A collision avoidance method for a separate vibration isolation pointing platform

Abstract

The application discloses a collision avoidance method for a separated vibration isolation pointing platform, and relates to the technical field of vibration control, and comprises the following steps: dynamic modeling is respectively performed on an upper platform and a lower platform of the separated vibration isolation pointing platform; a relationship between axial movement of a voice coil actuator and posture movement of the upper platform and the lower platform is established, and a collision occurrence condition of the voice coil actuator is determined; movement of the upper platform and the lower platform is predicted based on a current movement state of the two platforms; an optimization target and a constraint condition are established in a prediction domain, a collision avoidance problem of the two platforms is converted into an optimization problem and is solved, and an optimal control increment at a current time is obtained; and actual control force of the voice coil actuator is output based on the optimal control increment at the current time, and an attitude angle of the upper platform is controlled. The application solves the problem that the voice coil actuator between the upper platform and the lower platform of the existing separated vibration isolation pointing platform has a high collision risk under a condition that relative movement of the two platforms is severe.

Description

Technical Field

[0001] This invention relates to the field of vibration control technology, and in particular to a collision avoidance method for a split vibration isolation pointing platform. Background Technology

[0002] In recent years, advanced space missions such as deep-space laser communication, space-based astronomical exploration, and high-resolution Earth observation have placed extremely high demands on the stability and pointing accuracy of payload mounting platforms. By installing a separate vibration-isolated pointing platform between the satellite and the payload, the performance of the payload can be significantly improved. This separate vibration-isolated pointing platform combines disturbance isolation, active vibration control, and active pointing adjustment functions, and has been widely used in scenarios requiring high stability and pointing accuracy for payload mounting platforms.

[0003] The split vibration-isolated pointing platform structure mainly includes an upper platform for mounting the payload, a lower platform connected to the satellite body, and multiple parallel vibration-isolated legs. During operation, the actuators of the vibration-isolated legs output high-precision control torque to the upper platform, meeting the ultra-quiet pointing requirements of the payload. The split vibration-isolated pointing platform uses voice coil actuators as non-contact soft actuators, avoiding the introduction of mechanical connections between the upper and lower platforms, and cutting off the micro-vibration transmission path from the lower platform to the upper platform. Theoretically, the upper platform can isolate the micro-vibrations of the lower platform from zero frequency, meeting the high-efficiency isolation requirements of payloads for ultra-low frequency and broadband micro-vibrations in advanced space missions.

[0004] Because the upper and lower platforms of the split vibration isolation platform are in a restricted, close-range relative motion state, there is an increased risk of collision with the voice coil actuator under conditions of greater relative motion, such as flywheel unloading and unlocking. Contact collisions not only cause a sharp decrease in the control stability of the upper platform, but the impact vibrations generated by the collision may also exceed the permissible range of the effective load, resulting in a decline in the effective load's performance and a reduction in its service life. Summary of the Invention

[0005] To address the aforementioned shortcomings in the existing technology, the present invention provides a collision avoidance method for a split vibration isolation pointing platform, which solves the problem of high collision risk between the voice coil actuators of the upper and lower platforms under conditions of violent relative motion in existing split vibration isolation pointing platforms.

[0006] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows: a collision avoidance method for a split vibration isolation pointing platform, comprising the following steps:

[0007] S1: Perform dynamic modeling on the upper and lower platforms of the split vibration isolation pointing platform to obtain the dynamic model of the upper platform and the dynamic model of the lower platform;

[0008] S2: Establish the relationship between the axial motion of the voice coil actuator and the pose motion of the upper and lower platforms, and determine the conditions for collision of the voice coil actuator;

[0009] S3: Based on the dynamic model of the upper platform, the dynamic model of the lower platform, and the current motion state of the two platforms, predict the motion of the upper and lower platforms;

[0010] S4: Based on the prediction results and the collision conditions of the voice coil actuator, establish optimization objectives and constraints in the prediction domain, transform the collision avoidance problem between the two platforms into an optimization problem and solve it to obtain the optimal control increment at the current moment;

[0011] S5: Utilize the voice coil actuator to output actual control force based on the optimal control increment at the current moment, and control the attitude angle of the upper platform;

[0012] S6: Based on the controlled upper platform attitude angle, determine whether the current upper platform pointing accuracy and stability meet the specified requirements. If not, repeat the above steps S3 to S5 at the next time sampling point. If yes, complete the collision avoidance of the split vibration isolation pointing platform.

[0013] Furthermore, the dynamic model of the upper platform in S1 is as follows:

[0014]

[0015] Among them, M p and I p These are the mass matrix and moment of inertia matrix of the upper platform, respectively. p and ω p These are the velocity of the center of mass and the attitude angular velocity of the upper platform, respectively, F dp and T dp These are the perturbation force and perturbation moment relative to the center of mass of the upper platform, respectively, F up and T dp These represent the control force and torque applied to the platform, respectively, with t representing time.

[0016] Furthermore, among which, M s and I s These are the mass matrix and moment of inertia matrix of the lower platform, respectively. s and ω s These are the velocity of the lower platform's center of mass and the attitude angular velocity, respectively. ds and T ds F represents the disturbance force and disturbance moment applied to the lower platform, respectively. us and T ds These are the control force and torque applied to the lower platform, respectively.

[0017] Furthermore, the relationship between the axial motion of the voice coil actuator in S2 and the pose motion of the upper and lower platforms is as follows:

[0018] The relationship between the axial relative motion velocity of the voice coil actuator and the motion velocity of the center of mass and the attitude angular velocity of the two platforms is as follows:

[0019]

[0020] in, J is the relative velocity along the axis of the voice coil actuator. p and J s The Jacobian matrices for mounting the voice coil actuators on the upper and lower platforms are respectively, r. p and r s These are the coordinate transformation matrices from body coordinates to inertial coordinates for the upper and lower platforms, respectively, ω. p and ω s These are the attitude angular velocities of the upper and lower platforms, respectively, with the superscript "." indicating the first derivative.

[0021] Furthermore, in S2, the conditions for a collision to occur in the voice coil actuator are determined as follows:

[0022]

[0023] Where, |Δl i | represents the displacement of the voice coil actuator relative to the midpoint of its movable range, l s The total possible stroke of the actuator mover in a voice coil actuator.

[0024] Furthermore, the motion of the upper and lower platforms is predicted in S3 using the following formula:

[0025] The prediction of the motion state of the upper platform from time t+1 to time t+N is expressed as follows:

[0026]

[0027] Where N is the number of discrete time points, x t+1t ,x t+2t ,…,x t+Nt These are the predicted motion states of the platform from time t+1 to time t+N, where p represents the platform and C represents the motion state of the platform. d and A d The system matrix in the state space of the platform. Let B be the platform position and the center-of-mass velocity at time t. u To control the input matrix, D u For control force and control torque, B dv Let D be the external perturbation input matrix. d Let B0 be the disturbance force and disturbance torque, and B0 be the upper platform control input coefficient matrix. N c One control increment, D sThe input coefficient matrix for the lower platform perturbation. The positions of the lower platform and the velocity of the center of mass from time t to time t+N-1 are respectively, B ds Let i be the perturbation input matrix for the lower platform, and i be the time step.

[0028] The prediction of the motion state of the lower platform from time t+1 to time t+N is expressed as follows:

[0029]

[0030] Among them, A s Let u be the system matrix in the state space of the lower platform. t-1t Let M be the control output at time t-1, and M be the control input coefficient matrix of the lower platform. N, which acts on the lower platform respectively c One control increment.

[0031] Furthermore, the optimization objectives in S4 include the pointing control error of the platform on the split vibration isolation pointing platform and the control voltage of the voice coil actuator;

[0032] The constraints include collision avoidance between the two platforms.

[0033] Furthermore, the calculation formula for the optimization problem in S4 is as follows:

[0034]

[0035] stΔu min ≤Δu i ≤Δu max i = 0, ..., N m -1

[0036] ΔL min ≤ΔL i ≤ΔL max i = 0, ..., N

[0037] Where ΔU(t) is the control output increment at time t, T is the transpose of the matrix, J is the optimization objective function, W1 and W2 are the optimization weight coefficient matrices for pointing performance and control voltage, respectively, Y(·) is the prediction of the upper platform's position and attitude, R(·) is the upper platform's reference pointing, and Δu i The control increment at time i is Δu min To control the minimum increment, Δu max To control the maximum increment, N m To control the number of time points, ΔL i ΔL represents the relative motion displacement of the voice coil actuator. min ΔL is the minimum displacement of the voice coil actuator. max This represents the maximum displacement of the voice coil actuator.

[0038] Furthermore, in S5, the voice coil actuator outputs the actual control force based on the optimal control increment at the current moment, as shown in the formula:

[0039]

[0040] in, This represents the actual control output at time t. This is the actual control output at time t-1.

[0041] The beneficial effects of this invention are as follows: The collision avoidance method for a split vibration isolation pointing platform based on model prediction proposed in this patent predicts the motion state of each platform and optimizes the solution to obtain the control output of the voice coil actuator. This ensures that the upper platform can maintain high-precision pointing while avoiding collisions between the voice coil actuators, thus improving the collision avoidance capability between the upper and lower platforms and expanding its application range under strong disturbance conditions. It provides a technical approach for collision avoidance between two platforms of a split vibration isolation pointing platform in engineering practice.

[0042] This invention employs a model predictive control strategy, which can accurately predict the motion state of the platform and obtain the optimal control output through optimization, ensuring that the upper platform maintains high-precision pointing while avoiding collisions, thus meeting the pointing accuracy requirements under various complex working conditions.

[0043] The upper and lower platforms of this invention do not directly contact each other. By isolating the micro-vibrations of the satellite body through the vibration isolation structure, it is of great value for improving the pointing accuracy and stability of the payload. Attached Figure Description

[0044] Figure 1 This is a flowchart of a collision avoidance method for a split vibration isolation pointing platform according to an embodiment of the present invention.

[0045] Figure 2 This is a configuration diagram of the split vibration isolation pointing platform described in an embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram of the voice coil actuator structure according to an embodiment of the present invention.

[0047] Figure 4 This is a block diagram of the model prediction collision avoidance control method according to an embodiment of the present invention.

[0048] Among them: 1. Upper platform; 2. Lower platform; 3. Voice coil actuator; 4. Stator; 41. Coil; 5. Mover; 51. Magnet. Detailed Implementation

[0049] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0050] like Figure 1 As shown, a collision avoidance method for a split vibration isolation pointing platform includes the following steps:

[0051] S1: Perform dynamic modeling on the upper platform 1 and lower platform 2 of the split vibration isolation pointing platform to obtain the dynamic model of the upper platform and the dynamic model of the lower platform;

[0052] S2: Establish the relationship between the axial motion of the voice coil actuator 3 and the pose motion of the upper platform 1 and the lower platform 2, and determine the collision conditions of the voice coil actuator 3;

[0053] S3: Based on the dynamic model of the upper platform, the dynamic model of the lower platform, and the current motion state of the two platforms, predict the motion of the upper platform 1 and the lower platform 2;

[0054] S4: Based on the prediction results and the collision conditions of voice coil actuator 3, establish optimization objectives and constraints in the prediction domain, transform the collision avoidance problem between the two platforms into an optimization problem and solve it to obtain the optimal control increment at the current moment;

[0055] S5: Using the voice coil actuator 3 to output the actual control force based on the optimal control increment at the current moment, the attitude angle of the upper platform 1 is controlled;

[0056] S6: Based on the attitude angle of the upper platform 1 after control, determine whether the current pointing accuracy and stability of the upper platform 1 meet the specified requirements. If not, repeat the above steps S3 to S5 at the next time sampling point. If yes, complete the collision avoidance of the split vibration isolation pointing platform.

[0057] In one embodiment of the present invention, such as Figure 2 As shown, the split vibration isolation pointing platform includes an upper platform 1, a lower platform 2, and a voice coil actuator 3. The structure of the voice coil actuator 3 is as follows: Figure 3 As shown, it includes a stator 4, a coil 41, a mover 5, and a magnet 51.

[0058] The dynamic model of the upper platform in S1 is:

[0059]

[0060] Among them, M p and I p These are the mass matrix and moment of inertia matrix of the upper platform, respectively. p and ω p These are the velocity of the center of mass and the attitude angular velocity of the upper platform, respectively, F dp and T dp These are the perturbation force and perturbation moment relative to the center of mass of the upper platform, respectively, F up and T dpThese represent the control force and torque applied to the platform, respectively, with t representing time.

[0061] The dynamic model of the lower platform in S1 is:

[0062]

[0063] Among them, M s and I s These are the mass matrix and moment of inertia matrix of the lower platform, respectively. s and ω s These are the velocity of the lower platform's center of mass and the attitude angular velocity, respectively. ds and T ds F represents the disturbance force and disturbance moment applied to the lower platform, respectively. us and T ds These are the control force and torque applied to the lower platform, respectively.

[0064] The relationship between the axial motion of the middle voice coil actuator 3 in S2 and the pose motion of the upper platform 1 and the lower platform 2 is as follows:

[0065] The relationship between the axial relative motion velocity of the voice coil actuator 3 and the motion velocity of the center of mass and the attitude angular velocity of the two platforms is as follows:

[0066]

[0067] in, J is the relative velocity along the axis of the voice coil actuator. p and J s The Jacobian matrices for mounting the voice coil actuators on the upper and lower platforms are respectively, r. p and r s These are the coordinate transformation matrices from body coordinates to inertial coordinates for the upper and lower platforms, respectively, ω. p and ω s These are the attitude angular velocities of the upper and lower platforms, respectively, with the superscript "." indicating the first derivative.

[0068] Relative velocity along the three axes of the voice coil actuator Represented as:

[0069]

[0070] Where, p i and s i These are the installation position vectors of the voice coil actuator in the coordinate system of the two platforms;

[0071] By differentiating the relationship between the axial motion of the voice coil actuator 3 and the pose motion of the upper platform 1 and the lower platform 2, and neglecting small quantities of second order or higher, we obtain the mathematical relationship between the relative axial motion acceleration of the voice coil actuator 3 and the acceleration of the center of mass and the angular acceleration of the two platforms:

[0072]

[0073] Integrating both sides of the equation relating the axial motion of the voice coil actuator 3 to the pose motions of the upper platform 1 and the lower platform 2, we obtain:

[0074]

[0075] in, The initial position and posture on the platform; This determines the initial position and orientation of the lower platform.

[0076] The above equation yields the kinematic relationship between the axial motion of the voice coil actuator 3 and the motions of the upper platform 1 and the lower platform 2.

[0077] Voice coil actuator control force f u The force acts on the mounting points corresponding to the upper platform 1 and the lower platform 2, in the direction along the axis of the voice coil actuator 3. Through transformation matrix conversion, the control force and control torque relative to the center of mass of the upper platform are expressed as:

[0078]

[0079] Among them, f u1 ,…,f ui These are the control forces applied to the upper platform by the voice coil actuator;

[0080] Through transformation matrix transformation, the perturbation force and perturbation moment relative to the centroid of the lower platform are expressed as:

[0081]

[0082] When the upper platform 1 and the lower platform 2 move relative to each other, consider the case where the voice coil actuator 3 collides axially. Let l s The total travel range of the voice coil actuator's mover is defined as the range within which the voice coil actuator 3 can move unimpeded between the upper platform 1 and the lower platform 2. When the voice coil actuator 3 moves upward or downward and exceeds half of its normal travel range, its mover 5 will collide with both ends of the stator 4 of the voice coil actuator 3. This determines the conditions under which an axial collision occurs in the voice coil actuator 3.

[0083] The conditions for a collision to occur in voice coil actuator 3 are determined in S2 as follows:

[0084]

[0085] Where, |Δl i | represents the displacement of the voice coil actuator relative to the midpoint of its movable range, l s The total possible stroke of the actuator mover in a voice coil actuator.

[0086] The formula for predicting the motion of upper platform 1 and lower platform 2 in S3 is:

[0087] The prediction of the motion state of the upper platform 1 from time t+1 to time t+N is expressed as follows:

[0088]

[0089] Where N is the number of discrete time points, x t+1|t ,x t+2|t ,…,x t+N|t These are the predicted motion states of the platform from time t+1 to time t+N, where p represents the platform and C represents the motion state of the platform. d and A d The system matrix in the state space of the platform. Let B be the platform position and the center-of-mass velocity at time t. u To control the input matrix, D u For control force and control torque, B dv Let D be the external perturbation input matrix. d Let B0 be the disturbance force and disturbance torque, and B0 be the upper platform control input coefficient matrix. N c One control increment, D s The input coefficient matrix for the lower platform perturbation. The positions of the lower platform and the velocity of the center of mass from time t to time t+N-1 are respectively, B ds Let i be the perturbation input matrix for the lower platform, and i be the time step.

[0090] The prediction of the motion state of the lower platform 2 from time t+1 to time t+N is expressed as follows:

[0091]

[0092] Among them, A s Let u be the system matrix in the state space of the lower platform. t-1t Let M be the control output at time t-1, and M be the control input coefficient matrix of the lower platform. N, which acts on the lower platform respectively c One control increment.

[0093] After predicting the motion of the two platforms at N time points at time t, the main optimization objective in the prediction domain is to minimize the pointing control error of platform 1 on the separated vibration isolation pointing platform, the secondary optimization objective is to minimize the control voltage of voice coil actuator 3, and the collision avoidance between the two platforms is one of the constraints. The collision avoidance problem between the two platforms is then transformed into an optimization problem.

[0094] The optimization objectives in S4 include the pointing control error of platform 1 on the split vibration isolation pointing platform and the control voltage of voice coil actuator 3.

[0095] The constraints include collision avoidance between the two platforms.

[0096] The formula for calculating the optimization problem in S4 is:

[0097]

[0098] stΔu min ≤Δu i ≤Δu max i = 0, ..., N m -1

[0099] ΔL min ≤ΔL i ≤ΔL max i = 0, ..., N

[0100] in, It includes the control output increment Δu0 at time t, and N after time t. c -1 control increments at discrete time points, T is the transpose of the matrix, J is the objective function, and W1 and W2 are the optimization weighting matrices for pointing performance and control voltage, respectively. It is the prediction of the position and attitude of the upper platform within N discrete time points in the future by the dynamic model under the control input at time t; It is the reference pointer within N discrete time points after time t on the platform, Δu i The control increment at time i is Δu min To control the minimum increment, Δu max To control the maximum increment, N m To control the number of time points, ΔL is the relative motion displacement of the voice coil actuator at time t and N discrete time points thereafter. min ΔL is the minimum displacement of the voice coil actuator. max This represents the maximum displacement of the voice coil actuator.

[0101] Constraint ΔL min ≤ΔL i ≤ΔL max The equation i = 0, ..., N represents the mathematical representation of collision avoidance. Collision avoidance is achieved by requiring the relative displacement of the voice coil actuator to be within the total possible travel range at each predicted time point. At the i-th predicted time point, ΔL i It can be represented as:

[0102]

[0103] in, These are the values ​​of the upper platform and the lower platform at the i-th prediction time point, respectively, obtained based on the prediction formula for the motion state of the upper and lower platforms from time t+1 to time t+N.

[0104] Solve the established optimization problem to obtain a set of optimal control increments at time t after optimization. Only the first element of the control increment, Δu0, is used as the control increment output of the voice coil actuator 3 at time t and applied to the system.

[0105] In S5, the voice coil actuator 3 outputs the actual control force based on the optimal control increment at the current moment. The formula is as follows:

[0106]

[0107] in, This represents the actual control output at time t. This is the actual control output at time t-1.

[0108] like Figure 4 As shown, steps S3 to S5 are repeated at the next sampling time point. Based on the platform dynamics model and the updated motion state information, the motion of the upper platform 1 and the lower platform 2 is re-predicted, and a new control increment sequence is obtained through optimization. This process of iterative optimization is repeated to achieve collision avoidance control between the two modules during motion. The voice coil actuator 3 continues to operate according to the control output obtained from each step until the pointing accuracy and stability of the upper platform 1 reach the specified requirements, at which point the control is complete.

[0109] This invention proposes a collision avoidance method for a split vibration-isolated pointing platform based on model prediction. This method improves the collision avoidance capability between the upper platform 1 and the lower platform 2, allowing the two platforms to move under greater relative motion without colliding, thus expanding its application range under strong disturbance conditions. Based on the dynamic models of the upper and lower platforms of the split vibration-isolated pointing platform and their motion states, this method predicts the motion of the upper platform 1 and the lower platform 2 within a finite future time. Within the prediction domain, the pointing control error of the upper platform 1 is used as the optimization objective, and collision avoidance between the two platforms is one of the constraints, transforming the collision avoidance problem into an optimization problem. Through optimization, the control output of the voice coil actuator 3 at the control time point is obtained, ensuring that the upper platform 1 maintains high-precision pointing while avoiding collisions with the voice coil actuator 3 within the predicted future time.

[0110] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of the invention.

Claims

1. A collision avoidance method for a split vibration isolation pointing platform, characterized in that, Includes the following steps: S1: Perform dynamic modeling on the upper platform (1) and lower platform (2) of the split vibration isolation pointing platform to obtain the dynamic model of the upper platform and the dynamic model of the lower platform; S2: Establish the relationship between the axial motion of the voice coil actuator (3) and the pose motion of the upper platform (1) and the lower platform (2), and determine the collision conditions of the voice coil actuator (3); S3: Based on the dynamic model of the upper platform, the dynamic model of the lower platform, and the current motion state of the two platforms, predict the motion of the upper platform (1) and the lower platform (2); S4: Based on the prediction results and the collision conditions of the voice coil actuator (3), establish optimization objectives and constraints in the prediction domain, transform the collision avoidance problem between the two platforms into an optimization problem and solve it to obtain the optimal control increment at the current moment; S5: Using the voice coil actuator (3) to output the actual control force based on the optimal control increment at the current moment, the attitude angle of the upper platform (1) is controlled; S6: Based on the attitude angle of the upper platform (1) after control, determine whether the current pointing accuracy and stability of the upper platform (1) meet the specified requirements. If not, repeat the above steps S3 to S5 at the next time sampling point. If yes, complete the collision avoidance of the split vibration isolation pointing platform.

2. The collision avoidance method for a split vibration isolation pointing platform according to claim 1, characterized in that, The dynamic model of the upper platform in S1 is as follows: Among them, M p and I p These are the mass matrix and moment of inertia matrix of the upper platform, respectively. p and ω p These are the velocity of the center of mass and the attitude angular velocity of the upper platform, respectively, F dp and T dp These are the perturbation force and perturbation moment relative to the center of mass of the upper platform, respectively, F up and T dp These represent the control force and torque applied to the platform, respectively, with t representing time.

3. The collision avoidance method for a split vibration isolation pointing platform according to claim 2, characterized in that, The dynamic model of the lower platform in S1 is as follows: Among them, M s and I s These are the mass matrix and moment of inertia matrix of the lower platform, respectively. s and ω s These are the velocity of the lower platform's center of mass and the attitude angular velocity, respectively. ds and T ds F represents the disturbance force and disturbance moment applied to the lower platform, respectively. us and T ds These are the control force and torque applied to the lower platform, respectively.

4. The collision avoidance method for a split vibration isolation pointing platform according to claim 1, characterized in that, The relationship between the axial movement of the voice coil actuator (3) in S2 and the pose movements of the upper platform (1) and the lower platform (2) is as follows: The relationship between the axial relative motion velocity of the voice coil actuator (3) and the motion velocity of the center of mass and the attitude angular velocity of the two platforms is as follows: in, J is the relative velocity along the axis of the voice coil actuator. p and J s The Jacobian matrices for mounting the voice coil actuators on the upper and lower platforms are respectively, r. p and r s These are the coordinate transformation matrices from body coordinates to inertial coordinates for the upper and lower platforms, respectively, ω. p and ω s These are the attitude angular velocities of the upper and lower platforms, respectively, with the superscript "." indicating the first derivative.

5. The collision avoidance method for a split vibration isolation pointing platform according to claim 1, characterized in that, The conditions for the collision of the voice coil actuator (3) in S2 are determined as follows: Where, |Δl i | represents the displacement of the voice coil actuator relative to the midpoint of its movable range, l s The total possible stroke of the actuator mover in a voice coil actuator.

6. The collision avoidance method for a split vibration isolation pointing platform according to claim 1, characterized in that, The motion of the upper platform (1) and the lower platform (2) predicted in S3 is calculated using the following formula: The prediction of the motion state of the upper platform (1) from time t+1 to time t+N is expressed as follows: Where N is the number of discrete time points, x t+1t ,x t+2t ,…,x t+Nt These are the predicted motion states of the platform from time t+1 to time t+N, where p represents the platform and C represents the motion state of the platform. d and A d The system matrix in the state space of the platform. Let B be the platform position and the center-of-mass velocity at time t. u To control the input matrix, D u For control force and control torque, B dv Let D be the external perturbation input matrix. d Let B0 be the disturbance force and disturbance torque, and B0 be the upper platform control input coefficient matrix. N c One control increment, D s The input coefficient matrix for the lower platform perturbation. The positions of the lower platform and the velocity of the center of mass from time t to time t+N-1 are respectively, B ds Let i be the perturbation input matrix for the lower platform, and i be the time step. The prediction of the motion state of the lower platform (2) from time t+1 to time t+N is expressed as follows: Among them, A s Let u be the system matrix in the state space of the lower platform. t-1t Let M be the control output at time t-1, and M be the control input coefficient matrix of the lower platform. N, which acts on the lower platform respectively c One control increment.

7. The collision avoidance method for a split vibration isolation pointing platform according to claim 1, characterized in that, The optimization objectives in S4 include the pointing control error of the platform (1) on the split vibration isolation pointing platform and the control voltage of the voice coil actuator (3); The constraints include collision avoidance between the two platforms.

8. The collision avoidance method for a split vibration isolation pointing platform according to claim 6, characterized in that, The calculation formula for the optimization problem in S4 is as follows: stΔu min ≤Δu i ≤Δu max ,i=0,…,N m -1 ΔL min ≤ΔL i ≤ΔL max ,i=0,…,N Where ΔU(t) is the control output increment at time t, T is the transpose of the matrix, J is the optimization objective function, W1 and W2 are the optimization weight coefficient matrices for pointing performance and control voltage, respectively, Y(·) is the prediction of the upper platform's position and attitude, R(·) is the upper platform's reference pointing, and Δu i The control increment at time i is Δu min To control the minimum increment, Δu max To control the maximum increment, N m To control the number of time points, ΔL i ΔL represents the relative motion displacement of the voice coil actuator. min ΔL is the minimum displacement of the voice coil actuator. max This represents the maximum displacement of the voice coil actuator.

9. The collision avoidance method for a split vibration isolation pointing platform according to claim 6, characterized in that, In S5, the voice coil actuator (3) outputs the actual control force based on the optimal control increment at the current moment, and the formula is: in, This represents the actual control output at time t. This is the actual control output at time t-1.

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