A vibration measurement and control device and method for a multi-stage flexible coupling damping structure

Abstract

The application discloses a vibration measurement and control device and method of a multistage flexible coupling damping structure, comprising a multistage flexible coupling part, a vibration detection part and a vibration control part, wherein the multistage flexible coupling part comprises a first-stage solar panel structure, a second-stage honeycomb axial active control structure and a third-stage crystal active damping structure, and the parts are connected by springs. The device can be used to study the influence of the multistage flexible coupling damping structure on vibration movement and vibration control, and has certain application prospects in the field of vibration measurement and damping control of a space flexible multilayer structure.

Description

Technical Field

[0001] This invention relates to the field of vibration control, and in particular to a vibration measurement and control device and method for a multi-stage flexible coupling vibration reduction structure. Background Technology

[0002] In the aerospace field, large size, low stiffness, and flexibility are important development trends for various aerospace structures. More and more structures are employing a coupling of rigid and flexible structures. Such structures can increase payload weight and improve the efficiency of launch vehicles; large structures can also enhance the functionality of space structures, such as large-area solar panels providing more power. However, this also brings a series of new problems. These structures have low modal damping; if no measures are taken to suppress their vibrations, once subjected to a certain excitation force, their large-amplitude vibrations can persist for a long time, affecting operational accuracy and causing premature fatigue failure. With the rapid advancement of aerospace technology, research on the rapid suppression of coupled vibrations of various structures is of great significance.

[0003] Spacecraft such as spaceships and satellites rely primarily on batteries for power during spaceflight, and this power supply mainly comes from solar panels. As a power source, solar panels are fundamental to the normal operation of spacecraft. Solar panels, with a span of approximately ten meters, are characterized by flexibility, large size, and nonlinearity. Their deployment and retraction easily induce vibrations with densely packed vibration modes, making control highly challenging.

[0004] Non-contact measurement offers numerous advantages over traditional contact-based sensor measurements. It does not affect the dynamic performance of the object being measured, does not interfere with its normal operation due to added mass, is non-destructive, and has strong anti-interference capabilities. However, the accuracy of non-contact measurements is generally lower than that of contact measurements. Non-contact measurement is a simple and effective vibration measurement method, commonly employing methods such as laser vibrometers, laser sensors, and binocular vision systems. Among these, the binocular vision system vibration measurement method, composed of two high-speed cameras, is increasingly becoming a simple, convenient, and highly valuable vibration measurement method due to the development and maturity of image processing and analysis technologies. Summary of the Invention

[0005] In order to overcome the above-mentioned shortcomings and deficiencies of the prior art, the purpose of this invention is to provide a vibration measurement and control device and method for a multi-level flexible coupling vibration reduction structure. This invention fully considers the influence of the multi-level flexible coupling structure on the vibration characteristics of the flexible beam.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A vibration monitoring and control device for a multi-stage flexible coupling vibration reduction structure includes:

[0008] The multi-level flexible coupling section includes:

[0009] The primary solar panel structure includes an electric cylinder installed inside a sleeve. A top support is fixed to the shaft end of the electric cylinder. Four middle connecting rods are symmetrically arranged on the top support. The middle connecting rods are connected to the solar panel. The reciprocating motion of the electric cylinder realizes the deployment and retraction of the solar panel.

[0010] A two-stage honeycomb axial active control structure includes a honeycomb wall, the top of which is connected to a first-stage solar panel structure via a first flange, and an axial control unit is provided at the axial position inside the honeycomb arm.

[0011] The three-stage crystalline active damping structure includes a crystalline structure, which is mounted on an annular base. The crystalline structure is connected to a two-stage honeycomb axial active control structure via a second flange. The first flange and the second flange, as well as the second flange and the annular base, are coupled by springs.

[0012] The vibration detection section is used to detect the vibration signals of the solar panels;

[0013] The vibration control section is used to suppress the vibration of the solar panels based on vibration signals.

[0014] Furthermore, the solar panel includes a square rod, a rotating flexible grid, a frame, and flexible beams. The square rod is connected to the middle connecting rod and the annular support outside the sleeve. The rotating flexible grid is connected to the square rod and is set inside the frame. The frame is placed vertically, and four flexible beams are symmetrically arranged on its upper and lower sides.

[0015] Furthermore, the vibration detection section includes a piezoelectric fiber sensor, an accelerometer, and a binocular vision unit;

[0016] The piezoelectric fiber sheet sensor is located near the fixed end of the flexible beam and is symmetrical along the centerline of the width direction of the flexible beam. One sheet is arranged on each flexible beam to detect the vibration signal of the flexible beam. The fixed end is the connection between the flexible beam and the frame, and the other end of the flexible beam is the free end.

[0017] The acceleration sensor is installed at the free end of the flexible beam and located at the centerline of the width direction of the flexible beam, and is used to detect the vibration signal of the flexible beam.

[0018] The binocular vision unit includes two high-speed cameras and a laser. The laser's emission port is aligned with the centerline of the flexible beam's width direction, and the laser point area is located within the field of view of the two high-speed cameras.

[0019] Furthermore, the vibration control section includes a piezoelectric fiber sheet driver and a piezoelectric stacked brake. After the computer receives the vibration signal, it generates a control signal, inputs it into the motion control card, and outputs it through the terminal board to the piezoelectric amplifier circuit for amplification before inputting it into the piezoelectric fiber sheet driver and the piezoelectric stacked brake to suppress the vibration of the multi-stage flexible coupling section.

[0020] Furthermore, the piezoelectric fiber sheet actuator is positioned near the fixed end of the flexible beam. Each piezoelectric fiber sheet actuator includes four piezoelectric fiber sheets, with two sheets on each side connected in parallel, and they are symmetrical about the centerline of the flexible beam in the width direction.

[0021] Furthermore, the piezoelectric stacked brake is mounted on a two-stage honeycomb active control structure and a three-stage crystal active damping structure.

[0022] Furthermore, four outer supports are evenly arranged on the outer side of the crystalline structure, and each outer support is equipped with a piezoelectric stacked brake to control vibration at different angles.

[0023] Furthermore, the axial control unit includes a damping shaft disposed at the top of the honeycomb wall, an axial sleeve disposed below the honeycomb wall, a damping spring disposed inside the honeycomb wall, and a piezoelectric stacked brake disposed outside the honeycomb wall.

[0024] Furthermore, the honeycomb wall is cylindrical, and six piezoelectric stacked brakes are symmetrically arranged along the circumference to control vibrations at different angles.

[0025] A method for using the vibration monitoring and control device, comprising:

[0026] The drive cylinder shaft moves, which in turn moves the top bracket connected to it, thus enabling the solar panel to unfold and retract. Due to the rigid-flexible coupling of the overall structure, vibration is transmitted in each level of the structure.

[0027] The vibration detection section is used to detect the vibration signals of the solar panels;

[0028] The vibration control section is used to suppress the vibration of the solar panels based on vibration signals.

[0029] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0030] (1) This invention can study a vibration measurement and control method with a multi-level flexible coupling vibration reduction structure. In the multi-level flexible coupling structure, there are multiple spring couplings and rigid-flexible couplings, which provides a hard condition for studying systems with a large number of rigid-flexible couplings and spring couplings.

[0031] (2) The experimental device described in this invention uses an electric cylinder to pull the umbrella-shaped structure to simulate the opening and closing of the solar panel, which is similar to the working conditions of the solar panel in the technical context, and provides hard conditions for the study of vibration detection and control of solar panels in the context of aviation.

[0032] (3) This invention is a multi-type vibration detection system, which includes an acceleration sensor, a piezoelectric fiber sensor, and a non-contact detection unit. The three verify each other, and the system model is accurately identified, which is beneficial to improving the accuracy of flexible beam measurement.

[0033] (4) Binocular vision is used to detect the vibration modes of flexible structures. It has the advantages of being non-contact and having a wide measurement range. Compared with the traditional contact measurement method, it does not increase the added mass or change the structural characteristics, thus improving the measurement accuracy. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 yes Figure 1 Schematic diagram of the central ring base structure;

[0036] Figure 3 yes Figure 1 Schematic diagram of the crystalline structure;

[0037] Figure 4 yes Figure 1 Schematic diagram of the structure of the second flange in the middle;

[0038] Figure 5 yes Figure 1 A schematic diagram of the structure of a honeycomb wall;

[0039] Figure 6 yes Figure 1 Schematic diagram of the central axis control unit;

[0040] Figure 7 yes Figure 6 Schematic diagram of the structure of the central damping shaft;

[0041] Figure 8 yes Figure 6 Schematic diagram of the central axial sleeve;

[0042] Figure 9 yes Figure 6 Schematic diagram of the structure of the damping spring;

[0043] Figure 10 yes Figure 1 Schematic diagram of the structure of the first flange in the middle;

[0044] Figure 11 yes Figure 1A schematic diagram of the structure of a solar panel;

[0045] Figure 12 yes Figure 11 Schematic diagram of the structure of the electric cylinder;

[0046] Figure 13 yes Figure 11 Schematic diagram of the middle sleeve;

[0047] Figure 14 yes Figure 11 Schematic diagram of the solar array structure;

[0048] Figure 15 yes Figure 14 Schematic diagram of a rotating flexible lattice structure;

[0049] Figure 16 yes Figure 1 Front view of the overall structural schematic diagram;

[0050] Figure 17 yes Figure 1 Left view of the overall structural schematic diagram;

[0051] Figure 18 yes Figure 1 Top view of the overall structural schematic diagram;

[0052] Figure 19 This is the overall control flowchart. Detailed Implementation

[0053] The present invention will be further described in detail below with reference to the embodiments, but the implementation of the present invention is not limited thereto.

[0054] like Figures 1-18 As shown, a vibration monitoring and control device for a multi-stage flexible coupling vibration reduction structure includes a multi-stage flexible coupling part, a vibration detection part, and a vibration control part.

[0055] The multi-level flexible coupling component includes a primary solar panel structure, a secondary honeycomb axial active control structure, and a tertiary crystalline active damping structure.

[0056] The primary solar panel structure includes an electric cylinder housed within an outer sleeve. The electric cylinder is a rod-side flange type and is connected to the sleeve via bolts and nuts. The electric cylinder is a linear motion device. The shaft end of the electric cylinder is fixed to a top support 6 via a limiting nut. Four symmetrically arranged middle-layer connecting rods 7 are mounted on the top support 6, connected via bolts and nuts. The middle-layer connecting rods 7 are connected to the solar panel, and the reciprocating motion of the electric cylinder enables the solar panel to deploy and retract.

[0057] Furthermore, the solar panel includes a square rod, a frame 5, a rotating flexible grid 8, and a flexible beam 2. The square rod is welded to the annular support 9 on the outside of the sleeve. The square rod and the middle connecting rod are connected by bolts and nuts to form an umbrella-shaped structure. The other end of the square rod is connected to the frame 5. The rotating flexible grid 8 is set inside the frame 5.

[0058] Specifically, both the frame 5 and the rotating flexible grid 8 are rectangular. The rectangular frame is placed vertically, and in this embodiment, flexible beams are symmetrically placed vertically along the two long sides of the rectangular frame. Each frame has four flexible beams, with two flexible beams on each of the top and bottom sides. The two flexible beams on each side of the frame are symmetrically arranged, and the flexible beams on the top and bottom sides of the frame are also symmetrically arranged to form a solar panel.

[0059] In this embodiment, there are a total of four solar panels.

[0060] The secondary honeycomb axial active control structure includes a honeycomb wall 19, the top of which is connected to the primary solar panel structure via a first flange 13, and an axial control unit is provided at the axial position inside the honeycomb arm.

[0061] Furthermore, the axial control unit 17 includes a damping shaft disposed at the top of the honeycomb wall, an axial sleeve disposed below the honeycomb wall, a damping spring disposed inside the honeycomb wall, and a piezoelectric stacked brake 18 disposed outside the honeycomb wall. The honeycomb wall is cylindrical, and six piezoelectric stacked brakes are symmetrically arranged along the circumference to control vibrations at different angles. The internal damping spring is provided with a certain preload to achieve axial control movement driven by the piezoelectric stacked brakes.

[0062] The three-stage crystalline active damping structure is pre-tightened during installation and is connected via outer supports. The outer supports are equipped with piezoelectric stack brakes, and there are four outer supports. The attitude is adjusted by the piezoelectric stack brakes.

[0063] The three-stage crystalline active damping structure is made of flexible material and includes a crystalline structure 20. The crystalline structure is mounted on an annular base by screws. The crystalline structure is connected to the two-stage honeycomb axial active control structure through a second flange. The first flange and the second flange, as well as the second flange and the annular base, are coupled by springs 14 and 16. The annular base 23 is mounted on the experimental platform 24.

[0064] Specifically, each layer has 6 springs, and the springs are on the same horizontal plane between two layers.

[0065] The two flanges are exactly the same diameter, both 460mm, while the diameter of the ring base is 640mm.

[0066] Specifically, the crystalline structure is made of rubber and consists of a cube, a conical base, and a connecting rod. An outer support is fixed to the outside with screws, and a piezoelectric stacked brake is installed in the center of the outer support. The screws are M3x5. The crystalline structure is pre-loaded to achieve shock absorption and active control.

[0067] Specifically, the electric cylinder model is SMC's LZBF5H-100A5L, with a rod-side flange mounting type, a cylinder diameter of 25mm, a thread lead of 12mm, a stroke of 100mm, an AC motor type, a motor size of 5mm, and an external thread on the rod end.

[0068] Specifically, the top support 6 and the middle connecting rod 7 are connected by bolts and nuts, and the model is M5X16.

[0069] Specifically, the cylindrical part of the middle connecting rod is 200mm long and 20mm in diameter, the connecting end is 20X10, the opening is 5mm from the width edge and has a diameter of 5mm.

[0070] Specifically, the flexible beams in the solar panel structure have the same dimensions, which are 400mm x 150mm and 2mm thick. The flexible beams are connected to the frame via brackets and bolts and nuts, with a size of M5 x 12.

[0071] Specifically, the rotating flexible grid is a 3D printed product made of rubber-like material. The grid cells are arranged in a 6×2 array and can be fixed inside the outer frame by screws.

[0072] Specifically, the outer frame is connected to the square rod by screws, model M3X5.

[0073] Specifically, the top support is driven by the shaft end of the electric cylinder to reciprocate, thereby realizing the opening and closing of the umbrella-shaped structure. The electric cylinder stroke is 100mm, the solar wing opening angle is fixed at 150-180°, and the working state is fixed at 150°.

[0074] Specifically, the honeycomb wall has a cylindrical structure with a total thickness of 5mm, a wall thickness of 0.4mm, an outer diameter (radius) of 125mm, and a height of 240mm.

[0075] Specifically, the damping spring has a wire diameter (radius) of 2mm, a length of 100mm, and an outer diameter of 20mm. It is placed inside the axial sleeve and a preload is set to achieve axial extension and retraction of the damping structure.

[0076] Specifically, the top of the axial sleeve has a groove, the middle is welded with a flange, and the lower side of the upper damping shaft is made into a gear shape, which can realize linear reciprocating motion in the sleeve groove.

[0077] The vibration detection section includes an accelerometer 1, a piezoelectric fiber sensor 3, and a binocular vision unit.

[0078] The piezoelectric fiber sensor is used to detect the vibration signal of the flexible beam. It converts the vibration signal into a corresponding electrical signal output by its own sensing characteristics. After being amplified by the charge amplifier 28, the signal is transmitted to the motion control card 27 through the terminal board 29. Then, the analog signal is converted into a digital signal by the internal A / D conversion module and transmitted to the computer 25.

[0079] Accelerometer 1 is used to detect the vibration signal of the flexible beam. After being amplified by charge amplifier 28, it is transmitted to motion control card 27 through terminal board 29. Then, the analog signal is converted into a digital signal by the A / D conversion module inside motion control card 27 and transmitted to computer 25.

[0080] Specifically, the piezoelectric fiber sensor 3 is made of piezoelectric ceramic, with geometric dimensions of 40mm×10mm×2mm. It is placed on the centerline of the width direction of the flexible beam 2, 80mm away from the edge of the fixed end, and one sensor is placed on each flexible beam.

[0081] The accelerometer sensor 1 is a 4370 piezoelectric accelerometer from HBK Bruel & Kjaer, which is commonly used for vibration measurement and has a nominal sensitivity of 10 pc / ms. -2 The measurement frequency range is 0.1 to 4800 Hz, and it is arranged at the centerline of the width direction of the flexible beam 2, 20 mm away from the free end of the flexible beam.

[0082] The binocular vision unit includes two high-speed cameras 11, a guide rail, and a laser 10. The binocular vision unit is arranged on another experimental pedestal 12 for non-contact detection. The high-speed cameras are arranged on the guide rail to detect the vibration information of the flexible beam at an elevation angle. The laser's emission port is aligned with the center line of the flexible beam's width, and the lenses of the two high-speed cameras are aligned with the laser point area. The high-speed cameras are connected to a computer.

[0083] Specifically, the camera used is a GIGE camera, model acA1600-60gc, manufactured by Basler in Germany. It uses a CMOS image sensor, can capture images at a maximum of 60 frames per second, and has a resolution of 1600×1200 pixels. The lens used is from Ricoh, model FL-HC0614-2M, with a focal length of 6mm and dimensions of Φ32mm×35.7mm.

[0084] The vibration control section includes a piezoelectric fiber sheet driver 4 and a piezoelectric stacked brake 18. After the computer receives the vibration signal, it generates a corresponding control signal through calculation, inputs it into the motion control card 27, outputs it through the terminal board 29, amplifies it through the piezoelectric amplifier circuit 26, and then inputs it into the piezoelectric fiber sheet driver and the piezoelectric stacked brake to suppress the vibration of the flexible beam and the multi-level coupled structure.

[0085] Specifically, the piezoelectric fiber sheet actuator 4 is composed of four piezoelectric fiber sheets, with four piezoelectric fiber sheet actuators placed on each flexible beam. Two actuators are placed on each side and connected in parallel. They are symmetrical with respect to the center line of the flexible beam in the width direction. The piezoelectric fiber sheet is 40mm away from the edge of the fixed end in the width direction and 20mm away from the edge line in the length direction, which is used to suppress the bending vibration of the vertically placed flexible beam.

[0086] Specifically, the piezoelectric stacked brake is arranged in the secondary honeycomb shaft motion control section, with 6 of them symmetrically arranged along the circumference on the protruding disk of shaft 17 to control vibration deviation at different angles.

[0087] Specifically, the piezoelectric stacked brake is also arranged on the outer support of the crystal-like damping structure, with one brake on each outer support, for a total of four, to control vibrations at different angles.

[0088] Specifically, an initial force is applied to the flexible beam 2, and then the electric cylinder is driven, so that the vibration of the entire mechanism is closer to the vibration of the solar panels in space.

[0089] Specifically, the bending and torsion of the flexible beam 2 are controlled by the piezoelectric fiber sheet actuator 4.

[0090] Specifically, the piezoelectric fiber sheet actuator 4 is placed on the flexible beam 2 near the fixed end; wherein each flexible beam 2 has four piezoelectric fiber sheet actuators, two on each side, which are symmetrical about the center in the width direction, 40mm away from the edge in the width direction of the fixed end, with an orientation of 90°, and 20mm away from the edge in the length direction, to suppress the bending vibration of the flexible beam 2.

[0091] Specifically, the piezoelectric fiber sheet actuator 4 is made of piezoelectric ceramic material, with geometric dimensions of 60mm × 25mm × 2mm, and the elastic modulus of the piezoelectric ceramic is E. p =63GPa, d 31 = -166pm / V.

[0092] Specifically, the piezoelectric stacked brake 18 and the press-stacked brake 21 are products of Xinmingtian Company, specifically model NAC2023-Hxx, with a length of 15mm, a width of 15mm, a height of 20mm, a driving voltage of 200V, an output force of up to 9450N, and a displacement of 3.3-244.2μm. They are pre-set with a preload to provide both extension and retraction states when vibration occurs, thereby achieving vibration control.

[0093] Specifically, six sets of piezoelectric stacked brakes are arranged along the circumference to achieve control at different angles, while four sets of crystalline damping structures are arranged.

[0094] like Figure 19 As shown, this embodiment also provides a measurement and control method for a multi-level flexible coupling vibration reduction structure, including:

[0095] Step 1: The computer outputs a signal, which is processed by the motion control card and the terminal board, and then drives the servo motor to move the shaft end of the electric cylinder, which in turn drives the top support connected to it. Due to the presence of the rotating flexible grid coupling structure, the secondary flexible honeycomb wall structure and the tertiary flexible crystal structure, the vibration is directly and rapidly transmitted and coupled in the flexible beam and the overall structure.

[0096] Step 2: Use a piezoelectric fiber sensor to detect the vibration of the flexible beam placed on the solar panel structure and obtain its measurement signal. Use an accelerometer unit to detect the vibration signal of the flexible beam and obtain its vibration signal.

[0097] Step 3: Use a point laser to shoot the laser at a suitable position on the flexible beam, use an industrial camera to collect vibration images, obtain an image sequence containing vibration information, transmit it to a computer, and obtain the vibration information of the flexible beam by identifying the ROI feature pattern of the image and reconstructing the three-dimensional coordinates.

[0098] Step 4: The piezoelectric sensor signals, accelerometer signals, and binocular vision vibration information collected in Steps 2 and 3 are processed by charge amplifiers and then transmitted to the motion control card through the terminal board. The analog signals are then converted into digital signals by the A / D conversion module inside the motion control card and transmitted to the computer.

[0099] Step 5: The vibration detection signal obtained in step 4 is used to obtain the corresponding vibration feedback signal through the computer. The signal is then output by the D / A converter of the motion control card, transmitted through the terminal board, and amplified by the piezoelectric amplifier circuit before being output to the piezoelectric fiber driver and the piezoelectric stacked brake, thereby suppressing the vibration of the flexible beam and the multi-stage coupled structure.

[0100] Step 6: Adjust the parameters multiple times, conduct repeated experiments, and analyze the experimental results to obtain the vibration characteristics and control effect of the flexible beam.

[0101] In this embodiment, the flexible beams are made of identical materials, both being thin sheets of epoxy resin. The dimensions of flexible beam 2 are 400mm × 150mm × 2mm, and the elastic modulus of the epoxy resin is E. p =34.64 GPa, density is ρ = 1840 kg / m³ 3 .

[0102] The experimental table 24 is assembled from two aluminum profiles with lengths of 880mm and 480mm respectively. The tabletop is a 1000mm×1000mm stainless steel plate, which is connected to the profiles by screws. Each connection of the profiles is fixed with angle iron.

[0103] The charge amplifier 28 is the YE5850 charge amplifier from Jiangsu Lianeng Electronics Co., Ltd.; the motion control card 27 is the DMC-2x digital motion controller manufactured by GALIL Corporation of the United States, which provides a standard PCI bus interface; the selected computer 25 has a CPU model of Core 7 6650U 22.2GHz, 4G of memory, and a PCI-e slot on the motherboard for installing the motion control card.

[0104] The piezoelectric amplifier circuit 26 can be composed of components such as the APEX-PA241DW or APEX-PA240CX piezoelectric amplifier. It was developed by South China University of Technology and is described in detail in the applicant's patent application titled "Active Control Device and Method for Simulating Bending and Torsional Modal Vibration of Space Solar Panels," application number 200810027186.4. The amplification factor reaches 52 times, that is, amplifying -5V to +5V to -260V to +260V.

[0105] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the embodiments described above. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A vibration monitoring and control device for a multi-stage flexible coupling vibration reduction structure, characterized in that, include: The multi-level flexible coupling section includes: The primary solar panel structure includes an electric cylinder installed inside a sleeve. A top support is fixed to the shaft end of the electric cylinder. Four middle connecting rods are symmetrically arranged on the top support. The middle connecting rods are connected to the solar panel. The reciprocating motion of the electric cylinder realizes the deployment and retraction of the solar panel. A two-stage honeycomb axial active control structure includes a honeycomb wall, the top of which is connected to a first-stage solar panel structure via a first flange, and an axial control unit is provided inside the honeycomb wall along its axial direction. The three-stage crystalline active damping structure includes a crystalline structure, which is mounted on an annular base. The crystalline structure is connected to a two-stage honeycomb axial active control structure via a second flange. The first flange and the second flange, as well as the second flange and the annular base, are coupled by springs. The vibration detection section is used to detect the vibration signals of the solar panels; The vibration control section is used to suppress the vibration of the solar panels based on vibration signals. The solar panel includes a square rod, a rotating flexible grid, a frame, and flexible beams. The square rod is connected to the middle connecting rod and the ring bracket outside the sleeve. The rotating flexible grid is connected to the square rod and is set inside the frame. The frame is placed vertically and four flexible beams are symmetrically arranged on its upper and lower sides. The vibration detection section includes a piezoelectric fiber sensor, an accelerometer, and a binocular vision unit. The piezoelectric fiber sheet sensor is located near the fixed end of the flexible beam and is symmetrical along the centerline of the width direction of the flexible beam. One sheet is arranged on each flexible beam to detect the vibration signal of the flexible beam. The fixed end is the connection between the flexible beam and the frame, and the other end of the flexible beam is the free end. The acceleration sensor is installed at the free end of the flexible beam and located at the centerline of the width direction of the flexible beam, and is used to detect the vibration signal of the flexible beam. The binocular vision unit includes two high-speed cameras and a laser. The laser's emission port is aligned with the centerline of the flexible beam's width direction, and the laser point area is located within the field of view of the two high-speed cameras. The vibration control section includes a piezoelectric fiber sheet driver and a piezoelectric stacked brake. After the computer receives the vibration signal, it generates a control signal, inputs it into the motion control card, and outputs it through the terminal board to the piezoelectric amplifier circuit for amplification before inputting it into the piezoelectric fiber sheet driver and the piezoelectric stacked brake to suppress the vibration of the multi-stage flexible coupling section.

2. The vibration measurement and control device according to claim 1, characterized in that, The piezoelectric fiber sheet actuator is located near the fixed end of the flexible beam. Each piezoelectric fiber sheet actuator includes four piezoelectric fiber sheets, with two sheets on each side and connected in parallel, and they are symmetrical about the center line of the flexible beam width direction.

3. The vibration measurement and control device according to claim 1, characterized in that, The piezoelectric stacked brake is mounted on a two-stage honeycomb active control structure and a three-stage crystal active damping structure.

4. The vibration measurement and control device according to claim 3, characterized in that, Four outer supports are evenly arranged on the outer side of the crystalline structure, and each outer support is equipped with a piezoelectric stacked brake to control vibration at different angles.

5. The vibration measurement and control device according to claim 1, characterized in that, The axial control unit includes a damping shaft disposed at the top of the honeycomb wall, an axial sleeve disposed below the honeycomb wall, a damping spring disposed inside the honeycomb wall, and a piezoelectric stacked brake disposed outside the honeycomb wall.

6. The vibration measurement and control device according to claim 5, characterized in that, The honeycomb wall is cylindrical, and six piezoelectric stacked brakes are symmetrically arranged along the circumference to control vibrations at different angles.

7. A measurement and control method based on the vibration measurement and control device according to any one of claims 1-6, characterized in that, include: The drive cylinder shaft moves, which in turn moves the top bracket connected to it, thus enabling the solar panel to unfold and retract. Due to the rigid-flexible coupling of the overall structure, vibration is transmitted in each level of the structure. The vibration detection section is used to detect the vibration signals of the solar panels; The vibration control section is used to suppress the vibration of the solar panels based on vibration signals.

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