A repeatable locking three-super platform system

Abstract

A repeatable locking triple-platform system includes a controller, a directional vibration isolation mechanism, and a repeatable locking driver. The controller collects internal displacement information of the directional vibration isolation mechanism and calculates drive commands based on the control target. The calculated drive command results are then converted into drive current and output to the directional vibration isolation mechanism. Simultaneously, the controller receives ground injection commands and forwards them to the repeatable locking driver. The repeatable locking driver converts the ground injection commands from the controller into drive current and outputs it to the directional vibration isolation mechanism. The directional vibration isolation mechanism receives the drive current from the controller to perform linear displacement motion, thereby achieving high-precision directional motion control of the triple-platform. On the other hand, it receives the current from the repeatable locking driver to achieve locking or unlocking functions.

Description

Technical Field

[0001] This invention designs a highly reliable and repeatable locking triple super platform system, which can be applied to the field of high-precision and high-stability control of spacecraft triple super platforms. Background Technology

[0002] Astronomical observation is currently a major focus in the aerospace field. With technological advancements, spacecraft are facing increasingly stringent requirements for control performance, lifespan, and reliability. Traditional control methods often fail to meet user needs, leading to a growing number of models employing multi-stage composite control schemes to achieve better control performance. For spacecraft platforms, a triple-actuator platform is typically added to the traditional control system to achieve high-precision and high-stability control. Some models also have requirements for multiple rendezvous and docking missions or locking degradation control after triple-actuator platform failure. This places high reliability and repeatable locking requirements on the triple-actuator platform. Existing platform systems are all described based on a conventional six-actuator configuration and do not include any design for repeatable locking of the triple-actuator platform. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a highly reliable and repeatable locking triple-clamping platform system. This system improves the reliability of the triple-clamping platform system and also has safety protection and fault degradation control functions for the triple-clamping platform.

[0004] The technical solution of this invention is: a repeatable locking triple-platform system, comprising: a controller, a pointing vibration isolation mechanism, and a repeatable locking driver; the controller collects the internal displacement information of the pointing vibration isolation mechanism and calculates the drive command in combination with the control target, and converts the calculated drive command result into a drive current output to the pointing vibration isolation mechanism, while simultaneously receiving ground injection commands and forwarding them to the repeatable locking driver; the repeatable locking driver converts the ground injection commands from the controller into drive current and outputs it to the pointing vibration isolation mechanism; the pointing vibration isolation mechanism receives the drive current from the controller to perform linear displacement motion, thereby achieving high-precision pointing motion control of the triple-platform through the combination of the pointing vibration isolation mechanism, and receives the current from the repeatable locking driver to achieve locking or unlocking functions.

[0005] The controller includes:

[0006] Data acquisition module: used to acquire data from the directional vibration isolation mechanism to obtain displacement information;

[0007] The calculation and processing module: on the one hand, it calculates the drive command based on the displacement information obtained by the data acquisition module and the control target, and outputs it to the internal drive module of the controller; on the other hand, it receives the ground injection command and distributes it to the repeating locking drive.

[0008] Drive module: Converts the instructions calculated by the calculation and processing module into drive current and outputs it to the vibration isolation mechanism.

[0009] The directional vibration isolation mechanism includes two actuating rods, a repeating locking mechanism, a top support that contacts the bottom of the load, and a bottom plate that connects to the upper frame of the satellite platform cabin. The two actuating rods are connected at both ends to the top support and the bottom plate, respectively. Each actuating rod includes an actuator and a displacement sensor. The actuator inside the actuating rod receives a drive current from the controller to achieve linear displacement. A measuring probe of the displacement sensor is installed inside the actuating rod to measure its movement. The repeating locking mechanism receives a drive current from the repeating locking driver to achieve locking and unlocking of the directional vibration isolation mechanism.

[0010] The repeating locking mechanism is installed between the two actuators and is integrated with the directional vibration isolation mechanism.

[0011] The repeatable locking mechanism adopts a double-sided clamping method, and uses a motor to realize the multiple locking and unlocking functions of the three-dimensional platform.

[0012] The repetitive locking mechanism comprises a locking assembly, a motion assembly, a drive assembly, and a measuring assembly. The locking assembly includes a fixed locking rod connected to the top bracket and a movable gripper connected to the base plate via structural components. The motion assembly consists of a ball screw pair, a rolling guide pair, and rolling bearings, converting the torque output from the drive assembly into linear motion of the locking assembly. The drive assembly, composed of a stepper motor and a reducer, converts the control current received from the repetitive locking driver into output torque and transmits it to the ball screw pair. The measuring assembly consists of a linear displacement sensor and a limit switch, used to acquire the locking or unlocking position.

[0013] The directional vibration isolation machine consists of 4 sets, which are evenly distributed diagonally.

[0014] The two actuators in each of the directional vibration isolation mechanisms are mounted at a 45° angle to each other.

[0015] The advantages of this invention compared to the prior art are:

[0016] (1) By integrating the locking mechanism and the directional vibration isolation mechanism into a single design, the active control and locking safety protection functions of the three-super platform are integrated.

[0017] (2) Breaking away from the traditional configuration of 6 actuators in the three-super platform, a design scheme based on 8 actuators for the three-super platform is proposed. Furthermore, the four sets of directional vibration isolation mechanisms are evenly distributed diagonally, which improves the reliability of the three-super platform system.

[0018] (3) Based on the product configuration characteristics of the 45° relative oblique mounting state of the directional vibration isolation mechanism actuator, a repeating locking mechanism is designed between the two actuators of each directional vibration isolation mechanism, realizing the locking / unlocking function without increasing the product envelope.

[0019] (4) The internal locking mechanism of the vibration isolation mechanism adopts a double-sided clamping method. The motor can realize multiple locking and unlocking functions of the three super platforms, which greatly improves the locking holding force and load-bearing capacity.

[0020] (5) The three-dimensional platform can switch between locking and unlocking states according to the on-orbit usage requirements. In the event of large impact loads or failure of the three-dimensional platform, the locking mechanism is repeatedly tightened to ensure the safety of the three-dimensional platform and the entire satellite; when the three-dimensional platform needs to be actively controlled, the locking mechanism is unlocked, and the three-dimensional platform can achieve autonomous control.

[0021] (6) After adopting the present invention, the reliability of the three super platform system is greatly improved, and it can adapt to large impact situations such as rendezvous and docking and load unlocking in orbit. In addition, it can ensure the safety of the entire satellite in the event of failure of the three super platform. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the components of a repeatable locking triple-clamp platform system;

[0023] Figure 2 This is a schematic diagram of the configuration distribution of the three super-platforms;

[0024] Figure 3 This is a schematic diagram of the vibration isolation mechanism (locked state);

[0025] Figure 4 This is a schematic diagram of the repeated locking mechanism inside the vibration isolation mechanism (unlocked state);

[0026] Figure 5 This is a schematic diagram illustrating the usage strategy of the three-dimensional platform system. Detailed Implementation

[0027] like Figure 1 The repeatable locking triple-clamping platform consists of one controller, four sets of directional vibration isolation mechanisms, and one repeatable locking driver.

[0028] The controller includes: a data acquisition module for acquiring data from displacement sensors and other data of the actuator units inside the vibration isolation mechanism; a calculation and processing module for calculating drive commands based on the displacement information acquired by the data acquisition module and the control target, and outputting the results to the drive module inside the controller; and receiving ground injection commands and distributing them to the repetitive locking actuator; and a drive output module for converting the commands calculated by the calculation and processing module into drive current and outputting it to the actuators inside the vibration isolation mechanism to achieve motion control of the actuators.

[0029] Each directional vibration isolation mechanism includes two actuating rods, one repeating locking mechanism, one top support that contacts the bottom of the load, and one bottom plate that connects to the upper frame of the satellite platform cabin. The two actuating rods, installed at a 45° angle, are connected at their ends to the top support and bottom plate, respectively. Each actuating rod contains an actuator and a displacement sensor; the actuator receives drive current from the controller to achieve linear displacement; the displacement sensor's measuring probe is installed inside the actuating rod to measure its movement; the repeating locking mechanism is installed between the two actuating rods, receiving drive current from the repeating locking actuator to achieve locking and unlocking of the directional vibration isolation mechanism.

[0030] The repetitive locking driver receives commands from the controller and converts them into drive current outputs to the four sets of repetitive locking mechanisms. This drives the locking mechanism inside the vibration isolation mechanism to operate. The entire working process is as follows:

[0031] Step 1: When the three-dimensional platform needs to achieve high-precision pointing control, when the three-dimensional platform is in the unlocked state, the controller collects the displacement sensor data of the actuator unit inside the pointing vibration isolation mechanism, and calculates the actuator drive command in combination with the attitude control target.

[0032] Step 2: The actuator rod inside the vibration isolation mechanism receives the drive current from the controller to achieve linear displacement. At the same time, the displacement sensor measures the movement of the actuator rod and feeds it back to the controller, forming a closed-loop control with Step 1.

[0033] Step 3: When it is necessary to lock / unlock the super platform, the controller receives the ground locking / unlocking command and forwards it to the repeat locking driver;

[0034] Step 4: The repeating locking driver receives locking / unlocking commands and converts them into drive current outputs to the four sets of repeating locking mechanisms;

[0035] Step 5: The internal repetitive locking mechanism of the vibration isolation mechanism receives the drive current of the repetitive locking driver to move, thereby achieving locking / unlocking.

[0036] By integrating the locking mechanism and the directional vibration isolation mechanism into a single design, the active control and locking protection functions of the three-dimensional platform are combined.

[0037] like Figure 2The three-bar super platform design based on an 8-bar configuration exhibits high system fault tolerance. The 8 bars are arranged in a diagonally distributed configuration, with four sets of directional vibration isolation mechanisms, each containing two actuator assemblies. The 8-bar configuration inherently offers higher redundancy compared to the existing 6-bar configuration. By evenly distributing the four sets of directional vibration isolation mechanisms along the diagonal lines, the control force of the 8-bar configuration three-bar super platform is pseudo-inversely distributed, ensuring minimal coupling force and enabling system reconfiguration under fault conditions, thus providing high system fault tolerance. Existing 6-bar configuration three-bar super platforms typically only tolerate 2-bar failures. With the 8-bar configuration of this invention, even with 3 actuator failures under normal circumstances, the three-bar super platform can still achieve high-precision directional control. For certain 4-bar actuator failures, such as those involving non-adjacent 4 actuators, stable control of the three-bar super platform can still be achieved.

[0038] like Figure 3 Based on the 45° relative oblique mounting configuration of the directional vibration isolation mechanism's actuators, a repeating locking mechanism is designed between the two actuators of each directional vibration isolation mechanism, achieving locking / unlocking functions without increasing the product envelope. Four directional vibration isolation mechanisms correspond to four repeating locking mechanisms. Each repeating locking mechanism has high locking holding force and load-bearing capacity. Even if one locking mechanism fails, the other three still maintain high locking holding force and load-bearing capacity, thus ensuring reliable locking.

[0039] like Figure 4 The repeated locking mechanism adopts a double-sided clamping method, which can realize the multiple locking and unlocking functions of the three-dimensional platform through the motor. Compared with the single-sided fixed locking method commonly used in existing locking mechanisms, the double-sided clamping method greatly improves the locking holding force and load-bearing capacity of the locking mechanism.

[0040] The repetitive locking mechanism comprises a locking assembly, a motion assembly, a drive assembly, and a measuring assembly. The locking assembly includes a fixed locking rod connected to the top bracket and a movable gripper connected to the base plate via structural components. The motion assembly consists of a ball screw pair, a rolling guide pair, and rolling bearings, converting the torque output from the drive assembly into linear motion of the locking assembly. The drive assembly mainly consists of a stepper motor and a reducer, converting the control current received from the repetitive locking driver into output torque and transmitting it to the ball screw pair. The measuring assembly consists of a linear displacement sensor and a limit switch, acquiring the locking or unlocking position.

[0041] When the mechanism is locked, the motor controls the ball screw to rotate, and the two moving grippers on the screw move towards each other to clamp the locking rod, thereby achieving locking. When unlocking, the motor reverses, and the two moving grippers move away from each other to release the locking rod until it does not interfere with the movement of the structure, thereby achieving unlocking.

[0042] like Figure 5 The repeatable locking triple-locking platform has a multi-mode, highly reliable system usage solution.

[0043] Normal operating mode 1: When the super platform needs to be actively controlled, the locking mechanism is unlocked, and the super platform can achieve autonomous control; during the rendezvous and docking process and when docking with other visiting aircraft, the locking mechanism is reliably locked to ensure the safety of the super platform during the rendezvous and docking process. Multiple sets of repeating locking mechanisms have a high safety margin. Under normal conditions and in the event of a failure of one set of repeating locking mechanisms, it can still withstand the load conditions when rendezvous and docking with other aircraft and when other aircraft visit and dock during the combination.

[0044] Normal operating mode 2: In the initial stage of rail entry, before the load locking mechanism is unlocked, the repeat locking mechanism can be locked to reduce the impact of the load locking mechanism unlocking on the three-dimensional directional vibration isolation mechanism and ensure the safety of the three-dimensional platform.

[0045] Degraded Operation Mode: In the event of a failure of the super-platform, the control system can operate in a degraded mode by locking. The locking stiffness meets the control stability margin requirements during independent flight and rendezvous and docking. By adjusting the lower platform control bandwidth, high-precision attitude control can still be achieved.

[0046] System safety mode: For triple-platform systems without a locking mechanism, the connection between the load and the platform relies solely on the triple-platform itself. If a flexible hinge in an actuator assembly breaks, other actuators may subsequently break after long-term operation in orbit. If all flexible hinges break, the load will completely separate from the platform and lose control. Designing a locking mechanism allows for degraded control by locking the triple-platform before the fault spreads and the situation worsens, ensuring the safety of the entire satellite.

[0047] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention based on the above-disclosed technical content without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A repeatable locking triple-clamp platform system, characterized in that, include: Controller, pointing vibration isolation mechanism and repetitive locking actuator; The controller collects the displacement information inside the vibration isolation mechanism and calculates the drive command in combination with the control target. It then converts the drive command calculation result into a drive current output to the vibration isolation mechanism. At the same time, it receives the ground injection command and forwards it to the repeating locking driver. The repeating locking driver converts the controller's ground injection command into a drive current and outputs it to the vibration isolation mechanism. The pointing vibration isolation mechanism receives the controller drive current to perform linear displacement motion, thereby realizing high-precision pointing motion control of the three-super platform. On the other hand, it receives the repetitive locking driver current to realize the locking or unlocking function. The repetitive locking driver converts the controller's ground injection command into a drive current and outputs it to the directional vibration isolation mechanism. This includes: the repetitive locking driver receiving the controller command, converting it into a drive current, and outputting it to four sets of repetitive locking mechanisms to drive the internal locking mechanisms of the directional vibration isolation mechanism for synchronous or independent control; one repetitive locking driver drives four sets of locking mechanisms; under normal conditions, it achieves synchronous locking of the four sets of directional vibration isolation mechanisms, ensuring that all vibration isolation mechanisms are locked at the nominal zero position; in case of abnormal locking or unlocking of the mechanism, the repetitive locking driver can control the drive of a single locking mechanism and adjust the drive capability. The controller includes: Data acquisition module: used to acquire data from the directional vibration isolation mechanism to obtain displacement information; The calculation and processing module: on the one hand, it calculates the drive command based on the displacement information obtained by the data acquisition module and the control target, and outputs it to the internal drive module of the controller; on the other hand, it receives the ground injection command and distributes it to the repeating locking drive. Drive module: Converts the instructions calculated by the calculation and processing module into drive current and outputs it to the vibration isolation mechanism; The reusable locking triple-mounted platform, based on the working mode of the reusable locking mechanism, enables the satellite to have a multi-mode control scheme, specifically: Normal operating mode: When active control by the super-super platform is required, the locking mechanism unlocks, and the super-super platform achieves autonomous control; during rendezvous and docking and docking with other visiting aircraft, the locking mechanism reliably locks to ensure the safety of the super-super platform during the rendezvous and docking process; Degraded operation mode: In the event of a failure of the super platform, the control system can be degraded to a lower operating level by locking it; System safety mode: For the triple platform without a locking mechanism, the connection between the load and the platform relies on the triple platform. If the flexible hinge of the actuator component breaks, the triple platform is locked for degraded control to ensure the safety of the entire satellite. The directional vibration isolation mechanism includes two actuating rods, a repeating locking mechanism, a top support that contacts the bottom of the load, and a bottom plate that connects to the upper frame of the satellite platform cabin. The two actuating rods are connected at both ends to the top support and the bottom plate, respectively. Each actuating rod includes an actuator and a displacement sensor. The actuator inside the actuating rod receives the drive current sent by the controller to achieve linear displacement. A measuring probe of the displacement sensor is installed inside the actuating rod to measure the movement of the actuating rod. The repeating locking mechanism is installed between the two actuators and receives the drive current output by the repeating locking driver to achieve locking and unlocking of the directional vibration isolation mechanism. The repeatable locking mechanism adopts a double-sided clamping method, and uses a motor to realize the multiple locking and unlocking functions of the three-dimensional platform; The repetitive locking mechanism comprises a locking assembly, a motion assembly, a drive assembly, and a measuring assembly. The locking assembly includes a fixed locking rod connected to the top bracket and a movable gripper connected to the base plate via structural components. The motion assembly consists of a ball screw pair, a rolling guide pair, and rolling bearings, converting the torque output from the drive assembly into linear motion of the locking assembly. The drive assembly consists of a stepper motor and a reducer, converting the control current received from the repetitive locking driver into output torque and transmitting it to the ball screw pair. The measuring assembly consists of a linear displacement sensor and a limit switch, used to acquire the locking or unlocking position. When the mechanism is locked, the motor controls the ball screw to rotate, and the two moving grippers on the screw move towards each other to clamp the locking rod, thereby achieving locking; when unlocking, the motor reverses, and the two moving grippers move away from each other to release the locking rod until it does not interfere with the movement of the structure, thereby achieving unlocking.

2. The repeatable locking triple-platform system according to claim 1, characterized in that, The repeating locking mechanism is installed between the two actuators and is integrated with the directional vibration isolation mechanism.

3. The repeatable locking triple-platform system according to claim 1, characterized in that, The directional vibration isolation mechanism consists of four groups, which are evenly distributed diagonally.

4. The repeatable locking triple-platform system according to claim 1, characterized in that, The two actuators in each of the aforementioned directional vibration isolation mechanisms are mounted at a 45° angle to each other.

Images