An automated test method and test equipment for a spaceborne microwave radar drive mechanism

Abstract

The present invention discloses an automated testing method and testing equipment for a spaceborne microwave radar drive mechanism. The testing equipment includes: a host computer, an FPGA test board, a radar mechanism controller, an adaptive counterweight device, a microwave anechoic chamber, and a spaceborne microwave radar component (including a spaceborne microwave radar and a radar drive mechanism). The FPGA test board has the function of sending instruction sequences and automatically realizes the function and performance testing of various modes of the radar. The adaptive counterweight device can simulate the complete weightlessness of the microwave radar drive mechanism. The host computer can draw curves of the position, speed, phase current, and reaction torque of the microwave radar to clearly and intuitively monitor the current test situation. The microwave anechoic chamber can be folded, has a small volume, and is convenient for acceptance testing anytime and anywhere. The testing method and testing equipment of the present invention can be used to automatically test the motion conditions, functions, and performances of the spaceborne microwave radar drive mechanism under a ground-simulated weightless environment.

Description

Technical Field

[0001] The present invention relates to an automated test system for a microwave radar drive mechanism in the space field, especially for simulating the test of the microwave radar drive mechanism on the ground. Specifically, it relates to an automated test method and test equipment for a spaceborne microwave radar drive mechanism. Background Art

[0002] Microwave radar is an important target reconnaissance device on satellites and space stations and is currently used in many aerospace model projects. Before launch, it usually takes several years of research and testing on the ground for spaceborne microwave radar. The traditional test method generally involves manually sending commands, manually monitoring telemetry data, and completing test reports afterwards. This method not only consumes a great deal of manpower but also often has problems such as incorrect command sending and incorrect telemetry interpretation. On the other hand, due to the fact that the differences between the ground test environment and the space-air test environment are usually not taken seriously during the ground test process, it is impossible to place the microwave radar in a completely weightless environment for operation. Moreover, testing the microwave radar is generally carried out in a large anechoic chamber. Since the anechoic chamber is filled with absorbing materials, working in the anechoic chamber for a long time will inhale a large amount of toxic gases and damage health. Summary of the Invention

[0003] In view of the above technical problems, the present invention proposes an automated test method and test equipment for a spaceborne microwave radar drive mechanism, which is used to automatically test the motion conditions, functions, and performances of the spaceborne microwave radar drive mechanism under a simulated weightless environment on the ground.

[0004] To achieve the above object, the present invention provides an automated test equipment for a spaceborne microwave radar drive mechanism, which includes: a host computer, an FPGA test board, a radar mechanism controller, an adaptive counterweight device, a microwave anechoic chamber, and a spaceborne microwave radar assembly; the adaptive counterweight device and the spaceborne microwave radar assembly are both arranged in the microwave anechoic chamber;

[0005] The host computer is signal-connected to the FPGA test board. The host computer receives the remote sensing data packet from the FPGA test board, processes the data, and obtains the monitoring information;

[0006] The radar mechanism controller is signal-connected to the FPGA test board. The radar mechanism controller receives the command information from the FPGA test board, and the FPGA test board receives the remote sensing data packet from the radar mechanism controller;

[0007] The adaptive counterweight device includes: a counterweight device motor and a telescopic hinge; the counterweight device motor is electrically connected or signal-connected to the radar mechanism controller; the radar mechanism controller controls the telescopic hinge to extend or retract by controlling the rotation angle of the counterweight device motor according to the instructions sent by the FPGA test board.

[0008] The spaceborne microwave radar assembly includes: a spaceborne microwave radar and a radar drive mechanism; the spaceborne microwave radar is arranged at the distal end of the telescopic hinge, and its position is adjusted by the telescopic hinge for trimming; the radar drive mechanism is electrically connected or signal-connected to the radar mechanism controller; the radar mechanism controller controls the radar drive mechanism to drive the spaceborne microwave radar to rotate with the monitoring target for tracking and locking the monitoring target.

[0009] Optionally, the microwave anechoic chamber is formed by a plurality of microwave absorbing material panels.

[0010] Optionally, the microwave anechoic chamber further includes a folding mechanism, and the microwave absorbing material panels are fixedly arranged around the outside of the folding mechanism. In the use state, the folding mechanism is opened, and the microwave absorbing material panels form a square three-dimensional structure; in the storage state, the folding mechanism is folded, and the microwave absorbing material panels are stacked. Optionally, the folding mechanism is a scissor mechanism, which consists of two scissor-type foldable mechanisms and is driven to expand and contract by a linear drive mechanism.

[0011] Optionally, the FPGA test board is used to run an automated test program, and the test program has any one or more of the functions of instruction sequence sending, abnormal discrimination, function index discrimination, start-stop control, speed stability test, reaction torque test, test data storage, and telemetry packet uploading.

[0012] Optionally, the instruction sequence includes any one or more of the following: desired position specifying instruction, single search instruction, airspace target search instruction, speed tracking instruction, zero position correction instruction, soft limit setting instruction, three-loop parameter injection instruction, speed setting instruction, abnormal stop control instruction, and telemetry packet data fetching instruction.

[0013] Optionally, the radar mechanism controller and the FPGA test board perform data transmission in the way of UART serial communication.

[0014] Optionally, the test equipment further includes: a nitrogen filling device, which is connected to the radar drive mechanism and is used to keep the inside of the mechanism dry during the ground test.

[0015] The present invention also provides a method for automatically testing a spaceborne microwave radar drive mechanism, which includes:

[0016] Step 1: Provide the above-mentioned on-board microwave radar drive mechanism automated test equipment;

[0017] Step 2: Unfold the folding mechanism by controlling the linear drive mechanism, fix the microwave absorbing material panel on the outer frame of the scissor mechanism to form a microwave anechoic chamber, and place the on-board microwave radar assembly and the adaptive counterweight device in the microwave anechoic chamber;

[0018] Step 3: Complete autonomous trimming: The FPGA test board card autonomously adjusts the rotation angle of the counterweight device motor according to the collected position information of the radar drive mechanism to adjust the length of the telescopic hinge until the on-board microwave radar can be stabilized at the horizontal balance zero position, and then lock it at this position to cancel the gravity of the on-board microwave radar and construct a weightless environment;

[0019] Step 4: Start the automated test process of the FPGA test board card, complete the programs in state1 to state13, and achieve multiple cycle tests.

[0020] Optionally, before each cycle test, a stall anomaly detection is also performed.

[0021] Compared with the prior art, the beneficial effects of the present invention at least include:

[0022] 1. It can complete the digital and autonomous full trimming of the on-board microwave radar assembly and simulate the space weightless environment.

[0023] 2. It can send a microwave radar instruction sequence, automatically test various working modes of the radar drive mechanism, complete function and performance tests, and at the same time has a function of autonomous fault identification and protection. Moreover, the host computer can display the relevant parameters of the on-board microwave radar test in real time, draw curves of position, speed, current, and reaction torque, and the visualization effect is beautiful and direct.

[0024] 3. Different from the traditional large microwave radar anechoic chamber, the microwave anechoic chamber in the present invention has many advantages such as being foldable, small in volume, convenient for acceptance tests anytime and anywhere, and low in cost. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of an on-board microwave radar drive mechanism automated test equipment of the present invention.

[0026] Figure 2 It is a schematic structural diagram of a microwave anechoic chamber of the present invention.

[0027] Reference Signs of the Drawings

[0028] Host computer 10

[0029] FPGA test board card 20

[0030] Radar mechanism controller 30

[0031] Counterweight device motor 41

[0032] Telescopic hinge 42

[0033] Counterweight 43

[0034] Spaceborne microwave radar assembly 50

[0035] Spaceborne microwave radar 51

[0036] Radar drive mechanism 52

[0037] Microwave anechoic chamber 60

[0038] Absorbing material panel 61

[0039] Folding mechanism 62. Detailed implementation manner

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0042] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0043] As Figure 1As shown in the figure, an automated test device for a spaceborne microwave radar drive mechanism according to the present invention includes: a host computer 10, an FPGA test board 20, a radar mechanism controller 30, an adaptive counterweight device, a spaceborne microwave radar component 50, and a microwave anechoic chamber 60.

[0044] The host computer 10 is signal-connected to the FPGA test board 20, receives remote sensing data packets from the FPGA test board 20, processes the data, and gives monitoring information, such as a monitoring report. Specifically, the FPGA test board 20 can upload the telemetry data packets to the host computer 10 through a serial port. Based on the telemetry data packets, the host computer 10 can draw the position curve, speed curve, phase current curve, and reaction torque curve of the microwave radar, enabling the test personnel to clearly and intuitively monitor the current test situation. During the test process, the test data is saved in real time, and a test report is automatically generated according to the report template set by the test personnel.

[0045] The radar mechanism controller 30 is signal-connected to the FPGA test board 20. The FPGA test board 20 receives the telemetry data packets fed back by the radar mechanism controller 30 and sends instruction information to the radar mechanism controller 30.

[0046] The FPGA test board 20 is used to run an automated test program, and the test program has any one or more of the functions of instruction sequence sending, abnormal discrimination, function index discrimination, start-stop control, speed stability test, reaction torque test, test data storage, and telemetry packet uploading.

[0047] The instruction sequence includes any one or more of the following: desired position specification instruction, single search instruction, airspace target search instruction, speed tracking instruction, zero position correction instruction, soft limit setting instruction, three-loop parameter injection instruction, speed setting instruction, abnormal stop control instruction, and telemetry packet data acquisition instruction.

[0048] In this example, the radar mechanism controller 30 and the FPGA test board 20 use the UART serial port communication method for data transmission. The radar mechanism controller 30 can receive the instructions sent by the FPGA test board 20, and the FPGA test board 20 can receive the telemetry data packets fed back by the radar mechanism controller 30. The specific automated test method is as follows:

[0049] 1) Power on and reset the device;

[0050] 2) The FPGA test board 20 waits to receive an external key start signal;

[0051] 3) After startup, a one-hot Moore state machine is used in the FPGA to design the microwave radar test process:

[0052] 4) State1: Send a zero-bit correction instruction (this instruction can calibrate the coordinate system of the spaceborne microwave radar movement), inject the calibrated horizontal zero-degree position value into the radar mechanism controller 30 (all instructions sent by the FPGA test board 20 in the following text are given to the radar mechanism controller 30), and the state machine jumps to state2;

[0053] 5) State2: Start the counter function, wait for a delay of 1 second, clear the counter, and at the same time the state machine jumps to state3;

[0054] 6) State3: Send a soft limit setting instruction to the radar mechanism controller 30 to limit the maximum scanning range that the spaceborne microwave radar 51 can scan, and the state machine jumps to the next state state4;

[0055] 7) State4: Start the counter function, wait for a delay of 1 second, clear the counter, and at the same time the state machine jumps to state5;

[0056] 8) State5: Send an airspace target search instruction, wait to receive the approximate position of the target searched by the radar signal processor (not shown in the figure), and the state machine jumps to the next state state6;

[0057] 9) State6: Send an expected position designation instruction, and the state machine jumps to the next state state7;

[0058] 10) State7: Start the counter function, wait for a delay of 3 seconds, make the radar drive mechanism 52 rotate to the target position area within 3 seconds, clear the counter, and at the same time the state machine jumps to state8;

[0059] 11) State8: Send a single search instruction to enable the radar drive mechanism 52 to perform a single search scan within the area where the monitored target is located, and at the same time the state machine jumps to state9;

[0060] 12) State9: Send a telemetry packet fetching instruction, the FPGA test board 20 receives the telemetry data packet feedback from the radar mechanism controller 30, and discriminates the working status word of "Is the single search completed?". If the single search is completed, it enters the next state machine state10; otherwise, it stays in the current state machine state9 and sends a telemetry packet fetching instruction once per cycle. After the single search is completed, the radar signal processor will find the target in this area and obtain the motion speed information of the target.

[0061] 13) state10: Send a speed tracking instruction, send the speed value of the target to the radar mechanism controller 30, drive the spaceborne microwave radar 51 to rotate following the monitored target, implement the target locking and tracking function, and at the same time, the state machine jumps to state11.

[0062] 14) state11: Start the counter function, wait for a delay of 10 seconds, complete a search test of the target, clear the counter, and at the same time, the state machine jumps to state12;

[0063] 15) state12: Send a telemetry packet fetching instruction, the FPGA test board 20 receives the telemetry data packet fed back from the radar mechanism controller 30, and discriminates the working status word of "motor stall?". If this status word shows that the motor (radar drive mechanism 52) has stalled, it indicates that the radar drive mechanism 52 may be abnormal, such as faults like cable snagging causing the radar drive mechanism 52 not to rotate. The radar mechanism controller 30 identifies whether the radar drive mechanism 52 is stalled by discriminating the current magnitude. If the current magnitude exceeds the set threshold, it means that the torque output by the motor is already very large and a stall abnormality may occur, then enter the next state machine state13; if the motor stall status word shows normal, enter state machine 1 for the second automatic test process.

[0064] 16) state13: Send an abnormal stop control instruction to make the radar mechanism controller 30 clear the three-loop parameters,

[0065] Unload the force of the radar drive mechanism 52, and at the same time give a flag bit indicating a test abnormality.

[0066] The adaptive counterweight device and the spaceborne microwave radar assembly 50 are both arranged in the microwave anechoic chamber 60. To clearly show the structure and position of the adaptive counterweight device and the spaceborne microwave radar assembly 50, Figure 1 the microwave anechoic chamber 60 is not shown in the figure. The spaceborne microwave radar assembly 50 includes: a spaceborne microwave radar 51 and a radar drive mechanism 52.

[0067] The adaptive counterweight device includes: a counterweight device motor 41, a telescopic hinge 42, and a counterweight block 43; the counterweight device motor 41 is electrically connected or signal-connected to the radar mechanism controller 30, and controls the length of the telescopic hinge 42 by controlling the rotation angle of the counterweight device motor 41.

[0068] The spaceborne microwave radar 51 is arranged at the distal end of the telescopic hinge 42, and the counterweight block 43 is arranged at the proximal end of the telescopic hinge 42. By adjusting the position of the telescopic hinge 42, the spaceborne microwave radar 51 is in a weightless state, simulating the environment of the spaceborne microwave radar 51 in the space environment.

[0069] The FPGA test board 20 controls and adjusts the rotation angle of the counterweight device motor 41 according to the position information of the radar drive structure 52 collected by a resolver (not shown in the figure), thereby adjusting the length of the telescopic hinge 42, so as to change the length of the force arm of the counterweight 43, until the spaceborne microwave radar 51 can be stabilized at the horizontal balance zero position, and then locked at that position, to achieve the cancellation of the gravity of the spaceborne microwave radar 51, constructing a weightless environment, which is convenient for ground testing to adjust the most realistic and optimal performance control parameters. This adaptive counterweight device is different from conventional counterweight devices. Compared with the traditional method of installing counterweights, the installation position is fixed (the force arm is fixed) and the size of the counterweight is fixed, and the resistance moment cannot accurately cancel the moment of the search mechanism, making it difficult to achieve complete balancing. The main advantage of the present invention is that the entire counterweight process is completely self-adjusting and digitally controlled, and can achieve complete balancing.

[0070] The radar drive mechanism 52 is electrically connected or signal-connected to the radar mechanism controller 30; the radar mechanism controller 30 can control the radar drive mechanism 52 to drive the spaceborne microwave radar 51 to rotate with the monitoring target according to the instructions sent by the control FPGA test board 20, so as to lock and track the monitoring target.

[0071] As Figure 2 shown, the microwave anechoic chamber 60 is formed by a plurality of microwave absorbing material panels 61, so that the spaceborne microwave radar assembly 50 and the adaptive counterweight device are located inside the microwave anechoic chamber 60. The purpose of this is to prevent the microwave radiation generated when the spaceborne microwave radar 51 works from radiating to the test personnel, which will greatly endanger physical health. At the same time, the reflected microwave will cause high-power echo damage to the radar due to the short distance. The microwave absorbing material can effectively solve this problem after absorbing the microwave. In this example, the microwave absorbing material is pyramidal microwave absorbing material.

[0072] In order to avoid the microwave anechoic chamber 60 being too large in volume, inconvenient for transportation and storage, the microwave anechoic chamber 60 of the present invention further includes: a folding mechanism 62, and the microwave absorbing material panels 61 are fixedly arranged around the outside of the folding mechanism 62. In the use state, the folding mechanism 62 is opened, and the microwave absorbing material panels 61 are unfolded to form a square three-dimensional structure, that is, the microwave anechoic chamber 60 is formed; in the storage state, the folding mechanism 62 is folded, and the microwave absorbing material panels 61 are stacked, and the volume is greatly reduced.

[0073] In this example, the folding mechanism 62 is a scissor mechanism, which consists of two scissor-type foldable mechanisms and is driven by a linear drive mechanism (not shown in the figure) to expand and contract. Six pyramidal microwave absorbing material (such as polyurethane) panels are fixed on the scissor-type foldable mechanism. After expansion, a microwave anechoic chamber 60 in a cubic configuration is presented. After folding, the volume of the anechoic chamber is greatly reduced, which is convenient for transportation. Different from traditional large anechoic chambers where testers need to conduct tests inside the anechoic chamber, since the anechoic chamber is filled with microwave absorbing materials, long-term work inside the anechoic chamber will inhale a large amount of toxic gases and damage health. However, this miniature and foldable microwave anechoic chamber in the present invention can effectively isolate testers from radar radiation, has extremely low cost, and can be flexibly transported and carried.

[0074] The test equipment of the present invention further includes: a power supply board (not shown in the figure), which is used to supply power to the radar mechanism controller.

[0075] The test equipment of the present invention further includes: a nitrogen filling device (not shown in the figure), which is connected to the radar drive mechanism and is used to keep the inside cavity of the mechanism dry during ground tests, thereby achieving good performance of the permanent magnet synchronous motor of the mechanism.

[0076] The method for performing automated tests using the on-board microwave radar drive mechanism automated test equipment of the present invention includes the following steps:

[0077] In the first step, the on-board microwave radar assembly 50 is fixed on the bottom plate tooling of the microwave anechoic chamber 60, the adaptive counterweight device is installed, and the scissor mechanism (folding mechanism 512) is unfolded by controlling the linear drive mechanism. Six pyramidal microwave absorbing material panels 511 are fixed on the outer frame of the scissor mechanism to form an anechoic chamber, so that the on-board microwave radar assembly 50 and the adaptive counterweight device are inside the microwave anechoic chamber 60.

[0078] In the second step, autonomous trimming is completed: the FPGA test board 20 autonomously adjusts the rotation angle of the counterweight device motor 41 according to the collected position information of the radar drive mechanism 52, thereby adjusting the length of the telescopic hinge 42 to achieve the purpose of changing the lever arm length of the counterweight block 43 until the on-board microwave radar 51 can be stably at the horizontal balance zero position, and then locked at this position to cancel the gravity of the on-board microwave radar 51, constructing a weightless environment, which is convenient for adjusting the most realistic and optimal performance control parameters during ground tests.

[0079] In the third step, the FPGA test board 20 starts the automated test process, completes the programs in state1 to state13, realizes multiple loop tests, and at the same time, each loop will perform a stall abnormal detection on the radar drive mechanism 52. After detecting an abnormality, a stop control instruction is automatically sent to the radar mechanism controller 30 to protect the radar drive mechanism 52 and improve the reliability of the automated test.

[0080] Meanwhile, during the test, the FPGA test board 20 will store the telemetry data packets sent by the radar mechanism controller 30 and send them to the host computer 10. The stored information includes position and angular velocity information. By taking the derivative of the angular velocity, the angular acceleration information can be obtained:

[0081]

[0082] In the above formula, α represents the angular acceleration and ω represents the angular velocity.

[0083] Based on the known moment of inertia J of the radar mechanism and the calculated angular acceleration information, the magnitude of the reaction torque T can be deduced:

[0084] T = J × α ÷ 57.3

[0085] Based on the velocity information, the velocity stability can be calculated:

[0086] Velocity stability = (set velocity - actual velocity) / set velocity.

[0087] Based on the calculated reaction torque T, it can be monitored in real time whether the reaction torque of the on-orbit working satellite-borne microwave radar drive mechanism on the satellite will affect the satellite attitude.

[0088] In summary, the present invention can achieve self-trimming by setting the adaptive counterweight device, creating a weightless environment for the satellite-borne microwave radar, making the test data more reliable; by setting the foldable microwave anechoic chamber, the operation is safe and friendly, and the acceptance test can be carried out anytime and anywhere.

[0089] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be construed as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and substitutions to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. An automated test equipment for a spaceborne microwave radar drive mechanism, characterized in that, the test equipment includes: a host computer, an FPGA test board, a radar mechanism controller, an adaptive counterweight device, a spaceborne microwave radar component, and a microwave anechoic chamber; the host computer is signal-connected to the FPGA test board, and the host computer receives remote sensing data packets from the FPGA test board, processes the data, and obtains monitoring information; the radar mechanism controller is signal-connected to the FPGA test board, the radar mechanism controller receives instruction information from the FPGA test board, and the FPGA test board receives remote sensing data packets from the radar mechanism controller; the adaptive counterweight device and the spaceborne microwave radar component are both arranged in the microwave anechoic chamber; the adaptive counterweight device includes: a counterweight device motor and a telescopic hinge; the counterweight device motor is electrically connected or signal-connected to the radar mechanism controller; the radar mechanism controller controls the telescopic hinge to extend or retract by controlling the rotation angle of the counterweight device motor according to the instruction sent by the FPGA test board; the spaceborne microwave radar component includes: a spaceborne microwave radar and a radar drive mechanism; the spaceborne microwave radar is arranged at the distal end of the telescopic hinge, adjusts its position through the telescopic hinge for trimming; the radar drive mechanism is electrically connected or signal-connected to the radar mechanism controller; the radar mechanism controller controls the radar drive mechanism to drive the spaceborne microwave radar to rotate with the monitoring target to track and lock the monitoring target.

2. The automated test equipment for a spaceborne microwave radar drive mechanism according to claim 1, characterized in that, the microwave anechoic chamber is formed by several microwave absorbing material panels.

3. The automated test equipment for a spaceborne microwave radar drive mechanism according to claim 2, characterized in that, a folding mechanism is further arranged in the microwave anechoic chamber, and the microwave absorbing material panels are fixedly arranged around the outside of the folding mechanism. In the use state, the folding mechanism is opened, and the microwave absorbing material panels form a square three-dimensional structure; in the storage state, the folding mechanism is folded, and the microwave absorbing material panels are stacked.

4. The automated test equipment for a spaceborne microwave radar drive mechanism according to claim 3, characterized in that, the folding mechanism is a scissor mechanism, which is composed of two scissor-type foldable mechanisms and is driven to expand and contract by a linear drive mechanism.

5. The automated test equipment for a spaceborne microwave radar drive mechanism according to claim 1, characterized in that, the FPGA test board is used to run an automated test program, and the test program has any one or more of the functions of instruction sequence sending, abnormal discrimination, function index discrimination, start-stop control, speed stability test, reaction torque test, test data storage, and telemetry packet uploading.

6. The automated test equipment for a spaceborne microwave radar drive mechanism according to claim 5, characterized in that, The instruction sequence includes any one or more of the following: desired position specification instruction, single search instruction, airspace target search instruction, speed tracking instruction, zero position correction instruction, soft limit setting instruction, three-loop parameter injection instruction, speed setting instruction, abnormal stop control instruction, and telemetry packet data acquisition instruction.

7. The on-board microwave radar drive mechanism automatic test equipment according to claim 1, characterized in that, the radar mechanism controller and the FPGA test board perform data transmission in a manner of UART serial communication.

8. The on-board microwave radar drive mechanism automatic test equipment according to claim 1, characterized in that, the test equipment further includes: a nitrogen filling device, which is connected to the radar drive mechanism and is used to keep the inner cavity of the mechanism dry during the ground test.

9. An on-board microwave radar drive mechanism automatic test method, characterized in that, the method includes: Step 1, provide the on-board microwave radar drive mechanism automatic test equipment described in any one of claims 1-8; Step 2, unfold the folding mechanism by controlling the linear drive mechanism, fix the microwave absorbing material panel on the outer frame of the scissor mechanism to form a microwave anechoic chamber, and place the on-board microwave radar assembly and the adaptive counterweight device in the microwave anechoic chamber; Step 3, complete the automatic trimming: the FPGA test board autonomously adjusts the rotation angle of the counterweight device motor according to the collected position information of the radar drive mechanism to adjust the length of the telescopic hinge until the on-board microwave radar can be stably at the horizontal balance zero position, and then lock it at that position to offset the gravity of the on-board microwave radar and construct a weightless environment; Step 4, start the automatic test process of the FPGA test board, complete the program in the FPGA state machine, and realize multiple loop tests.

10. The on-board microwave radar drive mechanism automatic test method according to claim 9, characterized in that, before each loop test, a stall abnormal detection is also performed.

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