Active pointing ultra-static platform control oscillation anomaly detection method

Abstract

The embodiment of the invention relates to the technical field of aerospace, in particular to an active pointing ultra-static platform control oscillation anomaly detection method. The method comprises the following steps: establishing a dynamic model actively pointing to a load carried by a statically inactive platform; according to the kinetic model and the attitude controller parameters of the active pointing statically indeterminate platform, determining a control moment when a load reaches a preset attitude; establishing a control model of the output current of each active link of the active pointing ultra-static platform and the force and torque borne by the load mass center; determining a current sequence output by each active link in the control model according to the control moment when the load reaches the preset attitude; calculating a current difference value of each current sequence; calculating an output current oscillation index function according to the current differential value; and determining whether oscillation abnormity exists in the current active link according to the current oscillation index function. The invention relates to an active pointing ultra-static platform control oscillation anomaly detection method, which can perform fault diagnosis on an active pointing ultra-static platform.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of aerospace technology, and in particular to a method for detecting abnormal oscillation of an active pointing ultra-quiet platform control. Background Art

[0002] Missions such as extremely high-resolution earth observation and high-dynamic target pointing in space require high-precision and high-stability payload pointing. The requirements for high longitude and high stability are several times the control performance requirements of general spacecraft. It is difficult to achieve the ultra-high-precision pointing control requirements of such optical payloads based on the existing first-level spacecraft platform and related control technologies. The active pointing ultra-quiet platform with active pointing control and passive vibration isolation can achieve high-precision pointing and high-stability control of payloads, and will become an essential technology for high-quality control of spacecraft. The active pointing ultra-quiet platform contains active and passive links. The oscillation phenomenon during its execution directly affects the life of the components, and effective methods are needed to timely and accurately diagnose and handle its faults.

[0003] Therefore, in view of the above problems, a method for fault diagnosis of an active pointing ultra-quiet platform is urgently needed. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, electronic device and storage medium for detecting abnormal oscillation of an active pointing super-quiet platform control, which can perform fault diagnosis on the active pointing super-quiet platform.

[0005] In a first aspect, an embodiment of the present invention provides a method for detecting abnormal oscillation of an active pointing ultra-quiet platform control, comprising:

[0006] Establish a dynamic model of the load carried by the active pointing ultra-quiet platform;

[0007] Determine the control torque for the load to reach a preset posture according to the dynamic model and the posture controller parameters of the active pointing super-static platform;

[0008] Establish a control model for the output current of each active link of the active pointing ultra-quiet platform and the force and torque exerted on the load center of mass;

[0009] Determining the current sequence output by each active link in the control model according to the control torque for the load to reach a preset posture;

[0010] Calculating the current differential value of each of the current series;

[0011] Calculating an output current oscillation index function according to the current differential value;

[0012] It is determined whether there is an oscillation abnormality in the current active link according to the current oscillation index function.

[0013] In a second aspect, an embodiment of the present invention further provides an active pointing ultra-quiet platform control oscillation abnormality detection device, comprising:

[0014] The first module is used to establish a dynamic model of the load carried by the active pointing ultra-quiet platform;

[0015] The second module is used to determine the control torque for the load to reach a preset posture according to the dynamic model and the posture controller parameters of the active pointing super-static platform;

[0016] The third module is used to establish a control model for the output current of each active link of the active pointing ultra-quiet platform and the force and torque exerted on the load center of mass;

[0017] A fourth module is used to determine the current series output by each active link in the control model according to the control torque when the load reaches a preset posture;

[0018] A fifth module, used for calculating the current differential value of each current series;

[0019] A sixth module is used to calculate an output current oscillation index function according to the current differential value;

[0020] The seventh module is used to determine whether there is an oscillation abnormality in the current active link according to the current oscillation index function.

[0021] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0022] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any embodiment of this specification.

[0023] The embodiment of the present invention provides a method, device, electronic device and storage medium for detecting abnormal oscillation of an active pointing ultra-quiet platform control. The solution provided by the present invention first establishes a dynamic model of the load, and then determines the control torque required to change the load to a preset posture according to the parameters of the designed posture controller. Determine the control model of the control force and control torque and the current output by the active drive link, and determine the current output by the active drive link according to the control model and the control torque required to change the posture. The posture change process can be divided into multiple oscillation fault diagnosis cycles. In each oscillation fault diagnosis cycle, the active drive link outputs the same number of current values, and the duration of each current value is the control cycle, that is, in each oscillation fault diagnosis cycle, the active drive link outputs the current in the form of a current series, and the multiple current values ​​in the current series are determined according to the load posture change requirements. After determining the current series of each active drive link, each current series is calculated to obtain the current differential value. Substitute the current differential value into the current oscillation index function to determine whether the current current has an oscillation abnormality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a flow chart of a method for detecting abnormal oscillation of an active pointing ultra-quiet platform control provided by an embodiment of the present invention;

[0026] Figure 2 is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention;

[0027] Figure 3 It is a structural diagram of an active pointing ultra-quiet platform control oscillation anomaly detection device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] The specific implementation of the above concept is described below.

[0030] Please refer to Figure 1 The embodiment of the present invention provides a method for detecting abnormal oscillation of an active pointing ultra-quiet platform control, the method comprising:

[0031] Step 100, establishing a dynamic model of a load carried by an active pointing ultra-quiet platform;

[0032] Step 102, determining a control torque for the load to reach a preset posture according to the dynamic model and the posture controller parameters of the active pointing super-static platform;

[0033] Step 104, establishing a control model for the output current of each active link of the active pointing ultra-quiet platform and the force and torque exerted on the load mass center;

[0034] Step 106, determining the current series output by each active link in the control model according to the control torque when the load reaches a preset posture;

[0035] Step 108, calculating the current differential value of each current series;

[0036] Step 110, calculating an output current oscillation index function according to the current differential value;

[0037] Step 112, determining whether there is an oscillation abnormality in the current active link according to the current oscillation index function.

[0038] The solution provided by the present invention first establishes a dynamic model of the load, and then determines the control torque required to change the load to a preset posture according to the parameters of the designed posture controller. Determine the control model of the control force and control torque and the current output by the active drive link, and determine the current output by the active drive link according to the control model and the control torque required to change the posture. The posture change process can be divided into multiple oscillation fault diagnosis cycles. In each oscillation fault diagnosis cycle, the active drive link outputs the same number of current values, and the duration of each current value is the control cycle, that is, in each oscillation fault diagnosis cycle, the active drive link outputs the current in the form of a current series, and the multiple current values ​​in the current series are determined according to the load posture change requirements. After determining the current series of each active drive link, each current series is calculated to obtain the current differential value. Substitute the current differential value into the current oscillation index function to determine whether the current current has an oscillation abnormality.

[0039] The active pointing ultra-quiet platform is composed of N=6 intelligent flexible actuators. Each actuator consists of three parts: a passive damping link, an active drive link, and a linear displacement sensor installed in parallel. The linear displacement sensor is used to measure the translational displacement of the active drive link. The active pointing ultra-quiet platform drives the load to point to the target.

[0040] Described below Figure 1 How the various steps are performed.

[0041] First, with respect to step 100, in one embodiment of the present invention, the kinetic model is as follows:

[0042]

[0043] Among them, R p is the three-axis translation displacement of the load, v p is the three-axis translation speed of the load, m p =100kg is the mass matrix of the load, f p is the driving force for the load's three-axis translation, J s =diag(70,70,40) is the three-axis inertia matrix of the load, ω=diag(ω x ,ω y ,ω z ) is the load's three-axis inertial angular velocity, q is the load's attitude quaternion, Ω(ω) is the attitude matrix, τ p It is the driving force torque for the three-axis rotation of the load.

[0044] Then, for step 102, the load reaches the control torque τ of the preset posture p as follows:

[0045]

[0046] Among them, k p =[11000,11000,6317], k i =[0.00002,0.00002,0.00002],k d =[1243,1243,710] is the attitude controller parameter of the active pointing super-static platform driving the load motion, Δθ and Δω are the attitude control error and angular velocity control error of the driving load motion, respectively, and are calculated as:

[0047]

[0048] Among them, q r is the target quaternion of the load motion, Estimate the quaternion for the attitude of the payload motion, Δq vp Δq is the quaternion of the payload attitude error p The vector part, ω r is the target angular velocity of the load motion, is the estimated angular velocity of the load motion.

[0049] With respect to step 104, in one embodiment of the present invention, the control model is as follows:

[0050]

[0051] Among them, f p is the force on the load center of mass, τ p is the moment at the load center of mass, J p is the Jacobian matrix of the load centroid installation, K FI is the proportional coefficient between the output force and current of each active link of the active pointing super-quiet platform, I current The current output by each active link of the active super-quiet platform, I current =[I current1 ,I current2 ,…,I currentN ].

[0052] In this embodiment, the Jacobian matrix Jp of the active pointing super-quiet platform installed on the load center of mass is

[0053] [-0.4528, 0.3624, 0.8151,-0.8151,-0.3624,0.4528,

[0054] 0.1826, 0.1826, 0.1826,0.1826,0.1826,0.1826,

[0055] -0.6799, 0.7320,-0.0522,-0.0522,0.7320,-0.6799,

[0056] -0.3043,-0.2173, 0.5217,0.5217,-0.2173,-0.3043,

[0057] -0.5858, 0.5858,-0.5858,0.5858,-0.5858,0.5858,

[0058] -0.4267,-0.4769,-0.0502,0.0502,0.4769,0.4267];

[0059] K FI =diag(50,50,…,50).

[0060] With respect to step 108, in one embodiment of the present invention, the current differential value of each current series is calculated in the following manner:

[0061]

[0062] Among them, m sum (i) is the differential value of the current series, I current(i)(j) is the output current sequence of the i-th active drive link, j is the serial number of the element in the current sequence, and the maximum value N max is the oscillation fault diagnosis period.

[0063] It should be noted that I in the above formula current(i) is the current sequence output by the active drive link of the i-th actuator, including N max current values, each current value lasts for a control period Δt of the active pointing super-quiet platform, and j is the sequence number of the current value in the current series.

[0064] Each diagnostic cycle can traverse the current values ​​in the current series, and each diagnostic cycle can obtain a current differential value.

[0065] With respect to step 110, in one embodiment of the present invention, the output current oscillation index function is as follows:

[0066]

[0067] m stdmax =max(m std (i))

[0068] Among them, m std is the output current oscillation index value, N max is the oscillation fault diagnosis period, and Δt is the control period of the active pointing super-quiet platform.

[0069] In this embodiment, after the current differential value is obtained, the current differential value may be substituted into the output current oscillation index function to obtain a plurality of output current oscillation index values.

[0070] With respect to step 112, in one embodiment of the present invention, for each oscillation fault diagnosis cycle, the following operations are performed:

[0071] Determine the maximum output current oscillation index value m according to the current oscillation index function stdmax ;

[0072] If the maximum output current oscillation index value m stdmax Greater than the amplitude diagnostic threshold m Fd , then the oscillation fault time accumulation t stdmax =t stdmax +Δt; where Δt is the control period of active pointing to the ultra-quiet platform;

[0073] If the maximum output current oscillation index value m stdmax Less than the first preset value m Fd , then the time accumulation is reset to zero, that is, t stdmax =0;

[0074] If the time accumulation t stdmax Greater than the time diagnosis threshold t Fd , then the output current oscillation fault of the i-th active drive link occurs, and the current of the active drive link is set to 0.

[0075] In this embodiment, the maximum output current oscillation index value is selected from multiple output current oscillation index values. The maximum output current oscillation index is compared with the amplitude diagnosis threshold. If the maximum output current oscillation index is larger, that is, m stdmax >m Fd , then the fault time is accumulated, that is, the current fault time accumulation plus the control period, that is, t stdmax =t stdmax +Δt. If the maximum output current oscillation index is still greater than the amplitude diagnosis threshold in the next diagnosis cycle, the current fault time accumulation continues to add the control cycle; if the maximum output current oscillation index is less than the amplitude diagnosis threshold in the next diagnosis cycle, the current fault time accumulation is cleared, that is, the time accumulation t stdmax = 0. In each diagnosis cycle, the accumulated fault time is compared with the time diagnosis threshold. If it is greater than the time diagnosis threshold, that is, t stdmax >t Fd , then the active drive link output current oscillation fault, set FF(i) = 1, and make the active drive link current 0; if the fault time accumulation is less than the time diagnosis threshold, that is, t stdmax <t Fd , then set FF(i)=0.

[0076] In this embodiment, m Fd =0.1, t Fd =2.0.

[0077] like Figure 2 , Figure 3 As shown, an embodiment of the present invention provides an active pointing super-quiet platform control oscillation abnormality detection device. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, such as Figure 2 As shown, it is a hardware architecture diagram of an electronic device in which an active pointing super-quiet platform control oscillation abnormality detection device provided by an embodiment of the present invention is located. Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a device in a logical sense, the CPU of the electronic device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides an active pointing ultra-quiet platform control oscillation abnormality detection device, including:

[0078] The first module is used to establish a dynamic model of the load carried by the active pointing ultra-quiet platform;

[0079] The second module is used to determine the control torque for the load to reach a preset posture according to the dynamic model and the posture controller parameters of the active pointing super-static platform;

[0080] The third module is used to establish a control model for the output current of each active link of the active pointing ultra-quiet platform and the force and torque exerted on the load center of mass;

[0081] A fourth module is used to determine the current series output by each active link in the control model according to the control torque when the load reaches a preset posture;

[0082] A fifth module, used for calculating the current differential value of each current series;

[0083] A sixth module is used to calculate an output current oscillation index function according to the current differential value;

[0084] The seventh module is used to determine whether there is an oscillation abnormality in the current active link according to the current oscillation index function.

[0085] In one embodiment of the present invention, the kinetic model is as follows:

[0086]

[0087] Among them, R p is the three-axis translation displacement of the load, v p is the three-axis translation speed of the load, m p =100kg is the mass matrix of the load, f p is the driving force for the load's three-axis translation, J s =diag(70,70,40) is the three-axis inertia matrix of the load, ω=diag(ω x ,ω y ,ω z ) is the load's three-axis inertial angular velocity, q is the load's attitude quaternion, Ω(ω) is the attitude matrix, τ p It is the driving force torque for the three-axis rotation of the load.

[0088] In one embodiment of the present invention, the control torque τ of the load to reach the preset posture p as follows:

[0089]

[0090] Among them, k p , k i , k dare the attitude controller parameters of the active pointing super-static platform driving the load motion, Δθ and Δω are the attitude control error and angular velocity control error of the driving load motion, respectively, and are calculated as:

[0091]

[0092] Among them, q r is the target quaternion of the load motion, Estimate the quaternion for the attitude of the payload motion, Δq vp Δq is the quaternion of the payload attitude error p The vector part, ω r is the target angular velocity of the load motion, is the estimated angular velocity of the load motion.

[0093] In one embodiment of the present invention, the control model is as follows:

[0094]

[0095] Among them, f p is the force on the load center of mass, τ p is the moment at the load center of mass, J p is the Jacobian matrix of the load centroid installation, K FI is the proportional coefficient between the output force and current of each active link of the active pointing super-quiet platform, I current The current output by each active link of the active super-quiet platform, I current =[I current1 ,I current2 ,…,I currentN ].

[0096] In one embodiment of the present invention, the current differential value of each current series is calculated as follows:

[0097]

[0098] Among them, m sum (i) is the differential value of the current series, I current(i) (j) is the output current sequence of the i-th active drive link, j is the serial number of the element in the current sequence, and the maximum value N max is the oscillation fault diagnosis period.

[0099] In one embodiment of the present invention, the output current oscillation index function is as follows:

[0100]

[0101] m stdmax =max(m std (i))

[0102] Among them, m std is the output current oscillation index value, N max is the oscillation fault diagnosis period, and Δt is the control period of the active pointing super-quiet platform.

[0103] In one embodiment of the present invention, the seventh module is further configured to perform the following operations:

[0104] For each oscillation fault diagnosis cycle, execute:

[0105] Determine the maximum output current oscillation index value m according to the current oscillation index function stdmax ;

[0106] If the maximum output current oscillation index value m stdmax Greater than the amplitude diagnostic threshold m Fd , then the oscillation fault time accumulation t stdmax =t stdmax +Δt; where Δt is the control period of the active pointing super-quiet platform;

[0107] If the maximum output current oscillation index value m stdmax Less than the first preset value m Fd , then the time accumulation is reset to zero, that is, t stdmax =0;

[0108] If the time accumulation t stdmax Greater than the time diagnosis threshold t Fd , then the output current oscillation fault of the i-th active drive link occurs, and the current of the active drive link is set to 0.

[0109] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on an apparatus for detecting abnormal oscillation of an active pointing ultra-quiet platform control. In other embodiments of the present invention, an apparatus for detecting abnormal oscillation of an active pointing ultra-quiet platform control may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0110] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0111] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, an active pointing ultra-quiet platform control oscillation anomaly detection method in any embodiment of the present invention is implemented.

[0112] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes an active pointing ultra-quiet platform control oscillation anomaly detection method in any embodiment of the present invention.

[0113] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can read and execute the program code stored in the storage medium.

[0114] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0115] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0116] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0117] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0118] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0119] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting abnormal oscillation of an active pointing ultra-quiet platform control, characterized in that: include: Establish a dynamic model of the load carried by the active pointing ultra-quiet platform; Determine the control torque for the load to reach a preset posture according to the dynamic model and the posture controller parameters of the active pointing super-static platform; Establish a control model for the output current of each active link of the active pointing ultra-quiet platform and the force and torque exerted on the load center of mass; Determining the current sequence output by each active link in the control model according to the control torque for the load to reach a preset posture; Calculating the current differential value of each of the current series; Calculating an output current oscillation index function according to the current differential value; It is determined whether there is an oscillation abnormality in the current active link according to the current oscillation index function.

2. The method according to claim 1, characterized in that The kinetic model is as follows: Among them, R p is the three-axis translation displacement of the load, v p is the three-axis translation speed of the load, m p =100kg is the mass matrix of the load, f p is the driving force for the load's three-axis translation, J s =diag(70,70,40) is the three-axis inertia matrix of the load, ω=diag(ω x ,ω y ,ω z ) is the load's three-axis inertial angular velocity, q is the load's attitude quaternion, Ω(ω) is the attitude matrix, τ p It is the driving force torque for the three-axis rotation of the load.

3. The method according to claim 1, characterized in that The control torque τ of the load to reach the preset posture p as follows: Among them, k p , k i , k d are the attitude controller parameters of the active pointing super-static platform driving the load motion, Δθ and Δω are the attitude control error and angular velocity control error of the driving load motion, respectively, and are calculated as: Among them, q r is the target quaternion of the load motion, Estimate the quaternion for the attitude of the payload motion, Δq vp Δq is the quaternion of the payload attitude error p The vector part, ω r is the target angular velocity of the load motion, is the estimated angular velocity of the load motion.

4. The method according to claim 1, characterized in that The control model is as follows: Among them, f p is the force on the load center of mass, τ p is the moment at the load center of mass, J p is the Jacobian matrix of the load centroid installation, K FI is the proportional coefficient between the output force and current of each active link of the active pointing super-quiet platform, I current The current output by each active link of the active super-quiet platform, I current =[I current1 ,I current2 ,…,I currentN ].

5. The method according to claim 1, characterized in that The current differential value of each current series is calculated as follows: Among them, m sum (i) is the difference value of the current series, I current(i) (j) is the output current sequence of the i-th active drive link, j is the serial number of the element in the current sequence, and the maximum value N max is the oscillation fault diagnosis period.

6. The method according to claim 1, characterized in that The output current oscillation index function is as follows: m stdmax =max(m std (i)) Among them, m std is the output current oscillation index value, N max is the oscillation fault diagnosis period, and Δt is the control period of the active pointing super-quiet platform.

7. The method according to claim 1, characterized in that Determining whether there is an oscillation abnormality in the current active link according to the current oscillation index function includes: For each oscillation fault diagnosis cycle, the following operations are performed: Determine the maximum output current oscillation index value m according to the current oscillation index function stdmax ; If the maximum output current oscillation index value m stdmax Greater than the amplitude diagnostic threshold m Fd , then the oscillation fault time accumulation t stdmax =t stdmax +Δt; where Δt is the control period of active pointing to the ultra-quiet platform; If the maximum output current oscillation index value m stdmax Less than the first preset value m Fd , then the time accumulation is reset to zero, that is, t stdmax =0; If the time accumulation t stdmax Greater than the time diagnosis threshold t Fd , then the output current oscillation fault of the i-th active drive link occurs, and the current of the active drive link is set to 0.

8. An active pointing ultra-quiet platform control oscillation abnormality detection device, characterized in that: include: The first module is used to establish a dynamic model of the load carried by the active pointing ultra-quiet platform; The second module is used to determine the control torque for the load to reach a preset posture according to the dynamic model and the posture controller parameters of the active pointing super-static platform; The third module is used to establish a control model for the output current of each active link of the active pointing ultra-quiet platform and the force and torque exerted on the load center of mass; A fourth module is used to determine the current series output by each active link in the control model according to the control torque when the load reaches a preset posture; A fifth module, used for calculating the current differential value of each current series; A sixth module is used to calculate an output current oscillation index function according to the current differential value; The seventh module is used to determine whether there is an oscillation abnormality in the current active link according to the current oscillation index function.

9. An electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 7.

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