406 , and the guide rod 413 is used to limit the movable plate 406 to move only along the guide rod 413 .

[0093] Specifically, the damping adjustment device includes a third servo motor 401, a reducer 402, a motor mounting seat 403, a second coupling 404, a damper seat 405, a moving plate 406, a second lead screw 407, a pressure plate 408, a damping plate 409, a damping plate 410, a damping plate interface 411, a lead screw mounting seat 412, a guide rod 413, a compression spring 414, and a second lead screw nut 415. The device is fixedly connected to the mounting plate 5 via the damping plate interface 411, the damping plate interface 411 is fixed on the damping plate 410, the damping plates 409 (the damping plates are wear-resistant self-lubricating brass plates) are on both sides of the damping plate 410, the pressure plate 408 presses the damping plate 409 on the left side of the damping plate 410, and there are compression springs 414, a second lead screw 407, a second lead screw nut 415, a lead screw mounting seat 412, and a guide rod 413 between the pressure plate 408 and the moving plate 406; The damping is adjusted by controlling the clamping force of the damping plates 409 on the left and right sides. The control of the clamping force is controlled by controlling the spring pressure between the moving plate 406 and the pressure plate 408. The second lead screw nut 415 is fixed on the moving plate 406. The lead screw mounting seat 412 is fixed on the pressure plate 408. When the second lead screw 407 rotates, the compression spring 414 is compressed or released, thereby changing the spring pressure. The second lead screw 407 is guided by four guide rods 413 when moving. The third servo motor 401 is fixed to the bottom plate through the motor mounting seat 403.

[0094] Please refer to Figure 6 In some embodiments of the present invention, the cross-section of the supporting flexible beam 210 includes a trapezoid.

[0095] The cross section of the flexible beam 210 of this embodiment is trapezoidal, and the cross section of the groove matched with the flexible beam 210 is also trapezoidal. With this structure, the flexible beam 210 only needs a small locking force to be locked, thereby reducing the specifications and dimensions of the servo motor of the locking device. When the flexible beam 210 with a rectangular cross section is matched with the groove of the flexible beam 210, if there is no gap, it is difficult for the moving slider to slide. If there is a gap, it takes a large locking force to lock the flexible beam 210 during vibration, otherwise it is easy to slide, resulting in a sudden change in the support state and unstable support stiffness. In this embodiment, the trapezoidal flexible beam 210 and the trapezoidal flexible beam 210 groove are matched. The locking bolt 36 is against the large bottom edge of the trapezoidal flexible beam 210 when locking. Only a small locking force is needed to lock the flexible beam 210. When the locking bolt 36 is released, the trapezoidal flexible beam 210 is easy to slide in the trapezoidal flexible groove.

[0096] Please refer to Figure 7 In some embodiments of the present invention, the supporting flexible beam 210 includes two plates with different stiffnesses, and the two plates are connected along the thickness direction.

[0097] In this embodiment, the support flexible beam 210 is composed of two plates made of different stiffness materials of the same length and width. Compared with the support flexible beam 210 of a single material, the support flexible beam 210 of different stiffness can be designed by setting different thicknesses of the two plates, thereby providing a wider range of support stiffness.

[0098] Please refer to Figure 8 In some preferred embodiments, the support flexible beam 210 may have its own interface and may be directly fixed to the mounting plate 5 with bolts. In order to avoid the gap causing the flexible beam 210 to slide during vibration, thereby causing the support stiffness to be unstable, the connection is set to be an interference connection, which brings inconvenience to the disassembly of the support cross connector 211 and the mounting plate 5 cross connector when replacing different flexible beams 210. The disassembly is not only troublesome, but may also damage the support flexible beam 210.

[0099] Please refer to Fig. 9 In some embodiments of the present invention, the position moving device 2 is mounted on the bottom plate 1, the bottom plate 1 is provided with a groove, the size of the groove matches the bottom shape of the position moving device 2, and the position moving device 2 and the groove are detachably connected by bolts;

[0100] The length of the slot is greater than the length of the bottom of the position moving device 2, so that the position moving device 2 can slide in the slot to adjust its position.

[0101] Specifically, there are grooves 11 on the base plate 1, each of which has two rows of mounting threaded holes 12. The threaded holes cooperate with the through holes of the guide rail seat 204 of the position moving device 2. The grooves and the guide rail seat 204 cooperate so that the position moving device 2 can slide as a whole in the groove to adapt to installation disks 5 of different sizes. When replacing the installation disk 5, the position of the position moving device 2 can be accurately located, and the installation is convenient.

[0102] In a second aspect, an embodiment of the present invention further provides a supporting method for a controlled moment gyroscope. Based on any supporting platform in the above embodiments, the supporting method includes:

[0103] Adjust the locking position of the positioning locking device 3 to adjust the support stiffness of the mounting plate 5;

[0104] The damping of the mounting plate 5 is adjusted by adjusting the elastic force of the compression spring 414 of the damping adjuster.

[0105] It should be noted that the various method embodiments of the present invention and the various system embodiments of the present invention are based on the same inventive concept and therefore can achieve the same technical effects. For specific effects, please refer to the above-mentioned system embodiments and will not be repeated here.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A support platform for controlling a moment gyro, It is characterized in that It comprises a position moving device (2), a positioning locking device (3), a damping adjustment device (4) and a mounting plate (5) for mounting a control moment gyro; The position moving device (2) comprises a supporting flexible beam (210), one end of which is connected to the mounting plate (5), and the positioning locking device (3) is sleeved on the supporting flexible beam (210). The positioning locking device (3) comprises a locking state and a sliding state. When the positioning locking device (3) is in the locking state, the positioning locking device (3) locks and fixes the part of the supporting flexible beam (210) in contact with it. When the positioning locking device (3) is in the sliding state, the positioning locking device (3) can slide on the flexible beam (210). By changing the positioning locking device in the locking state on the supporting flexible beam (210), the supporting stiffness of the mounting plate (5) is changed. The damping adjustment device (4) comprises a compression spring (414) and a damping plate (410); the damping plate (410) is connected to the mounting plate (5); the compression spring (414) is connected to the damping plate (410); and the damping of the mounting plate (5) is adjusted by adjusting the elastic force of the compression spring (414).

2. The support platform according to claim 1, It is characterized in that The position moving device (2) further comprises a first servo motor (201), a bracket (203), a guide rail (205), a first lead screw (206), a nut of the first lead screw (206), and a guide rail slider (208); One end of the supporting flexible beam (210) is fixedly connected to the bracket (203), the rotating shaft of the first servo motor (201) is connected to the first lead screw (206), the nut of the first lead screw (206) is threadedly connected to the first lead screw (206), the two ends of the nut of the first lead screw (206) are respectively connected to the guide rail slider (208) and the positioning locking device (3), and the guide rail slider (208) is slidably connected to the guide rail (205).

3. The support platform according to claim 1, It is characterized in that The locking device comprises a second servo motor (31), a pin shaft (32), a first movable slider (34) provided with a threaded through hole and a linear bearing (33), a second movable slider (35), and a locking bolt (36); The first movable slider (34) and the second movable slider (35) are fixed to each other from both sides of the supporting flexible beam (210) to be slidably mounted on the supporting flexible beam (210). The rotating shaft of the second servo motor (31) is connected to the locking bolt (36), and the locking bolt (36) is threadedly connected to the threaded through hole. One end of the pin shaft (32) is fixed to the second servo motor (31), and the other end is inserted into the linear bearing (33). The second servo motor (31) drives the locking bolt (36) to select so that the locking bolt (36) presses or releases the supporting flexible beam (210).

4. The support platform according to claim 1, It is characterized in that The damping adjustment device (4) comprises a third servo motor (401), a second lead screw (407), a damping plate (410), a compression spring (414), a second lead screw nut (415), and a moving plate (406); The rotating shaft of the third servo motor (401) is connected to the second lead screw (407), the second lead screw (407) is threadedly connected to the second lead screw nut (415), the second lead screw nut (415) is connected to the movable plate (406), the movable plate (406) is connected to one end of the compression spring (414), the other end of the compression spring (414) is connected to the damping plate (410), and the second lead screw (407) is driven to rotate by the third servo motor (401) to adjust the pressure applied by the compression spring (414) to the damping plate (410).

5. The support platform according to claim 4, It is characterized in that The damping sheet (410) is arranged in the damper seat (405), and two damping plates (409) are arranged on both sides of the damping sheet (410). The compression spring (414) provides elastic force to press one damping plate (409), the damping sheet (410) and another damping plate (409) onto the wall of the damper seat (405) in sequence.

6. The support platform according to claim 5, It is characterized in that One end of the compression spring (414) is connected to a pressure plate (408), and a guide rod (413) is provided on the pressure plate (408). The guide rod (413) passes through the movable plate (406), and the guide rod (413) is used to limit the movable plate (406) to move only along the guide rod (413).

7. The support platform according to claim 1, It is characterized in that The cross section of the supporting flexible beam (210) comprises a trapezoid.

8. The support platform according to claim 1, It is characterized in that The supporting flexible beam (210) comprises two plates with different rigidity, and the two plates are connected along the thickness direction.

9. The support platform according to claim 1, It is characterized in that The position moving device (2) is mounted on a base plate (1), the base plate (1) is provided with a groove, the size of the groove matches the shape of the bottom of the position moving device (2), and the position moving device (2) and the groove are detachably connected by bolts; The length of the groove is greater than the length of the bottom of the position moving device (2), so that the position moving device (2) can slide in the groove to adjust its position.

10. A method for supporting a controlled moment gyro, It is characterized in that Based on the support platform described in any one of claims 1 to 9, the support method comprises: Adjusting the locking position of the positioning locking device (3) to adjust the supporting stiffness of the mounting plate (5); The elastic force of the compression spring (414) of the damping adjuster is adjusted to adjust the damping of the mounting plate (5).

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