Intelligent control system and method for spherical inflatable antenna

Abstract

The invention discloses an intelligent control system and method for a spherical inflatable antenna. The system comprises a man-machine interaction module, a control module, a data storage module, a sensor sensing module, a motor driving module, a high-stability antenna base supporting module, an air pressure adjusting module and an intelligent early warning module. The man-machine interaction module is used for scene selection, parameter configuration and state display and issuing an instruction to the control module; the sensor sensing module is used for collecting information and uploading the information to the control module; the control module is used for trajectory planning, cooperative inverse kinematics solution, pose control and stability judgment; the motor driving module drives the high-stability antenna base supporting module to complete azimuth and pitching motion; the air pressure driving module executes air supply, pressure relief and pressure stabilization to regulate and control the air pressure of the cavity; the data storage module is used for recording information; the intelligent early warning module is used for outputting an alarm and triggering protection control when the air pressure is abnormal, the posture is abnormal or the execution mechanism is abnormal. The communication stability can be improved, and the operation difficulty is reduced.

Description

Technical Field

[0001] This invention belongs to the field of antenna technology, specifically relating to an intelligent control system and method for a spherical inflatable antenna. Background Technology

[0002] With the continuous development of communication technology, the control of traditional inflatable antennas relies heavily on manual operation. Satellite tracking requires manual adjustment of azimuth and elevation angles, and air pressure control relies on manual monitoring and adjustment, lacking an intelligent human-computer interaction interface.

[0003] Against this backdrop, the industry has developed a more urgent need for intelligent control systems for spherical inflatable antennas that combine large-diameter design, intelligent air pressure regulation, and automatic satellite alignment capabilities.

[0004] In existing technologies, such as the detachable inflatable antenna base support structure disclosed in CN119627392A, there are advantages such as portability and simple structure. However, there are many shortcomings in practical applications. For example, it does not provide an active adjustment mechanism and control method for azimuth and elevation degrees of freedom; it does not involve gas-mechanical structure coupling and closed-loop voltage regulation control; and it does not integrate automatic satellite finding, tracking and human-computer interaction functions, resulting in reliance on manual satellite tracking, cumbersome operation and limited communication stability. Summary of the Invention

[0005] In order to overcome the shortcomings of the existing technology, the present invention aims to provide an intelligent control system and method for a spherical inflatable antenna. The system and method are reasonably designed, highly integrated, and can realize flexible movement of the antenna base in azimuth and pitch, intelligently control air pressure, have a friendly human-computer interaction, and automatically and accurately track satellites, thereby improving communication stability and reducing the difficulty of operation.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A smart control system for a spherical inflatable antenna includes a human-computer interaction module, a control module, a data storage module, a sensor perception module, a motor drive module, a high-stability antenna base support module, an air pressure regulation module, and an intelligent early warning module. The human-computer interaction module is used to input the pitch and azimuth angle parameters of the spherical inflatable antenna and to display the antenna's attitude information in real time. The control module is communicatively connected to the human-machine interaction module, the sensor perception module and the motor drive module, and is used to receive operation commands issued by the human-machine interaction module and attitude information fed back by the sensor perception module. The control module determines the target azimuth and elevation angles according to the operation instructions, and generates corresponding azimuth, elevation, and air pressure adjustment instructions based on the attitude information. These instructions are then sent to the motor drive module and the air pressure adjustment module for execution, thereby achieving coordinated control of the antenna attitude and air pressure. The data storage module is used to store the trajectory planning information, motor operation information and system status information of the spherical inflatable antenna, and to store the antenna motion trajectory information calculated by the control module based on the trajectory planning information of the antenna. The sensor sensing module is used to collect the attitude angle data of the spherical inflatable antenna and the air pressure value inside the cavity; The intelligent early warning module is used to monitor the system's operating status and trigger alarms or protection actions when the air pressure or attitude is abnormal. The high-stability antenna base support module enables the spherical inflatable antenna to rotate in azimuth around the vertical axis and in elevation around the horizontal axis.

[0007] The human-computer interaction module is used to call the satellite latitude and longitude and orbital parameter information in the data storage module. After selecting the target satellite, the control system calculates the target pointing angle based on the orbital parameter information and the current pose information obtained by the sensor sensing module, and generates an azimuth-elevation angle command sequence and a corresponding actuator control quantity sequence arranged in chronological order under the condition of satisfying the actuator constraints, as the antenna motion trajectory information. The operation instructions are used to specify the working mode or control target, including target satellite selection, tracking start and stop, manual or automatic switching, and return to zero; The antenna motion trajectory information consists of a sequence of azimuth and elevation commands and a corresponding barometric pressure adjustment sequence arranged in chronological order. The high-stability antenna base support module includes an azimuth rotation mechanism and a pitch adjustment mechanism, which are driven by a motor drive module. After receiving the target alignment command, the control module outputs the corresponding azimuth and pitch drive signals, and performs closed-loop control in combination with angle sensing and encoder feedback to rotate the antenna to a given azimuth and pitch angle position and maintain it, thereby achieving the target alignment position.

[0008] The control module also includes a state monitoring and stability coefficient calculation unit, which receives the data collected by the azimuth sensor, elevation sensor and barometric pressure sensor, and combines the motor operation feedback information to substitute the measured values ​​of the azimuth, elevation and barometric pressure sensors into the antenna steady state model to calculate the antenna real-time stability coefficient S and control parameters. Its expression is: in, The current air pressure. For reference air pressure, This is the coefficient representing the influence of air pressure on stability. This represents the negative impact coefficient of attitude deviation on stability. For safety and stability thresholds; When the real-time stability coefficient S is less than the safety stability threshold S0, a stability deficit is defined as follows: Based on this, control parameters are calculated, including at least attitude compensation and target pressure adjustment. The attitude compensation is used to correct azimuth or pitch commands, and the target pressure adjustment is used to correct target pressure commands. Their calculation relationship satisfies the following: in This is the azimuth compensation amount. For pitch compensation, The target air pressure adjustment amount is given; the control module generates corrected azimuth and pitch angle commands and target air pressure commands based on the compensation amount and adjustment amount, and sends them to the motor drive module and air pressure regulation module for execution; The system status information includes air pressure data, attitude data, sensor data, alarm or fault records, and key parameter configurations, which are used for operation log recording and subsequent analysis.

[0009] The sensor sensing module includes an azimuth sensor, an elevation sensor, and an internal air pressure sensor within the spherical inflatable bladder. The azimuth sensor comprises a first azimuth measurement unit and a second azimuth measurement unit, respectively mounted on two fixed mounting bases opposite each other at the maximum circumference of the spherical inflatable bladder, used to acquire antenna azimuth deflection angle information. The elevation sensor is mounted on a feed pylon above the sphere and fixed to a rigid mounting base on the feed pylon support structure, used to acquire real-time tilt and deflection angle information of the antenna. The air pressure sensor is located inside the spherical cavity, used to monitor the internal air pressure value. The high-stability antenna base support module includes a fixed base, a moving mechanism, a circumferential fixed support rod, and a lateral thrust mechanism. The fixed base is used to contact the ground and provide load-bearing capacity. The moving mechanism is mounted on the fixed base and used to install and position the support rod. Multiple support rods are arranged circumferentially and connected to the moving mechanism. The support rods extend outward to form a circumferential support frame for the antenna body. The lateral thrust mechanism is located in the middle section of the support rod and outside the moving mechanism. The lateral thrust mechanism provides lateral support and limit to the antenna body in a radial direction from the outside to the inside, thereby forming a circumferential constraint structure, improving the ability to resist lateral loads and suppressing swaying, and reducing the risk of overturning.

[0010] The intelligent early warning module is integrated into the control module and includes a threshold detection unit and a protection execution unit. It is used to receive the control signal from the control module and send an alarm signal to the user when the air pressure inside the spherical inflatable antenna cavity is abnormal and / or the azimuth or pitch motion of the spherical inflatable antenna base is abnormal. The abnormal operation includes at least: the deviation between the azimuth or pitch angle command and feedback exceeds the threshold, jamming or stuck when there is a motion command, motor overload and stall. The threshold detection unit is used to acquire control commands output by the control module and feedback information collected by sensors. The feedback information includes at least air pressure signals, azimuth and pitch angle feedback signals, or angular velocity feedback signals. The threshold detection unit compares the air pressure signal with preset upper pressure threshold, lower pressure threshold, and pressure change rate threshold to determine overpressure, underpressure, or abnormal fluctuations. It also compares the angle feedback signal with the corresponding angle command and determines the base operation abnormality based on preset angle deviation thresholds or angular velocity thresholds. When an air pressure abnormality or base operation abnormality is detected, an early warning signal is generated and sent to the control module and protection execution unit. The protection execution unit is used to perform protection actions and output alarm information after receiving the control signal from the control module or the warning signal. The protection actions include at least stopping or restricting the movement of the antenna base, controlling the inflation / deflation device to replenish or depressurize, switching to a safe mode, and pushing alarm prompts to the human-machine interaction module to reduce the risk of structural instability and communication interruption.

[0011] The human-computer interaction module includes a touch screen and a remote control terminal, used to select the system's operating mode and set initialization parameters; wherein, the initialization parameters include antenna initial position calibration, sensor perception module initialization, data storage module initialization, and drive module initialization.

[0012] A smart control method for a spherical inflatable antenna specifically includes the following steps: The following steps are achieved collaboratively by the human-computer interaction module, control module, data storage module, sensor perception module, motor drive module, high-stability antenna base support module, air pressure regulation module, and intelligent early warning module; Among them, the human-computer interaction module is used for scene selection, parameter configuration and status display, and to send instructions to the control module; The sensor sensing module is used to collect information such as azimuth angle, pitch angle, air pressure and motor operating status and upload it to the control module; The control module is used for trajectory planning, cooperative inverse kinematics solving, pose control and stability determination, and generates motor drive signals and air pressure regulation commands; The motor drive module drives the high-stability antenna base support module to complete the azimuth and pitch movements; the air pressure drive module performs air replenishment, depressurization, and pressure stabilization to regulate the cavity air pressure. The data storage module is used to record trajectory planning information, motor operation information, air pressure and stability parameters, and system status information; The intelligent warning module is used to output an alarm and trigger protection control when the air pressure is abnormal, the attitude is abnormal, or the actuator is abnormal.

[0013] S1. According to the usage scenario requirements, perform antenna attitude adjustment trajectory planning; S2. Substitute the trajectory planning result into the air-driven-mechanical collaborative inverse kinematics model to solve and obtain the expected motion law of the actuator; S3. With the goal of tracking the expected motion law of the actuator, design a pneumatic coupling adaptive pose control algorithm; S4. During the process of the spherical inflatable antenna aligning with the star, use various sensors arranged at the spherical cavity and the support structure to collect the system operation state parameters; S5. Establish an antenna steady state model to describe the dynamic balance relationship of the system under the combined action of wind load, air pressure change, and rope constraint; Substitute the measured values of the azimuth sensor, elevation sensor, and air pressure sensor into the antenna steady state model to obtain the antenna real-time stability coefficient S; S6. Compare the stability coefficient S with the safety threshold S0. If S < S0, then through the output shaping and stability compensation unit set in the control module, regulate the air pressure adjustment amount and pose adjustment amount, and then input the regulated control parameters into the motor drive module and the air pressure adjustment module; if S ≥ S0, there is no need to regulate the output quantity, and the control parameters can be directly input into the combined drive unit; S7. Drive the inflatable antenna through the motor drive module and the air pressure adjustment module to complete attitude adjustment and stability control, and ensure the working performance of the spherical inflatable antenna.

[0014] In the above S1, the human-computer interaction module is used for scenario selection, parameter configuration and status display, and send instructions to the control module; when the scenario requirement is "fast star alignment", the trajectory planning adopts a higher angular velocity and meets the motor threshold; when the scenario requirement is "stable communication in strong wind", the trajectory planning reduces the angular acceleration and introduces the constraint of the stability coefficient S ≥ S, and synchronously adjusts the air pressure when necessary to improve stability.

[0015] The specific content of S2 is as follows: Substitute the trajectory planning result into the air-driven-mechanical collaborative inverse kinematics model to solve and obtain the expected motion law of the actuator; according to the usage scenario requirements, the control module generates the expected antenna attitude trajectory: Among them, is the azimuth trajectory, For the pitch trajectory, to ensure a smooth trajectory, fifth-order polynomial interpolation is preferred (starting and ending velocities and acceleration are zero): in, As for the current stance, For the target star attitude, The planning duration is determined by the maximum angular velocity or angular acceleration threshold constraint of the motor. Considering the attitude coupling bias caused by changes in cavity air pressure, a pneumatic-mechanical cooperative kinematic model is established: in, Output for the executing agency For the transmission mapping matrix, Zero offset, This refers to the air pressure inside the cavity. For reference air pressure, This is the air pressure-attitude coupling coefficient; The trajectory planning results and the expected air pressure given by the scenario Substituting into the above equation and solving it inversely, we obtain the expected action law of the actuator: Expanded to: When air pressure Changes introduce attitude coupling terms. Therefore, inverse kinematics in calculation The coupling bias is subtracted synchronously to obtain a more accurate expected action law of the actuator and to provide target input for the subsequent adaptive pose control of S3.

[0016] The flow of the aerodynamic coupling adaptive pose control algorithm in S3 is as follows: S31. The sensor sensing module jointly collects the air pressure state inside the cavity of the spherical inflatable antenna and the attitude information of the base. By modeling the correspondence between air pressure changes and attitude deviations in the air cavity, the coupling relationship between aerodynamic characteristics and mechanical motion is established. S32. During the automatic satellite alignment process, the system compares the preset trajectory planning data with the real-time attitude information. The control module dynamically adjusts the distribution ratio of mechanical drive output and air pressure regulation based on attitude deviation, air pressure change trend and satellite signal strength. When wind disturbance or air pressure fluctuation is detected, the algorithm can automatically correct the control parameters so that the antenna can maintain attitude stability in complex environments. During the automatic antenna alignment process, the system compares the desired attitude output by the trajectory planning with the attitude measured by the sensors in real time to obtain the attitude deviation and its changing trend: in, The difference between the desired pose and the actual pose. The trend of attitude deviation. The time interval between two adjacent samples; Simultaneously, the changing trends of cavity air pressure and satellite signal strength indicators are calculated to reflect the characteristics of air pressure fluctuations and signal jitter: in, This represents the trend of air pressure changes. It represents the real-time measurement value of satellite intensity indicators (monotonically characterized quantities such as SNR). This indicates the trend of signal strength change. Without accelerometers, the system constructs disturbance strength index Characterizing attitude and signal jitter caused by wind load disturbance and air pressure fluctuation: in, It is a disturbance intensity index used to characterize attitude and signal jitter caused by wind load disturbance and air pressure fluctuation under conditions without accelerometers; , , These are the weighting coefficients for the contributions of air pressure change trend, signal strength change trend, and attitude deviation change trend to the disturbance intensity, respectively. They are all non-negative constants and are preferably determined through experimental calibration. This indicates the magnitude of the rate of change of attitude deviation; Based on attitude deviation, air pressure change trends, and signal strength, the control module dynamically calculates the distribution ratio between mechanical drive output and air pressure regulation. ,in Indicates the proportion of mechanical side, Indicates the percentage of pressure side: in, This is a limiting function used to ensure... Always satisfied ; As the basis for allocation ratio; These are the adjustment coefficients for the allocation ratio of attitude deviation amplitude, signal strength deviation, and disturbance intensity, respectively. This is a reference value for signal strength. Indicates the degree of insufficient signal strength; Based on the allocation ratio, the mechanical side generates a pose adjustment amount and forms a corrected attitude command, which is then input into the mechanical drive system. in, This refers to the mechanical side pose adjustment amount. These are the proportional gain matrix and the differential gain matrix of the attitude error, used to represent the attitude deviation. and its rate of change Mapped to attitude correction values; The corrected attitude command is used to input the mechanical drive system; Simultaneously, the pressure side generates a pressure regulation amount and forms a target pressure command input to the pressure drive system: in, The desired air pressure given by the scenario or output by the higher-level strategy. This is the pressure closed-loop proportional coefficient, used to account for pressure deviations. Mapped to compensation amount; This is the pressure change suppression coefficient, used to suppress rapid pressure fluctuations; This is the disturbance compensation coefficient, used to increase the pressure compensation intensity when the disturbance intensifies; This is the adjustment limit function, used to constrain the single pressure adjustment amount to not exceed... ; This is a pressure limiting function used to ensure the target pressure. satisfy ; S33. The algorithm incorporates an adaptive adjustment mechanism, where the control module adjusts the attitude error rate and stability coefficient accordingly. Real-time online correction of control gain: When the system is stable, the control parameters remain unchanged to reduce energy consumption; when the attitude deviation increases or the stability decreases, the attitude control gain is automatically increased and the air pressure compensation intensity is increased to achieve coordinated attitude and air pressure control.

[0017] in, For real-time stability coefficient, For safety and stability thresholds; For stability loss, when hour Indicates the degree of instability; Define the adaptive driving force (the larger the force, the worse the stability or the faster the error changes): in, As an adaptive driving force, it is used to characterize the degree of "insufficient stability or excessively rapid error change" in the overall system. As the threshold for the rate of change of error, when It was determined that the attitude deviation was changing too rapidly and required enhanced control. This indicates the portion exceeding the threshold; when Freeze gain when; Gain is updated by limiting the current value using the following formula: in, Indicates the time after the gain update; These are the proportional gain matrix and the differential gain matrix for attitude control, respectively. Gains after online updates; This is the air pressure compensation ratio coefficient. These are the updated coefficients; Update the step size coefficient for gain; This is a limiting function used to ensure that the gain update result is within a preset range, avoiding oscillations caused by excessive gain or slow response caused by excessively small gain. And based on this, a collaborative control quantity is generated: in Used to enhance attitude correction Used to improve air pressure compensation; once the system stabilizes, the gain is no longer increased, thereby reducing energy consumption and unnecessary actions; S34. During automatic satellite alignment, the control module obtains the desired attitude based on trajectory planning. And combined with the real-time attitude of the sensor With cavity air pressure The tracking error and stability state are calculated, and air pressure regulation commands and motor drive signals are generated and executed by the joint drive unit, thereby achieving precise attitude adjustment and stable tracking; when the stability coefficient... Below the safety threshold Time-defined stability deficit: The control module generates corrected attitude commands and target air pressure commands: To account for the effects of air pressure-attitude coupling, and Substituting the inverse cooperative mapping relationship, we obtain the expected output of the actuator. And serve as the target input for the motor drive module: The combined drive unit simultaneously outputs motor drive signals to track... It also outputs inflation / deflation control signals to enable pressure tracking. During normal satellite alignment, ensure rapid convergence; however, during wind disturbances or air pressure fluctuations... When the pressure increases, the air pressure compensation is automatically increased and the mechanical commands are corrected simultaneously, thereby achieving precise attitude adjustment and stable tracking of the spherical inflatable antenna and ensuring the antenna's working performance.

[0018] In step S5, the antenna steady-state model is used to describe the dynamic equilibrium relationship of the system under the action of multiple factors such as wind load, air pressure change and rope constraint; through the joint analysis of attitude parameters, air cavity pressure and structural stress state, the real-time stability coefficient S of the system is calculated, which is used to evaluate the current stability of the antenna. Its expression is: in, The current air pressure. For reference air pressure, This is the coefficient representing the influence of air pressure on stability. This represents the negative impact coefficient of attitude deviation on stability. For safety and stability thresholds; It is the angular error between the expected attitude and the actual attitude, used to characterize the degree of deviation from the star; When the stability coefficient S is lower than the safety threshold S0, the control system automatically triggers a two-variable joint adjustment of air pressure and posture to restore system balance.

[0019] Based on the established antenna steady-state model, a stability determination and adaptive output adjustment mechanism is proposed. During system operation, the control module monitors parameters such as air pressure, attitude deviation and structural stress state in real time to comprehensively determine the current stability of the antenna. When monitoring results indicate insufficient system stability, the control system automatically triggers the adjustment process. The output adjustment module dynamically corrects the ratio of air pressure compensation and attitude adjustment based on the stability change trend: when stability decreases, the system appropriately increases air pressure output or strengthens attitude correction; when stability recovers, the adjustment amplitude is automatically reduced to avoid over-control causing oscillations or increased energy consumption.

[0020] Meanwhile, the system is equipped with a limiting protection mechanism to constrain the range of control variable changes, ensuring a smooth and safe attitude adjustment process. When the system is in a stable state, the output adjustment module remains in monitoring mode without participating in correction, and control commands can be directly applied to the pneumatic and mechanical drive units to achieve continuous attitude tracking and stable control.

[0021] The beneficial effects of this invention are: This invention enables real-time acquisition of system stability coefficients and control parameters by monitoring the status of key components of an inflatable antenna. The stability coefficient is used to assess the safety of the antenna's operating state, while the control parameters are used to achieve precise attitude adjustment. This invention achieves stable control without the need for a complex full-system dynamic model, significantly reducing data processing volume and improving system response speed and real-time performance.

[0022] Furthermore, by comparing the stability coefficient with the safety threshold in real time, the parameters of the output adjustment module can be optimized online, thus simultaneously meeting the dual objectives of attitude accuracy control and system safety protection. The control system adopts a modular architecture design, with each module having independent functions and standardized interfaces, effectively reducing system complexity and failure rate, and improving equipment availability.

[0023] The control system adopts a modular architecture design, which reduces the overall system complexity while ensuring the coordinated operation of various functions. Each module has independent functions and standardized interfaces, which effectively avoids the spread of faults, significantly reduces the system failure rate and maintenance difficulty, and improves the availability of the equipment. Attached Figure Description

[0024] Figure 1 This is a flowchart of the intelligent control method according to an embodiment of the present invention.

[0025] Figure 2 This is a flowchart of the aerodynamic coupling adaptive control algorithm according to an embodiment of the present invention.

[0026] Figure 3 This is a control system diagram according to an embodiment of the present invention.

[0027] Figure 4 This is a diagram of a high-stability antenna base support mechanism in an embodiment of the present invention.

[0028] Figure label: 1-Fixed base; 2-Movable square box; 3-Support rod; 4-Lateral thrust structure. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings.

[0030] Example 1 like Figure 1 As shown, a smart control method for a spherical inflatable antenna includes the following steps: S1. Based on the requirements of the usage scenario, perform antenna attitude adjustment trajectory planning; When the scenario requirement is "rapid satellite alignment", trajectory planning uses a higher angular velocity and meets the motor threshold; when the scenario requirement is "stable communication in strong winds", trajectory planning reduces angular acceleration and introduces the constraint of stability coefficient S≥S0, and adjusts air pressure synchronously when necessary to improve stability. S2. Substitute the trajectory planning results into the air-driven-mechanical cooperative inverse kinematics model to solve for the desired motion law of the actuator; according to the application scenario requirements, the control module generates the desired attitude trajectory of the antenna: in, For azimuth trajectory, For the pitch trajectory, to ensure a smooth trajectory, fifth-order polynomial interpolation is preferred (starting and ending velocities and acceleration are zero): in, As for the current stance, For the target star attitude, The planning duration is determined by the maximum angular velocity or angular acceleration threshold constraint of the motor.

[0031] Considering the attitude coupling bias caused by changes in cavity air pressure, a pneumatic-mechanical cooperative kinematic model is established: in, Output for the executing agency For the transmission mapping matrix, Zero offset, This refers to the air pressure inside the cavity. For reference air pressure, This is the air pressure-attitude coupling coefficient.

[0032] The trajectory planning results and the expected air pressure given by the scenario Substituting into the above equation and solving it inversely, we obtain the expected action law of the actuator: Expanded to: When air pressure Changes introduce attitude coupling terms. Therefore, inverse kinematics in calculation The coupling bias is subtracted synchronously to obtain a more accurate expected action law of the actuator and to provide target input for the subsequent adaptive pose control of S3.

[0033] The pneumatic-mechanical collaborative modeling module in step S2 establishes a mapping relationship between the joint drive input and attitude response based on the air pressure-pose coupling characteristics of the inflatable antenna. This model couples the actions of the air pressure regulation unit and the mechanical execution unit into one, forming a pneumatic and mechanical dual-channel coordinated inverse calculation model for real-time determination of the target control quantity of the actuator. Unlike traditional inverse kinematic models that only consider changes in the mechanical drive angle, this invention introduces an air pressure response characteristic term into the model, thereby reflecting the influence of air chamber pressure on attitude adjustment accuracy and achieving synchronous adjustment of pneumatic and mechanical drives.

[0034] S3. Design an aerodynamic coupling adaptive pose control algorithm with the goal of tracking the expected motion law of the actuator; S4. During the antenna alignment process, various sensors arranged in the inflatable cavity and supporting structure are used to collect system operating status parameters. The system operating status parameters include azimuth angle, elevation angle and cavity air pressure; and also include one or more of the following: motor position, speed, current, cavity temperature, air pressure change rate, structural vibration acceleration and rope tension or support component strain. S5. In the intelligent control system of the present invention, in order to ensure that the spherical inflatable antenna has sufficient structural stability and attitude accuracy during automatic satellite alignment and attitude adjustment, an antenna steady-state model is established to describe the dynamic balance relationship under the combined action of wind load, air pressure change and rope constraint; the measured values ​​of azimuth angle, elevation angle and air pressure sensor are substituted into the model to calculate the antenna real-time stability coefficient S. Its expression is: in, The current air pressure. For reference air pressure, This is the coefficient representing the influence of air pressure on stability. This represents the negative impact coefficient of attitude deviation on stability. For safety and stability thresholds; when If the system is deemed unstable, output adjustment is required.

[0035] S6. Compare the stability coefficient S with the safety threshold S0. If S < S0, the output adjustment module enters the stability enhancement mode: determine the air pressure adjustment amount according to the degree of insufficient stability and supplement or release air pressure to the cavity within the upper and lower pressure limits to make the air pressure return to the target range to improve the equivalent stiffness and anti-interference ability of the structure; at the same time, smooth the mechanical lateral position command, reduce the single adjustment amplitude and limit the angular velocity or angular acceleration without changing the final star target, and superimpose a small attitude compensation when necessary to suppress the swaying and overshoot caused by strong winds or offloads; the adjusted target air pressure and position command are used as control parameters to input the combined drive unit composed of the inflation system and the mechanical drive system and update S in a closed loop. When S ≥ S0, exit the regulation mode, and the control parameters are directly input to the combined drive unit for execution; S7. The control module simultaneously issues the target azimuth or pitch command obtained by trajectory planning and the target air pressure command to the combined drive unit. Among them, the mechanical drive system drives the azimuth rotation mechanism and the pitch adjustment mechanism to move according to the target azimuth angle and pitch angle commands, and the pneumatic drive system supplements, releases, and stabilizes the air pressure of the inflatable cavity according to the target air pressure command; during the execution process, the azimuth angle sensor, pitch angle sensor, and air pressure sensor continuously transmit the state parameters back. The control module calculates the attitude error and stability coefficient according to the feedback and performs closed-loop correction: when the stability coefficient meets the threshold, continue to approach the target attitude along the original trajectory and complete locking or holding; when the stability coefficient is lower than the threshold or abnormal air pressure occurs, trigger output adjustment and warning protection, and suppress swaying and deviation by adjusting the air pressure setting value, limiting the movement speed or acceleration, and superimposing attitude compensation; when the attitude error enters the allowable range and the air pressure is stable within the set range, the combined drive unit maintains the current attitude and air pressure and continuously monitors to ensure pointing accuracy, link stability, and antenna working performance.

[0036] As Figure 2 shown, the flow of the pneumatic coupling adaptive attitude control algorithm in step S3 of the present invention is as follows: S31. The control module jointly collects the internal air pressure state of the spherical inflatable antenna cavity and the base attitude information, and establishes a coupling relationship between the pneumatic characteristics and mechanical motion by data modeling of the corresponding relationship between the air pressure change in the air cavity and the attitude deviation. S32. During the automatic star alignment process of the antenna, the system compares the preset trajectory planning data with the real-time attitude information; the control module dynamically adjusts the distribution ratio of the mechanical drive output amount and the air pressure adjustment amount according to the attitude deviation, air pressure change trend, and satellite signal strength; when wind load disturbance and air pressure fluctuation are detected, the algorithm can automatically correct the control parameters to keep the antenna attitude stable in a complex environment. During the automatic star alignment process of the antenna, the system compares the expected attitude output by the trajectory planning with the attitude measured by the sensor in real time to obtain the attitude deviation and its change trend: in, The difference between the desired pose and the actual pose. The trend of attitude deviation. This represents the time interval between two adjacent samples.

[0037] Simultaneously, the changing trends of cavity air pressure and satellite signal strength indicators are calculated to reflect the characteristics of air pressure fluctuations and signal jitter: in, This represents the trend of air pressure changes. It represents the real-time measurement value of satellite intensity indicators (monotonically characterized quantities such as SNR). This represents the trend of signal strength change.

[0038] Without accelerometers, the system constructs disturbance strength index Characterizing attitude and signal jitter caused by wind load disturbance and air pressure fluctuation: in, It is a disturbance intensity index used to characterize attitude and signal jitter caused by wind load disturbance and air pressure fluctuation under conditions without accelerometers; , , These are the weighting coefficients for the contributions of air pressure change trend, signal strength change trend, and attitude deviation change trend to the disturbance intensity, respectively. They are all non-negative constants and are preferably determined through experimental calibration. This represents the magnitude of the rate of change of attitude deviation.

[0039] Based on attitude deviation, air pressure change trends, and signal strength, the control module dynamically calculates the distribution ratio between mechanical drive output and air pressure regulation. ,in Indicates the proportion of mechanical side, Indicates the percentage of pressure side: in, This is a limiting function used to ensure... Always satisfied ; As the basis for allocation ratio; These are the adjustment coefficients for the allocation ratio of attitude deviation amplitude, signal strength deviation, and disturbance intensity, respectively. This is a reference value for signal strength. This indicates the degree of insufficient signal strength.

[0040] Based on the allocation ratio, the mechanical side generates a pose adjustment amount and forms a corrected attitude command, which is then input into the mechanical drive system. in, This refers to the mechanical side pose adjustment amount. These are the proportional gain matrix and the differential gain matrix of the attitude error, used to represent the attitude deviation. and its rate of change Mapped to attitude correction values; This is the corrected attitude command, used to input into the mechanical drive system.

[0041] Simultaneously, the pressure side generates a pressure regulation amount and forms a target pressure command input to the pressure drive system: in, The desired air pressure given by the scenario or output by the higher-level strategy. This is the pressure closed-loop proportional coefficient, used to account for pressure deviations. Mapped to compensation amount; This is the pressure change suppression coefficient, used to suppress rapid pressure fluctuations; This is the disturbance compensation coefficient, used to increase the pressure compensation intensity when the disturbance intensifies; This is the adjustment limit function, used to constrain the single pressure adjustment amount to not exceed... ; This is a pressure limiting function used to ensure the target pressure. satisfy S33. The algorithm incorporates an adaptive adjustment mechanism, where the control module adjusts the attitude error rate and stability coefficient accordingly. Real-time online correction of control gain: When the system is stable, the control parameters remain unchanged to reduce energy consumption; when the attitude deviation increases or the stability decreases, the attitude control gain is automatically increased and the air pressure compensation intensity is increased to achieve coordinated attitude and air pressure control.

[0042] in, For real-time stability coefficient, For safety and stability thresholds; For stability loss, when hour This indicates a degree of instability.

[0043] Define the adaptive driving force (the larger the force, the worse the stability or the faster the error changes): in, As an adaptive driving force, it is used to characterize the degree of "insufficient stability or excessively rapid error change" in the overall system. As the threshold for the rate of change of error, when It was determined that the attitude deviation was changing too rapidly and required enhanced control. This indicates the portion exceeding the threshold.

[0044] when Freeze gain when; Gain is updated by limiting the current value using the following formula: in, Indicates the time after the gain update; These are the proportional gain matrix and the differential gain matrix for attitude control, respectively. Gains after online updates; This is the air pressure compensation ratio coefficient. These are the updated coefficients; Update the step size coefficient for gain; This is a limiting function used to ensure that the gain update result is within a preset range, avoiding oscillations caused by excessive gain or slow response caused by insufficient gain.

[0045] And based on this, a collaborative control quantity is generated: in Used to enhance attitude correction Used to improve air pressure compensation; once the system stabilizes, the gain is no longer increased, thereby reducing energy consumption and ineffective actions.

[0046] S34. During automatic satellite alignment, the control module obtains the desired attitude based on trajectory planning. And combined with the real-time attitude of the sensor With cavity air pressure The system calculates tracking error and stability status, generates air pressure regulation commands and motor drive signals, and executes them through a joint drive unit to achieve precise attitude adjustment and stable tracking.

[0047] When the stability coefficient Below the safety threshold Time-defined stability deficit: The control module generates corrected attitude commands and target air pressure commands: To account for the effects of air pressure-attitude coupling, and Substituting the inverse cooperative mapping relationship, we obtain the expected output of the actuator. And serve as the target input for the motor drive module: The combined drive unit simultaneously outputs motor drive signals to track... It also outputs inflation / deflation control signals to enable pressure tracking. During normal satellite alignment, ensure rapid convergence; however, during wind disturbances or air pressure fluctuations... When the pressure increases, the air pressure compensation is automatically increased and the mechanical commands are corrected simultaneously, thereby achieving precise attitude adjustment and stable tracking of the spherical inflatable antenna and ensuring the antenna's working performance.

[0048] In step S3, the control algorithm employs an aerodynamic coupling adaptive attitude control strategy. This strategy automatically corrects control parameters based on attitude deviation and air pressure conditions, ensuring the system maintains attitude stability under various environments. During control, the main controller dynamically adjusts the ratio of mechanical drive output to air pressure compensation by analyzing antenna attitude error and its changing trend in real time, combined with preset adjustment rules, thereby maintaining attitude accuracy during wind disturbances or structural deformation. Compared to traditional fixed-parameter PD control, the control algorithm of this invention possesses air pressure adaptive capability, automatically correcting gain parameters based on changes in cavity pressure, achieving superior response characteristics and stability.

[0049] like Figure 3 As shown, an intelligent control system for a spherical inflatable antenna includes a human-computer interaction module, a control module, a data storage module, a sensor perception module, a motor drive module, a high-stability antenna base support module, an air pressure regulation module, and an intelligent early warning module.

[0050] The human-machine interface (HMI) module, centered on a touchscreen, provides control and information interaction functions. It allows input or adjustment of antenna elevation and azimuth parameters, displays the antenna's current attitude, and supports the storage and retrieval of satellite latitude and longitude information. After selecting a target satellite, the system can automatically plan a trajectory based on stored parameters and drive the antenna to complete satellite alignment. It also supports satellite information input and updates, enabling multi-target switching. The HMI module synchronizes operation commands, initialization parameters, and trajectory planning information to the control module via a data bus, forming a closed-loop control link. The control module, based on the STM32F429Vet6, integrates multi-functional peripherals, performs data processing, and generates drive control signals; it is responsible for system data processing and control signal generation. It filters and extracts features from the attitude, air pressure, and signal strength information collected by sensors, and performs calculations based on an aerodynamic coupling adaptive pose control algorithm to generate azimuth, elevation, and air pressure adjustment commands. This algorithm automatically corrects the control parameters by analyzing attitude deviations and air pressure change trends, and drives the motor and air pressure adjustment module respectively to achieve coordinated control of mechanical drive and air pressure regulation, thereby improving the antenna's satellite alignment accuracy and structural stability. The control module transmits the calculation results to the motor drive module and air pressure adjustment module to drive the antenna base to complete attitude adjustment and air pressure optimization. The data storage module is used to record trajectory planning, motor operation, and processed system status data; The sensor sensing module consists of an angle encoder, an inertial measurement unit, and a pressure sensor. The angle encoder is installed on the motor shaft end to collect azimuth and pitch angle data. The inertial measurement unit is installed on the main antenna structure for attitude calibration. The pressure sensor is placed inside the antenna air cavity to monitor air pressure changes. After the data from each sensor is fused and processed, it provides the control module with attitude and air pressure status information to support the dynamic adjustment of the system.

[0051] like Figure 4 As shown, the high-stability antenna base support module of the present invention comprises a fixed base 1, a moving mechanism 2, a circumferential fixed support rod 3, and a lateral thrust mechanism 4. To achieve high stability, this detachable inflatable antenna base support structure adopts a multi-set lateral thrust structure design, specifically, four sets of lateral thrust structures are assembled at the middle section of the support rod. This design forms a stable circumferential fixed shape, which can effectively improve the overall lateral force resistance and stability of the structure, and significantly reduce structural swaying in scenarios such as strong winds, external vibration interference, or off-center loading, while significantly reducing its overturning risk.

[0052] The intelligent early warning module is used to receive the control signal from the control module and issue an alarm warning signal to the user when an abnormal condition occurs in the antenna base.

Claims

1. A smart control system for a spherical inflatable antenna, characterized in that, It includes a human-computer interaction module, a control module, a data storage module, a sensor perception module, a motor drive module, a high-stability antenna base support module, an air pressure regulation module, and an intelligent early warning module; The human-computer interaction module is used to input the pitch and azimuth angle parameters of the spherical inflatable antenna and to display the antenna's attitude information in real time. The control module is communicatively connected to the human-machine interaction module, the sensor perception module and the motor drive module, and is used to receive operation commands issued by the human-machine interaction module and attitude information fed back by the sensor perception module. The control module determines the target azimuth and elevation angles according to the operation instructions, and generates corresponding azimuth, elevation, and air pressure adjustment instructions based on the attitude information. These instructions are then sent to the motor drive module and the air pressure adjustment module for execution, thereby achieving coordinated control of the antenna attitude and air pressure. The data storage module is used to store the trajectory planning information, motor operation information and system status information of the spherical inflatable antenna, and to store the antenna motion trajectory information calculated based on the control module and the trajectory planning information of the antenna. The sensor sensing module is used to collect the attitude angle data of the spherical inflatable antenna and the air pressure value inside the cavity; The intelligent early warning module is used to monitor the system's operating status and trigger alarms or protection actions when the air pressure or attitude is abnormal. The high-stability antenna base support module enables the spherical inflatable antenna to rotate in azimuth around the vertical axis and in elevation around the horizontal axis.

2. The intelligent control system for a spherical inflatable antenna according to claim 1, characterized in that, The human-computer interaction module is used to call the satellite latitude and longitude and orbital parameter information in the data storage module. After selecting the target satellite, the control system calculates the target pointing angle based on the orbital parameter information and the current pose information obtained by the sensor sensing module, and generates an azimuth-elevation angle command sequence and a corresponding actuator control quantity sequence arranged in chronological order under the condition of satisfying the actuator constraints, as the antenna motion trajectory information. The operation instructions are used to specify the working mode or control target, including target satellite selection, tracking start and stop, manual or automatic switching, and return to zero; The antenna motion trajectory information consists of a sequence of azimuth and elevation commands and a corresponding barometric pressure adjustment sequence arranged in chronological order. The high-stability antenna base support module includes an azimuth rotation mechanism and a pitch adjustment mechanism, which are driven by a motor drive module. After receiving the target alignment command, the control module outputs the corresponding azimuth and pitch drive signals, and performs closed-loop control in combination with angle sensing and encoder feedback to rotate the spherical inflatable antenna to a given azimuth and pitch angle position and maintain it, thereby achieving the target alignment position. The control module also includes a state monitoring and stability coefficient calculation unit, which receives the data collected by the azimuth sensor, elevation sensor and barometric pressure sensor, and combines the motor operation feedback information to substitute the measured values ​​of the azimuth, elevation and barometric pressure sensors into the antenna steady state model to calculate the antenna real-time stability coefficient S and control parameters. Its expression is: in, The current air pressure. For reference air pressure, This is the coefficient representing the influence of air pressure on stability. This represents the negative impact coefficient of attitude deviation on stability. For a safe and stable threshold; When the real-time stability coefficient S is less than the safety stability threshold S0, a stability deficit is defined as follows: Based on this, control parameters are calculated, including at least attitude compensation and target pressure adjustment. The attitude compensation is used to correct azimuth or pitch commands, and the target pressure adjustment is used to correct target pressure commands. Their calculation relationship satisfies the following: in This is the azimuth compensation amount. For pitch compensation, The target air pressure adjustment amount is given; the control module generates corrected azimuth and pitch angle commands and target air pressure commands based on the compensation amount and adjustment amount, and sends them to the motor drive module and air pressure regulation module for execution; The system status information includes air pressure data, attitude data, sensor data, alarm or fault records, and key parameter configurations, which are used for operation log recording and subsequent analysis.

3. The intelligent control system for a spherical inflatable antenna according to claim 2, characterized in that, The sensor sensing module includes an azimuth sensor, an elevation sensor, and an internal air pressure sensor within the spherical inflatable bladder. The azimuth sensor comprises a first azimuth measurement unit and a second azimuth measurement unit, respectively mounted on two fixed mounting bases opposite each other at the maximum circumference of the spherical inflatable bladder, used to acquire antenna azimuth deflection angle information. The elevation sensor is mounted on a feed pylon above the sphere and fixed to a rigid mounting base on the feed pylon support structure, used to acquire real-time tilt and deflection angle information of the antenna. The air pressure sensor is located inside the spherical cavity, used to monitor the internal air pressure value. The high-stability antenna base support module includes a fixed base (1), a moving mechanism (2), a circumferential fixed support rod (3), and a lateral thrust mechanism (4); the fixed base (1) is used to contact the ground and provide load-bearing capacity; the moving mechanism (2) is installed on the fixed base (1) and is used to install and position the support rod (3). Multiple support rods (3) are arranged circumferentially and connected to the moving mechanism (2). The support rods (3) extend outward to form a circumferential support frame for the antenna body. The lateral thrust mechanism (4) is located in the middle section of the support rod (3) and outside the moving mechanism (2). The lateral thrust mechanism (4) provides lateral support and limit to the antenna body in a radial direction from the outside to the inside.

4. The intelligent control system for a spherical inflatable antenna according to claim 3, characterized in that, The intelligent early warning module is integrated into the control module and includes a threshold detection unit and a protection execution unit. It is used to receive the control signal from the control module and send an alarm signal to the user when the air pressure inside the spherical inflatable antenna cavity is abnormal and / or the azimuth or pitch motion of the spherical inflatable antenna base is abnormal. The abnormal operation includes at least: the deviation between the azimuth or pitch angle command and feedback exceeds the threshold, jamming or stuck when there is a motion command, motor overload and stall. The threshold detection unit is used to acquire control commands output by the control module and feedback information collected by sensors. The feedback information includes at least air pressure signals, azimuth and pitch angle feedback signals, or angular velocity feedback signals. The threshold detection unit compares the air pressure signal with preset upper pressure threshold, lower pressure threshold, and pressure change rate threshold to determine overpressure, underpressure, or abnormal fluctuations. It also compares the angle feedback signal with the corresponding angle command and determines the base operation abnormality based on preset angle deviation thresholds or angular velocity thresholds. When an air pressure abnormality or base operation abnormality is detected, an early warning signal is generated and sent to the control module and protection execution unit. The protection execution unit is configured to execute protection actions and output alarm information after receiving a control signal from the control module or the warning signal. The protection actions at least include stopping or restricting the movement of the antenna pedestal, controlling the air charging and discharging device to replenish or release air pressure, switching to the safe mode, and pushing an alarm prompt to the human-computer interaction module, so as to reduce the risks of structural instability and communication interruption; The human-computer interaction module includes a touch screen and a remote control terminal, and is used for selecting the operation mode of the system and initializing parameter settings; wherein, the initialization parameters include antenna initial position calibration, sensor perception module initialization, data storage module initialization, and drive module initialization.

5. A smart control method for a spherical inflatable antenna based on the system described in any one of claims 1-4, characterized in that, Specifically, it includes the following steps: S1. According to the usage scenario requirements, perform trajectory planning for the attitude adjustment of the spherical inflatable antenna; S2. Substitute the trajectory planning result into the pneumatic-mechanical collaborative inverse kinematics model, and solve to obtain the expected motion law of the actuator; S3. Design a pneumatic coupling adaptive pose control algorithm with the goal of tracking the expected motion law of the actuator; S4. During the satellite alignment process of the spherical inflatable antenna, use sensors arranged at the spherical cavity and the support structure to collect system operation state parameters; S5. Establish an antenna steady-state model to describe the dynamic balance relationship of the system under the combined action of wind load, air pressure change, and rope constraint; Substitute the measured value of the sensor into the antenna steady-state model to obtain the real-time stability coefficient S of the antenna; S6. Compare the stability coefficient S with the safety threshold S0. If S < S0, then through the output shaping and stability compensation unit set in the control module, regulate the air pressure adjustment amount and the pose adjustment amount, and then input the regulated control parameters into the combined drive unit composed of the motor drive module and the air pressure adjustment module; If S ≥ S0, there is no need to regulate the output quantity, and the control parameters can be directly input into the combined drive unit; S7. Drive the inflatable antenna through the motor drive module and the air pressure adjustment module to complete attitude adjustment and stability control, and ensure the working performance of the spherical inflatable antenna.

6. The intelligent control method for a spherical inflatable antenna according to claim 5, characterized in that, In S1, the human-computer interaction module is used for scenario selection, parameter configuration and status display, and issues commands to the control module; when the scenario requirement is "quick satellite alignment", the trajectory planning adopts a high angular velocity and meets the motor threshold; when the scenario requirement is "stable communication in strong wind", the trajectory planning reduces the angular acceleration and introduces the constraint of the stability coefficient S ≥ S0, and synchronously adjusts the air pressure if necessary to improve stability.

7. The intelligent control method for a spherical inflatable antenna according to claim 6, characterized in that, S2 is specifically as follows: Substitute the trajectory planning result into the pneumatic-mechanical collaborative inverse kinematics model, and solve to obtain the expected motion law of the actuator; according to the usage scenario requirements, the control module generates the expected attitude trajectory of the antenna: in, For azimuth trajectory, For the pitch trajectory, fifth-order polynomial interpolation is used: in, As for the current stance, For the target star attitude, For planning duration; Establish a pneumatic-mechanical collaborative kinematics model: in, Output for the executing agency For the transmission mapping matrix, Zero offset, This refers to the air pressure inside the cavity. For reference air pressure, This is the air pressure-attitude coupling coefficient; The trajectory planning results and the expected air pressure given by the scenario Substituting into the above equation and solving it inversely, we obtain the expected action law of the actuator: Expand to: When air pressure Changes introduce attitude coupling terms. Inverse kinematics in calculation The coupling bias is subtracted synchronously to obtain the expected action pattern of the actuator.

8. The intelligent control method for a spherical inflatable antenna according to claim 7, characterized in that, The process of the pneumatic coupling adaptive pose control algorithm in S3 is as follows: S31. The sensor perception module jointly collects the internal air pressure state of the spherical inflatable antenna cavity and the base attitude information, and through data modeling of the corresponding relationship between the air cavity air pressure change and the attitude deviation, establishes the coupling relationship between the pneumatic characteristics and the mechanical motion; S32. During the automatic satellite alignment process of the spherical inflatable antenna, the system compares the preset trajectory planning data with the real-time attitude information; the control module dynamically adjusts the distribution ratio of mechanical drive output and air pressure regulation based on attitude deviation, air pressure change trend and satellite signal strength; when wind load disturbance or air pressure fluctuation is detected, the algorithm can automatically correct the control parameters so that the antenna can maintain attitude stability in complex environments. During the automatic antenna alignment process, the system compares the desired attitude output by the trajectory planning with the attitude measured by the sensors in real time to obtain the attitude deviation and its changing trend: in, The difference between the desired pose and the actual pose. The trend of attitude deviation. The time interval between two adjacent samples; Simultaneously, the changing trends of cavity air pressure and satellite signal strength indicators are calculated to reflect the characteristics of air pressure fluctuations and signal jitter: in, This represents the trend of air pressure changes. This refers to the real-time measurement value of the satellite's intensity index. This indicates the trend of signal strength change. Without accelerometers, the system constructs disturbance strength index Characterizing attitude and signal jitter caused by wind load disturbance and air pressure fluctuation: in, It is a disturbance intensity index used to characterize attitude and signal jitter caused by wind load disturbance and air pressure fluctuation under conditions without accelerometers; , , These are the weighting coefficients for the contributions of the air pressure change trend, signal strength change trend, and attitude deviation change trend to the disturbance intensity, respectively, and are all non-negative constants; This indicates the magnitude of the rate of change of attitude deviation; Based on attitude deviation, air pressure change trends, and signal strength, the control module dynamically calculates the distribution ratio between mechanical drive output and air pressure regulation. ,in Indicates the proportion of mechanical side, Indicates the percentage of pressure side: in, This is a limiting function used to ensure... Always satisfied ; As the basis for allocation ratio; These are the adjustment coefficients for the allocation ratio of attitude deviation amplitude, signal strength deviation, and disturbance intensity, respectively. This is a reference value for signal strength. Indicates the degree of insufficient signal strength; Based on the allocation ratio, the mechanical side generates a pose adjustment amount and forms a corrected attitude command, which is then input into the mechanical drive system. in, This refers to the mechanical side pose adjustment amount. These are the proportional gain matrix and the differential gain matrix of the attitude error, used to represent the attitude deviation. and its rate of change Mapped to attitude correction values; The corrected attitude command is used to input the mechanical drive system; Simultaneously, the pressure side generates a pressure regulation amount and forms a target pressure command input to the pressure drive system: in, The desired air pressure given by the scenario or output by the higher-level strategy. This is the pressure closed-loop proportional coefficient, used to account for pressure deviations. Mapped to compensation amount; This is the pressure change suppression coefficient, used to suppress rapid pressure fluctuations; This is the disturbance compensation coefficient, used to increase the pressure compensation intensity when the disturbance intensifies; This is the adjustment limit function, used to constrain the single pressure adjustment amount to not exceed... ; This is a pressure limiting function used to ensure the target pressure. satisfy ; S33. The algorithm incorporates an adaptive adjustment mechanism, where the control module adjusts the attitude error rate and stability coefficient accordingly. Real-time online correction of control gain: When the system is stable, the control parameters remain unchanged to reduce energy consumption; when the attitude deviation increases or the stability decreases, the attitude control gain is automatically increased and the air pressure compensation intensity is increased to achieve coordinated attitude and air pressure control. in, For real-time stability coefficient, For a safe and stable threshold; For stability loss, when hour Indicates the degree of instability; Define adaptive driving force: in, As an adaptive driving force, it is used to characterize the degree of "insufficient stability or excessively rapid error change" in the synthesis. As the threshold for the rate of change of error, when It was determined that the attitude deviation was changing too rapidly and required enhanced control. This indicates the portion exceeding the threshold; when Freeze gain when; Gain is updated by limiting the current value using the following formula: in, Indicates the time after the gain update; These are the proportional gain matrix and the differential gain matrix for attitude control, respectively. Gains after online updates; This is the air pressure compensation ratio coefficient. These are the updated coefficients; Update the step size coefficient for gain; This is a limiting function; And based on this, a collaborative control quantity is generated: in Used to enhance attitude correction Used to improve air pressure compensation; once the system stabilizes, the gain will not be increased further. S34. During automatic satellite alignment, the control module obtains the desired attitude based on trajectory planning. And combined with the real-time attitude of the sensor With cavity air pressure Calculate the tracking error and stability state, generate air pressure regulation commands and motor drive signals, and execute them through the joint drive unit; when the stability coefficient... Below the safety threshold Time-defined stability deficit: The control module generates corrected attitude commands and target air pressure commands: Will and Substituting the inverse cooperative mapping relationship, we obtain the expected output of the actuator. And serve as the target input for the motor drive module: The combined drive unit simultaneously outputs motor drive signals to track... It also outputs inflation / deflation control signals to enable pressure tracking. .

9. The intelligent control method for a spherical inflatable antenna according to claim 8, characterized in that, In step S5, the antenna steady-state model is used to describe the dynamic equilibrium relationship of the system under the action of multiple factors such as wind load, air pressure change and rope constraint; through the joint analysis of attitude parameters, air cavity pressure and structural stress state, the real-time stability coefficient S of the system is calculated, which is used to evaluate the current stability of the antenna. Its expression is: in, The current air pressure. For reference air pressure, This is the coefficient representing the influence of air pressure on stability. This represents the negative impact coefficient of attitude deviation on stability. For a safe and stable threshold; It is the angular error between the expected attitude and the actual attitude, used to characterize the degree of deviation from the star; When the stability coefficient S is lower than the safety threshold S0, the control system automatically triggers a two-variable joint adjustment of air pressure and posture to restore system balance.

10. The intelligent control method for a spherical inflatable antenna according to claim 9, characterized in that, Based on the established antenna steady-state model, a stability determination and adaptive output adjustment mechanism is proposed. During system operation, the control module monitors parameters such as air pressure, attitude deviation and structural stress state in real time to comprehensively determine the current stability of the antenna. When monitoring results indicate insufficient system stability, the control system automatically triggers an adjustment process. The output adjustment module dynamically corrects the ratio of air pressure compensation to attitude adjustment based on the stability change trend. When stability decreases, the system appropriately increases air pressure output or strengthens attitude correction; when stability recovers, it automatically reduces the adjustment range to avoid oscillations or increased energy consumption caused by over-control. Meanwhile, the system is equipped with a limit protection mechanism to constrain the range of control quantity changes and ensure a smooth and safe attitude adjustment process; When the system is in a stable state, the output adjustment module remains in monitoring without participating in correction, and the control commands directly act on the pneumatic and mechanical drive units to achieve continuous attitude tracking and stable control.

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