An adaptive fault-tolerant control system and method for fast steering mirrors

Abstract

The application discloses a kind of adaptive fault-tolerant control systems of fast control mirror, including mechanical part and electrical control part, mechanical part includes pedestal, mirror, eddy current sensor and flexible hinge, and voice coil motor is composed of voice coil motor coil and voice coil motor magnetic steel, voice coil motor has six, and is uniformly arranged on the circumference in the XY plane of mirror back;Its control method is also disclosed;The application adopts the voice coil motor fast mirror mechanical design with six-point parallel driving structure, and the adaptive fault-tolerant control based on compensation and switching dual mode, realizes fast mirror stable sighting stable image, precision tracking under fault condition.

Description

Technical Field

[0001] This invention belongs to the field of fast-control mirror control technology, specifically relating to an adaptive fault-tolerant control system for a fast-control mirror based on a voice coil motor switching strategy, and its control method. Background Technology

[0002] A fast-reflecting mirror (FRMirror) is a device that achieves rapid and precise beam pointing by controlling the rotation of a mirror. It features high bandwidth, high precision, frictionless operation, no backlash, low noise, and a compact structure. It is widely used in optoelectronic reconnaissance, optoelectronic countermeasures, laser guidance, laser communication, and space exploration to achieve system stabilization, image stabilization, and precise tracking. The actuators used to drive FRMirror systems are mainly piezoelectric ceramics and voice coil motors. In the defense industry, voice coil motors are more suitable for driving FRMirror systems due to their large stroke, low driving voltage, and good environmental adaptability.

[0003] Given the crucial role of voice coil motor (VCM) fast-reflecting mirrors, engineers are placing increasingly stringent demands on their reliability and performance. In complex environments involving high temperature and humidity, electromagnetic interference, and vibration, these precision optical systems are susceptible to various influences and inevitably encounter uncertainties and even malfunctions, including external interference, changes in model parameters, eddy current sensor failures, and voice coil motor failures. If these problems are not addressed and controlled online in a timely manner, they may reduce system pointing accuracy and other performance characteristics, or even cause system failure, resulting in significant losses. For example, in space optical communication, the distance between communicating parties is typically over 1000 km; even a tiny deviation of the laser transmitter can introduce a large error in the receiver's position, leading to communication failure.

[0004] Most existing two-axis fast-reflecting mirror systems, both domestically and internationally, consist of four evenly distributed voice coil motors as their drive components. Each pair of voice coil motors uses a push-pull method for single-axis control, offering advantages such as balanced force and simple control. However, when one voice coil motor fails, the control accuracy of the corresponding axis system severely degrades due to the lack of hardware redundancy, potentially leading to system instability. Research on the reliability and fault-tolerant control of fast-reflecting mirrors is limited, particularly regarding how to maintain system stability and control accuracy in the event of a voice coil motor failure. Summary of the Invention

[0005] One of the objectives of this invention is to address the lack of hardware redundancy in traditional voice coil motor fast reflector control systems by proposing an adaptive fault-tolerant control system with six parallel points and a combination of forward and reverse drive for fast control of the reflector.

[0006] The technical solution adopted by this invention to solve its technical problem is: an adaptive fault-tolerant control system for rapidly controlling a reflector, comprising a mechanical part and an electrical control part. The mechanical part includes a base, a circular reflector made of microcrystalline glass, an eddy current sensor connected between the reflector and the base, and a flexible hinge for support. It also includes six voice coil motors for driving, composed of voice coil motor coils and voice coil motor magnets, evenly arranged on the circumference of the reflector's back surface in the XY plane. The electrical control part includes a communication interface circuit and a power supply circuit. The communication interface circuit is connected to an information management and main control circuit. The information management and main control circuit is connected to a power drive circuit and an amplification and filtering circuit through a digital-to-analog conversion circuit and an analog-to-digital conversion circuit, respectively. The power drive circuit is connected to the voice coil motors through a command switching module. The amplification and filtering circuit is connected to the eddy current sensor through an excitation and decoupling circuit. A temperature sensor is also connected to the information management and main control circuit.

[0007] The second objective of this invention is to provide an adaptive fault-tolerant control method for rapidly controlling a reflector, comprising the following steps:

[0008] Step S1: Assign numbers ABCDEF to the six voice coil motors in sequence, set the first group of voice coil motors Group1 = {A,B,C} as the default work group, and set the second group of voice coil motors Group2 = {D,E,F} as the backup work group;

[0009] In step S2, after receiving information such as deflection angle and miss distance, the communication interface circuit inputs the information management and main control circuit to output switching and control commands to the command switching module and the digital-to-analog conversion circuit, respectively. The digital-to-analog conversion circuit inputs the converted commands to the command switching module via the power drive circuit. The command switching module outputs the switching commands to select and switch the corresponding voice coil motor. The excitation and decoupling circuit transmits the information from the eddy current sensor back to the information management and main control circuit via the amplification and filtering circuit and the analog-to-digital conversion circuit. The information management and main control circuit, together with the information from the temperature sensor, sends it to the communication interface circuit. The communication interface circuit then sends out state machine monitoring information.

[0010] Step S3: Select three voice coil motors from Group 1 or Group 2 and independently complete the deflection of the reflector around the X and Y axes through a three-point drive: the voice coil motor located at one vertex of the equilateral triangle remains stationary, while the other two voice coil motors can achieve the deflection of the reflector around the axis where the vertex is located by extending and retracting the flexible hinge.

[0011] Step S4: The information management and main control circuit selects either adaptive compensation mode or switching mode to perform fault diagnosis on the two sets of voice coil motors. In adaptive compensation mode, internal adaptive compensation is performed when one set of voice coil motors has a minor fault, and the backup work group is in follow-up mode. In switching mode, when one set of voice coil motors fails, the switching module is instructed to switch to the backup work group, and the default work group exits the work and is in follow-up mode.

[0012] The control method of the adaptive fault-tolerant control system for a fast-controlling reflector, wherein the voice coil motor magnets of the three voice coil motors in Group 1 are connected to the upper plate on the back of the reflector in a reverse drive mode, the reverse drive mode can eliminate the influence of voice coil motor line interference and coil heating on the reflector surface shape, and prevent the heat generated by the voice coil motor from causing changes in the surface shape of the planar reflector; the voice coil motor coils of the three voice coil motors in Group 2, which are in a cold backup state, are connected to the upper plate on the back of the reflector in a forward drive mode, the forward drive mode is used to reduce the rotational inertia of the moving parts; this combination of forward and reverse drive component installation method is the optimal hardware redundancy structure after balancing the advantages and disadvantages.

[0013] Furthermore, when switching from one set of voice coil motors to another due to a fault in one set, the simulation test of the effectiveness of the control method includes the following steps:

[0014] Step S51: Establish a dynamic model of the fast-reflecting mirror that includes external disturbances.

[0015] Ignoring the two-axis coupled motion, the single-axis dynamic model of the mirror (taking the X-axis as an example) can be expressed as follows: J x Let c be the moment of inertia of the moving part. x k is the equivalent damping coefficient. x For the rotational stiffness of the flexible mechanism, θ x and M x These represent the rotation angle and torque, respectively, d x =d·f(t) represents the external disturbance, where f(t) is a known function and d is an unknown constant. Let the state variable x1 = θ x , The output variable is y = x1, and the control input is u = M. x Then the state equation of the system can be written as:

[0016]

[0017] The system can obtain the rotation angle of the reflector through differential measurement using an eddy current sensor. Then, the rotation angle values ​​at adjacent times are differentiated and low-pass filtered to obtain the angular velocity of the reflector. The above establishes the dynamic model of the fast reflector proposed for the implementation of this technical solution.

[0018] Step S52: Construct a monitoring function based on the performance constraint function, use error transformation technology to establish an affine relationship between the tracking error and the monitoring function, and design an adaptive control law based on the transformed model.

[0019] Let the tracking command signal be y r First, define the smoothness performance constraint function η(t) = (η0 - ηt) ∞ )e -at +η ∞ , where a,η0,η ∞ It is a positive constant and satisfies η0 > η ∞ Then let the observed quantity ε = yy r Meet the conditions Where 0≤ δ , If δη(t) is a defined constant, then δη(t) and This is the monitoring function, where z1 is the transformed error. It is a smooth, strictly increasing function and Define the relationship between the tracking error and the transformed error as ε = ηS(z1), then the original system state equation can be rewritten as follows:

[0020]

[0021] here Define Lyapunov functions Parameter estimation error Virtual control law Let the adaptive law and the controller be respectively...

[0022]

[0023] Then the derivative of the Lyapunov function satisfies From this, it can be deduced that all signals in the closed-loop system are bounded, and the tracking error converges to zero; the monitoring function shows that, under the action of a reasonably designed adaptive controller, δ η(0) and The upper and lower bounds of the overshoot are respectively used as the upper and lower bounds, and the rate of decrease of η(t) constrains the convergence rate of the observation z1(t), so that the transient performance of the system always remains within the performance constraint function;

[0024] Step S52: Adaptive fault-tolerant control is performed based on a dual-mode system of compensation and switching to ensure good transient performance of the system during the reconstruction process after a fault occurs.

[0025] The beneficial effects of this invention are:

[0026] 1. This invention overcomes the shortcomings of traditional voice coil motor fast-reflecting mirror control systems that lack hardware redundancy, and proposes a new six-point parallel drive architecture for voice coil motors, adopting a forward and reverse combination of drive component installation methods.

[0027] 2. The adaptive fault-tolerant control based on compensation and switching in this invention performs internal adaptive compensation for minor faults, and switches the control command to the backup group when the monitoring module detects a serious failure of the current drive group.

[0028] 3. Based on a new voice coil motor drive architecture and control method, this invention breaks through key technologies such as the six-point parallel drive structure technology of fast reflector and the adaptive fault-tolerant control technology based on compensation and switching dual modes. It develops a prototype of the fast reflector adaptive fault-tolerant control system based on the voice coil motor switching strategy, which realizes stable aiming and image stabilization and precise tracking of the fast reflector under fault conditions, and provides technical support for the design of composite control systems for next-generation photoelectric detection equipment. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the mechanical part of the six-point driven fast-reflecting mirror of the present invention;

[0030] Figure 2 This is a block diagram of the adaptive fault-tolerant control system of the present invention;

[0031] Figure 3 This is a schematic diagram of the deflection of the reflector of the present invention;

[0032] Figure 4 This is a schematic diagram of the dual-mode fault-tolerant control structure proposed in this invention.

[0033] Figure 5 This is a schematic diagram of the monitoring function in the dual-mode operation of the present invention.

[0034] Figure 6 This is a comparison chart of the deflection angle tracking performance between the control method of this invention and the traditional fault-tolerant control strategy.

[0035] The labels for each figure are as follows: 1—Reflector, 2—Base, 3—Voice coil motor coil, 4—Voice coil motor magnet, 5—Eddy current sensor, 6—Flexible hinge, 71—Communication interface circuit, 72—Information management and main control circuit, 73—Digital-to-analog conversion circuit, 74—Power drive circuit, 75—Command switching module, 76—Analog-to-digital conversion circuit, 77—Amplification and filtering circuit, 78—Excitation and decoupling circuit, 79—Power supply circuit, 8—Temperature sensor. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] When a new drive structure is introduced into the fast-reflecting mirror system, traditional control strategies are no longer applicable. This invention proposes a dual-mode adaptive fault-tolerant control technique based on compensation and switching. To achieve fault diagnosis of the working group, it is necessary to design reasonable filters to generate observed variables and monitor these variables through information management circuits.

[0038] Reference Figure 1 , Figure 2 As shown, the adaptive fault-tolerant control system for rapidly controlling a reflector of this invention mainly consists of two parts: mechanical and electrical. The mechanical part includes a base 2, a circular reflector 1 made of microcrystalline glass, an eddy current sensor 5 connecting the reflector 1 and the base 2, and a flexible hinge 6 for support. It also includes six voice coil motors, each uniformly arranged on the circumference of the reflector 1 in the XY plane on its back. The reflector 1, flexible hinge 6, and voice coil motor magnets 4 or voice coil motor coils 3 together constitute the moving part of the mechanical part. The eddy current sensor 5, base 2, and voice coil motor coils 3 / magnets 4 together form the moving part of the mechanical part. The fixed part that constitutes the mechanical part; the electrical control part includes a communication interface circuit 71 and a power supply circuit 79. The communication interface circuit 71 is connected to the information management and main control circuit 72. The information management and main control circuit 72 is connected to the power drive circuit 74 and the amplification and filtering circuit 77 through the digital-to-analog conversion circuit 73 and the analog-to-digital conversion circuit 76, respectively. The power drive circuit 74 is connected to the voice coil motor through the instruction switching module 75. The amplification and filtering circuit 77 is connected to the eddy current sensor 5 through the excitation and decoupling circuit 78. A temperature sensor 8 is also connected to the information management and main control circuit 72.

[0039] This invention establishes a voice coil motor driving method that combines forward and reverse driving, thereby achieving a driving method with six points in parallel and combining forward and reverse driving.

[0040] The present invention provides an adaptive fault-tolerant control method for rapidly controlling a reflector, comprising the following steps:

[0041] Step S1: Assign sequential numbers ABCDEF to the six voice coil motors. Set the first group of voice coil motors, Group1 = {A, B, C}, as the default workgroup, and the second group, Group2 = {D, E, F}, as the backup workgroup. For example... Figure 3 As shown, six voice coil motors are evenly and symmetrically distributed in the XY plane on the back of reflector 1, with the angle between each pair of adjacent voice coil motors and the center line being 60°. These six voice coil motors are divided into two drive groups. The first group contains three voice coil motors, A, B, and C, i.e., Group1 = {A, B, C}, and is set as the default work group; the second group contains three voice coil motors, D, E, and F, i.e., Group2 = {D, E, F}, and is set as the backup group.

[0042] In step S2, after receiving information such as deflection angle and miss distance, the communication interface circuit 71 inputs the information management and main control circuit 72 to output switching and control commands to the command switching module 75 and the digital-to-analog conversion circuit 73, respectively. The digital-to-analog conversion circuit 73 inputs the converted commands to the command switching module 75 via the power drive circuit 74. The command switching module 75 collects and outputs the switching commands to select and switch the corresponding voice coil motor. The excitation and decoupling circuit 78 transmits the information from the eddy current sensor 5 back to the information management and main control circuit 72 via the amplification and filtering circuit 77 and the analog-to-digital conversion circuit 76. The information management and main control circuit 72, together with the information from the temperature sensor 8, sends it to the communication interface circuit 71. The communication interface circuit 71 then sends out the state machine monitoring information.

[0043] Step S3: Select the three voice coil motors from Group 1 or Group 2 to independently complete the deflection of mirror 1 around the X and Y axes using a three-point drive. In fact, each group can independently complete the task of deflecting mirror 1 around the X and Y axes using a three-point drive. Taking Group 1 as an example, when voice coil motor A is stationary, the extension and retraction of voice coil motors B and C respectively can achieve the deflection of mirror 1 around the Y axis; when A extends (retracts) and B and C retract (extend), keeping the displacements of B and C the same, mirror 1 can deflect around the X axis. This working method also applies to Group 2. Since the function of Group 1 can be completely replaced by Group 2, this drive structure has hardware redundancy in the event of a failure in Group 1.

[0044] Step S4: When the fast-reflecting mirror system is working, its moving parts oscillate rapidly around the rotation center at a high frequency under the support of the two-axis rotational flexible mechanism. Therefore, the rotational inertia of its moving parts is the driving load of the fast-reflecting mirror system, which should be as small as possible, and ultimately determines the working bandwidth of the fast-reflecting mirror.

[0045] There are two driving methods for the voice coil motors. The voice coil motor coil 3 is connected to the upper plate on the back of the reflector 1 in a forward driving mode, while the voice coil motor magnet 4 is connected to the upper plate on the back of the reflector 1 in a reverse driving mode. The reverse driving mode eliminates the influence of voice coil motor line interference and coil heating on the surface shape of the reflector 1, but it increases the rotational inertia of the moving parts. Therefore, it needs to be combined with the reverse driving mode. The three voice coil motors in Group 1 adopt the reverse driving mode, that is, the voice coil motor magnet 4 is connected to the upper plate to prevent the heat generated by the voice coil motor from causing changes in the surface shape of the planar reflector 1. Since the voice coil motors in Group 2 are in a cold backup state, it is advisable to use the forward driving mode with the coil connected to the upper plate to reduce the rotational inertia of the moving parts. This combined forward and reverse driving component installation method is the optimal hardware redundancy structure after balancing the advantages and disadvantages.

[0046] When a new drive structure is introduced into the fast-reflecting mirror system, traditional control strategies are no longer applicable. This invention proposes a dual-mode adaptive fault-tolerant control technique based on compensation and switching. To achieve fault diagnosis of the working group, it is necessary to design reasonable filters to generate observed variables and monitor these variables through information management circuits.

[0047] The first mode is the adaptive compensation mode, which designs an adaptive fault-tolerant controller for the voice coil motor in Group 1, which can perform internal adaptive compensation for minor faults, while Group 2 is in a follow-up state.

[0048] The second mode is the switching mode. If the monitoring module detects a severe failure in Group 1 that renders minimum control performance unreliable, the control command switches to the backup group, Group 2, while Group 1 exits operation and remains in a follow-up state. To ensure good quality during the transition process of the fast-reflecting mirror system throughout the dual-mode operation, specific monitoring functions need to be introduced for the observations.

[0049] The effectiveness of the control method of this invention was verified through specific simulation experiments.

[0050] In the simulation experiment, for a fast-reflecting mirror with a voice coil motor having a six-point parallel drive structure, the control method proposed in the application is used. Considering the possibility of a fault in the first group of voice coil motors, the effectiveness of the proposed adaptive fault-tolerant control method is tested. Taking the X-axis deflection angle as an example, given a sinusoidal reference command, the tracking effect of the proposed adaptive fault-tolerant control method on the command angle after a fault occurs is observed and compared with the traditional non-adaptive fault-tolerant control method to verify the effectiveness of this technical solution. The specific steps include:

[0051] (1) Establish a dynamic model of the fast mirror that includes external disturbances.

[0052] Ignoring the coupled motion of the two axes, the single-axis dynamic model of the fast-reflecting mirror (taking the X-axis as an example) can be expressed as follows: J x Let c be the moment of inertia of the moving part. x k is the equivalent damping coefficient. x For the rotational stiffness of the flexible mechanism, θ x and M x These represent the rotation angle and torque, respectively, d x Let d·f(t) represent the external disturbance, where f(t) is a known function and d is an unknown constant. Let the state variable x1 = θ x , The output variable is y = x1, and the control input is u = M. x Then the state equation of the system can be written as

[0053]

[0054] The system can obtain the rotation angle of the fast-reflecting mirror through differential measurement using an eddy current sensor. Then, the rotation angle values ​​at adjacent time points are differentiated and low-pass filtered to obtain the angular velocity of the fast-reflecting mirror. This establishes the dynamic model of the fast-reflecting mirror proposed for the implementation of this technical solution.

[0055] (2) Construct a monitoring function based on the performance constraint function, use error transformation technology to establish an affine relationship between the tracking error and the monitoring function, and design an adaptive control law based on the transformed model.

[0056] To ensure good quality of the fast-reflection mirror system's transition process throughout the entire dual-mode operation, it is necessary to introduce observation data. Figure 5 The monitoring function is shown. Let the tracking command signal be y. r First, define the smoothness performance constraint function η(t) = (η0 - ηt) ∞ )e -at +η ∞ , where a,η0,η ∞ It is a positive constant and satisfies η0 > η ∞ Then let the observed quantity ε = yy r Meet the conditions Where 0≤ δ , If it is a specified constant, then δ η(t) and This is the monitoring function. Let z1 be the transformed error. It is a smooth, strictly increasing function and

[0057] Define the relationship between the tracking error and the transformed error as ε = ηS(z1), then the original system state equation can be rewritten as follows:

[0058]

[0059] here

[0060] The above system is a typical parametric strict feedback system, and the controller and adaptive law can be designed using the backstepping design method. The Lyapunov function is defined. Parameter estimation error Virtual control law Let the adaptive law and the controller be respectively...

[0061]

[0062] Then the derivative of the Lyapunov function satisfies Therefore, it can be deduced that all signals in the closed-loop system are bounded, and the tracking error converges to zero. From the monitoring function, it can be seen that under the action of a reasonably designed adaptive controller, δ η(0) and The upper and lower bounds of the overshoot are respectively used as the upper and lower bounds. The rate of decrease of η(t) constrains the convergence rate of the observation z1(t), and the transient performance of the system always remains within the performance constraint function.

[0063] (3) Design a dual-mode adaptive fault-tolerant control algorithm based on compensation and switching to ensure good transient performance of the system during the reconstruction process after a fault occurs.

[0064] In this simulation experiment, it was set that voice coil motor A loses 10% of its control efficiency after 10 seconds, and then voice coil motor B loses 30% of its control efficiency after 15 seconds. For example... Figure 4 As shown, the first mode is the adaptive compensation mode, in which an adaptive fault-tolerant controller is designed for the voice coil motor in Group 1, which can perform internal adaptive compensation for minor faults of voice coil motor A, and Group 2 is in a follow-up state; the second mode is the switching mode, in which if the monitoring module detects the corresponding monitoring function shown in the observation override expression, it indicates that Group 1 has seriously failed and the minimum control performance cannot be guaranteed, then the control command switches to the backup group Group 2, and Group 1 exits the operation and is in a follow-up state.

[0065] Figure 6 This is a comparison chart of the tracking performance of the control method of this invention and the traditional fault-intolerant control strategy. It can be seen that under the strategy proposed in this application, the system tracking error is restored to the monitoring function under the action of the backup group reconfiguration controller, proving that the system's transient and steady-state performance can still be guaranteed even in the event of a fault in the first group of voice coil motors. However, the traditional control strategy cannot effectively monitor faults and compensate for their impact, resulting in the inability to track commands.

[0066] Those skilled in the art will readily understand that the above description is merely a preferred use case of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive fault-tolerant control system for rapidly controlling a reflector, comprising a mechanical part and an electrical control part, characterized in that: The mechanical part includes a base (2), a circular reflector (1) made of microcrystalline glass, an eddy current sensor (5) and a flexible hinge (6) connected between the reflector (1) and the base (2), and a voice coil motor composed of a voice coil motor coil (3) and a voice coil motor magnet (4). There are six voice coil motors, which are evenly arranged on the circumference of the back of the reflector (1). The electrical control part includes a communication interface circuit (71) and a power supply circuit (79). The communication interface circuit (71) is connected to the information management and main control circuit (72). The information management and main control circuit (72) is connected to the power drive circuit (74) and the amplification and filtering circuit (77) through the digital-to-analog conversion circuit (73) and the analog-to-digital conversion circuit (76), respectively. The power drive circuit (74) is connected to the voice coil motor through the instruction switching module (75). The amplification and filtering circuit (77) is connected to the eddy current sensor (5) through the excitation and decoupling circuit (78). A temperature sensor (8) is also connected to the information management and main control circuit. The control method includes the following steps: Step S1: Assign numbers ABCDEF to the six voice coil motors in sequence, set the first group of voice coil motors Group1={A,B,C} as the default work group, and set the second group of voice coil motors Group2={D,E,F} as the backup work group. In step S2, after receiving the deflection angle and miss distance information, the communication interface circuit (71) inputs the information management and main control circuit (72) to output switching instructions and control instructions to the instruction switching module (75) and the digital-to-analog conversion circuit (73) respectively. The digital-to-analog conversion circuit (73) inputs the converted instructions to the instruction switching module (75) via the power drive circuit (74). The instruction switching module (75) collects the output switching instructions and selects the corresponding voice coil motor to switch. The excitation and decoupling circuit (78) transmits the information from the eddy current sensor (5) back to the information management and main control circuit (72) via the amplification and filtering circuit (77) and the analog-to-digital conversion circuit (76). The information management and main control circuit (72) combines the information from the temperature sensor (8) and sends it to the communication interface circuit (71). The communication interface circuit (71) sends out the state machine monitoring information. Step S3: Select three voice coil motors of Group 1 or Group 2 to complete the deflection of the reflector (1): The voice coil motor located at one vertex of the equilateral triangle remains stationary, while the other two voice coil motors can achieve the deflection of the reflector (1) around the axis where the vertex is located by extending and retracting the flexible hinge (6). Step S4, the information management and main control circuit (72) selects the adaptive compensation mode or the switching mode to perform fault diagnosis on the two sets of voice coil motors: when one set of voice coil motors has a minor fault, internal adaptive compensation is performed, and the backup work group is in a follow-up state; When one of the voice coil motors fails, the instruction switching module (75) switches to the backup workgroup. The default workgroup exits the work and enters the follow-up state.

2. The adaptive fault-tolerant control system for rapidly controlling a reflector according to claim 1, characterized in that, In Group 1, the magnets (4) of the three voice coil motors are connected to the upper plate on the back of the reflector (1) and the reverse drive method is adopted; in Group 2, the coils (3) of the three voice coil motors are connected to the upper plate on the back of the reflector (1) and the forward drive method is adopted.

3. The adaptive fault-tolerant control system for rapidly controlling a reflector according to claim 1 or 2, characterized in that, When switching from one set of voice coil motors to another due to a fault in one set, the simulation test of the effectiveness of the control method includes the following steps: Step S51, establish a dynamic model of the fast-reflecting mirror including external disturbances: The single-axis dynamic model of the mirror (1) X-axis is expressed as follows ,in J x Let the moment of inertia of the moving part be... c x This is the equivalent damping coefficient. k x For the rotational stiffness of the flexible mechanism, θ x and M x These are rotation angle and torque, respectively. For external disturbances, let the state variable... , The output variable is y = x 1 Control input u = M x The state equation of the system is written as ， The rotation angle of the reflector (1) is obtained by differential measurement using an eddy current sensor (5), and then the rotation angle values ​​at adjacent times are differentiated and low-pass filtered to obtain the angular velocity of the reflector (1). Step S52: Construct a monitoring function based on the performance constraint function, establish an affine relationship between the tracking error and the monitoring function using error transformation technology, and design an adaptive control law based on the transformed model: Let the tracking command signal be... y r First, define the smoothness performance constraint function. ,in a , η 0 , η ∞ It is a positive constant and satisfies η 0 > η ∞ Then let the observed value ε = y - y r Meet the conditions , ,in If it is a specified constant, then and That is, the monitoring function, let z 1 for The error after conversion, It is a smooth, strictly increasing function and The relationship between tracking error and converted error is defined as follows: ε = ηS ( z 1 If the original system state equation is then rewritten as follows: ,here , ; Define Lyapunov functions Parameter estimation error Virtual control law If we let the adaptive law and the controller be respectively , Then the derivative of the Lyapunov function satisfies This leads to the conclusion that all signals in the closed-loop system are bounded, and the tracking error converges to zero. The monitoring function shows that, under the action of a properly designed adaptive controller, and These serve as the upper and lower bounds of the overshoot, respectively. η ( t The rate of decline of the observed values ​​constrained the measurement. z 1 ( t The convergence rate of the system ensures that the transient performance remains within the performance constraint function. Step S53: Adaptive fault-tolerant control is performed based on a dual-mode system of compensation and switching to ensure good transient performance of the system during the reconstruction process after a fault occurs.

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