High-precision stable tracking and pointing platform of deep space laser communication terminal based on magnetic suspension control

Abstract

The invention discloses a deep space laser communication terminal high-precision stable tracking and pointing platform based on magnetic suspension control, and the platform is characterized in that a spacecraft interface substrate is fixedly connected with the outer surface of a spacecraft; the setting position of the feed-forward accelerometer comprises a symmetry axis of the upper surface of the surface of the spacecraft interface substrate; the lower end face of the axial passive magnetic bearing is connected with the upper end face of the spacecraft interface substrate, and the upper end face is connected with the lower end face of the U-shaped frame. Two ends of the radial passive magnetic bearing are respectively connected with two lugs of the U-shaped frame and are simultaneously connected with two lugs below the load platform; the azimuth magnetic suspension control moment gyroscope and the pitch angle magnetic suspension control moment gyroscope are arranged at the symmetric axis of the upper surface of the load platform; the deep space laser communication terminal is arranged in the center of the upper surface of the load platform; the setting position of the feedback accelerometer comprises an angular point of the upper surface of the load platform. The invention has the characteristics of high pointing precision, strong interference resistance, large rotation stroke and dynamic decoupling.

Description

Technical Field

[0001] The present invention belongs to the technical field of tracking and aiming platforms, and in particular relates to a high-precision and stable tracking and aiming platform for a deep space laser communication terminal based on magnetic levitation control. Background Art

[0002] Deep space exploration is the foundation of human exploration of the universe and the forefront of space science research. Deep space laser communication has the characteristics of high transmission rate and low device power consumption. It is the link to establish satellite-to-ground connection and ensure the smooth implementation of deep space exploration missions. Deep space laser communication terminals need to achieve ultra-long-distance pointing, capture, and tracking of the ground. However, the distance of deep space link establishment is long, the loss is large, the time extension is long, and the deep space exploration satellite platform is easily disturbed and the pointing ability is insufficient. There is an urgent need for high-precision and stable tracking and aiming technology for deep space laser communication terminals.

[0003] The deep space laser communication tracking and aiming platform adopts a non-contact solution in which the payload platform and the spacecraft interface are separated and connected by electromagnetic actuators. It is a payload platform with high pointing accuracy and high anti-interference performance, which can meet the needs of high-precision and high-stability tracking and aiming of communication terminals. However, one type of existing tracking and aiming platforms is based on Stewart configuration or orthogonal eight-bar configuration, using voice coil motors as actuators, with a small rotation stroke, which limits the field of view of deep space laser communication terminals; the other type is based on active magnetic suspension bearings, which will apply a reaction torque to the spacecraft interface during actuation, resulting in the coupling of the payload platform and the spacecraft dynamics, reducing the accuracy and stability of the communication terminal tracking and aiming. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control, which uses a magnetic levitation controlled torque gyroscope as an actuator and a passive magnetic bearing as a non-contact joint, thereby realizing the dynamic decoupling of the load platform and the spacecraft, increasing the field of view of the deep space laser communication terminal, and ensuring the high precision and high stability of the communication terminal tracking and aiming.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A high-precision and stable tracking and aiming platform for a deep space laser communication terminal based on magnetic levitation control, comprising a spacecraft interface substrate, a feedforward accelerometer, an axial passive magnetic bearing, a U-shaped frame, a radial passive magnetic bearing, a load platform, an azimuth magnetic levitation control moment gyroscope, a pitch angle magnetic levitation control moment gyroscope, a feedback accelerometer, and a deep space laser communication terminal. The spacecraft interface substrate is connected to the outer surface of the spacecraft through the mounting hole and is fixed to the spacecraft; the feedforward accelerometer is connected to the upper surface of the board of the spacecraft interface substrate through the mounting hole; the lower end face of the axial stator of the axial passive magnetic bearing is connected to the upper end face of the column of the spacecraft interface substrate through the mounting hole, and the upper end face of the axial rotor of the axial passive magnetic bearing is connected to the lower end face of the U-shaped frame through the mounting hole; the two ends of the radial stator of the radial passive magnetic bearing are respectively connected to the two ears of the U-shaped frame, and the radial rotor of the radial passive magnetic bearing is connected to the two ears under the load platform through a key; the setting positions of the azimuth magnetic levitation control moment gyro and the pitch angle magnetic levitation control moment gyro include the symmetry axis on the upper surface of the load platform; the deep space laser communication terminal is installed at the center of the upper surface of the load platform through the mounting hole; the setting position of the feedback accelerometer includes the corner point on the upper surface of the load platform.

[0007] Preferably, the axial passive magnetic bearing includes an axial stator, an axial rotor, a first axial stator permanent magnet group, a second axial stator permanent magnet group, and an axial rotor permanent magnet group. The first axial stator permanent magnet group is located in the lower layer of the axial passive magnetic bearing, and includes two inner and outer annular permanent magnets; the axial rotor permanent magnet group is located in the middle layer of the axial passive magnetic bearing, and also includes two inner and outer annular permanent magnets, but the magnetic pole arrangement is opposite to that of the first axial stator permanent magnet group; the second axial stator permanent magnet group is located in the upper layer of the axial passive magnetic bearing, and includes two inner and outer annular permanent magnets, and the magnetic pole arrangement is the same as that of the first axial stator permanent magnet group. The annular permanent magnets in the first axial stator permanent magnet group, the second axial stator permanent magnet group, and the axial rotor permanent magnet group are not limited to two inner and outer ones, and also include at least two annular permanent magnets that can constitute the axial passive magnetic bearing.

[0008] Preferably, the radial passive magnetic bearing comprises a radial stator, a radial rotor, a first radial stator permanent magnet group, a second radial stator permanent magnet group, a first radial rotor permanent magnet group, and a second radial rotor permanent magnet group. The first radial stator permanent magnet group is located at the left end of the radial stator, and includes four annular permanent magnets arranged in parallel; the first radial rotor permanent magnet group is also located at the left end of the radial rotor and is located inside the first radial stator permanent magnet group, and includes four annular permanent magnets arranged in parallel, and the magnetic pole arrangement is opposite to that of the first radial stator permanent magnet group; the second radial stator permanent magnet group is located at the right end of the radial stator, and includes four annular permanent magnets arranged in parallel, and the magnetic pole arrangement is symmetrical to that of the first radial stator permanent magnet group; the second radial rotor permanent magnet group is also located at the right end of the radial rotor and is located inside the second radial stator permanent magnet group, and includes four annular permanent magnets arranged in parallel, and the magnetic pole arrangement is opposite to that of the second radial stator permanent magnet group. The annular permanent magnets in the first radial stator permanent magnet group, the second radial stator permanent magnet group, the first radial rotor permanent magnet group, and the second radial rotor permanent magnet group are not limited to four in parallel, but also include at least two annular permanent magnets that can constitute the radial passive magnetic bearing.

[0009] Preferably, the installation position of the azimuth magnetic levitation controlled moment gyro includes the left and right symmetry axis on the upper surface of the load platform, the main axis direction of the gyro includes the direction of the left and right symmetry axis, and the control torque direction is the direction of the upper and lower symmetry axis; the installation position of the pitch angle magnetic levitation controlled moment gyro includes the front and rear symmetry axis on the upper surface of the load platform, the main axis direction of the gyro includes the direction of the front and rear symmetry axis, and the control torque direction is the direction of the left and right symmetry axis; the azimuth magnetic levitation controlled moment gyro and the pitch angle magnetic levitation controlled moment gyro both adopt single-frame magnetic levitation controlled moment gyro. The installation position and main axis direction of the azimuth magnetic levitation controlled moment gyro and the pitch angle magnetic levitation controlled moment gyro are not limited to the symmetry axis on the upper surface of the load platform, but also include all installation positions and directions on the upper surface of the load platform that can control the azimuth and pitch angles.

[0010] Preferably, the installation position of the feedforward accelerometer includes the front-to-back symmetry axis and the left-to-right symmetry axis on the upper surface of the spacecraft interface substrate, and the installation position of the feedback accelerometer includes two corner points on the upper surface of the payload platform in the opposite direction of the pitch angle magnetic levitation control moment gyro. The feedforward accelerometer and feedback accelerometer include three-axis accelerometers. The installation positions of the feedforward accelerometer and feedback accelerometer are not limited to the symmetry axis and corner points, but also include all installation positions that can transmit feedforward vibration signals on the spacecraft interface substrate and feedback vibration signals on the payload platform. The feedforward accelerometer and feedback accelerometer include all three-axis accelerometers that can match the azimuth magnetic levitation control moment gyro and the pitch angle magnetic levitation control moment gyro.

[0011] Preferably, the azimuth magnetic levitation control moment gyro and the pitch magnetic levitation control moment gyro receive the feedforward vibration signal on the spacecraft interface substrate from the feedforward accelerometer, receive the feedback vibration signal on the payload platform from the feedback accelerometer, and receive the pointing signal of the uplink laser beacon from the deep space laser communication terminal.

[0012] Preferably, the deep space laser communication terminal is installed at the center of the payload platform, and the direction of the optical axis is the direction of the front-rear symmetry axis of the payload platform. The deep space laser communication terminal is not limited to the Cassegrain telescope terminal, but also includes all terminals that can realize deep space laser communication.

[0013] On the other hand, the present invention provides a method for controlling a high-precision and stable tracking and aiming platform of a deep space laser communication terminal based on magnetic levitation control, comprising the following steps:

[0014] After aiming at and capturing the uplink laser beacon, the deep space laser communication terminal tracks the uplink laser beacon, takes the pointing signal of the uplink laser beacon as the desired pointing, compares it with the current pointing of the payload platform, and inputs the desired pointing into the pointing controller to generate a pointing control signal;

[0015] The feedforward accelerometer collects the vibration signal of the spacecraft interface substrate, inputs it into the feedforward vibration controller, and generates a feedforward vibration control signal;

[0016] The feedback accelerometer collects the vibration signal of the load platform, inputs it into the feedback vibration controller, and generates a feedback vibration control signal;

[0017] The azimuth magnetic levitation control moment gyro and the pitch magnetic levitation control moment gyro aggregate the pointing control signal, the feedforward vibration control signal, and the feedback vibration control signal, and output the control torque according to the total control signal to make the payload platform reach the desired pointing direction, thereby forming a tracking and aiming closed-loop control circuit of the payload platform, and ensuring that the deep space laser communication terminal tracks the uplink laser beacon with high precision and stability.

[0018] The present invention also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned method for controlling a high-precision and stable tracking and aiming platform of a deep space laser communication terminal based on magnetic levitation control.

[0019] The present invention also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned method for controlling a high-precision and stable tracking and aiming platform of a deep space laser communication terminal based on magnetic levitation control.

[0020] The beneficial effects of the present invention are:

[0021] 1. Large rotation stroke. The present invention adopts axial passive magnetic suspension bearings and radial magnetic suspension bearings as rotation joints, which can realize large-angle maneuvers of the load platform's pointing freedom, provide a large field of view for the deep space laser communication terminal, and help improve the terminal's deep space laser communication performance.

[0022] 2. Dynamic decoupling. The present invention uses an azimuth magnetic levitation control moment gyro and a pitch magnetic levitation control moment gyro as actuators for the pointing (azimuth and pitch) control of the payload platform. The control moment gyro can exchange momentum with the payload platform and redirect the payload platform under the premise that the total momentum of the two remains unchanged, without applying a reaction torque to the spacecraft interface substrate, thereby achieving dynamic decoupling between the two and facilitating the design of the control system.

[0023] 3. Small internal disturbance. The present invention adopts the azimuth magnetic suspension control torque gyro and the pitch magnetic suspension control torque magnetic suspension gyro rotor with non-contact characteristics, and does not impose internal disturbance on the load platform due to the rotation of the rotor. Therefore, the internal disturbance of the load platform is small, which is conducive to maintaining the high stability of the load platform.

[0024] 4. Strong anti-disturbance. The present invention adopts azimuth magnetic suspension control torque gyro and pitch magnetic suspension control torque to suppress the external low-frequency vibration of the pointing freedom of the load platform, which is beneficial to improve the tracking and aiming accuracy and stability of the deep space laser communication terminal.

[0025] 5. Independent control channels. The present invention uses axial passive magnetic suspension bearings and radial magnetic suspension bearings as rotational joints, so that the azimuth and pitch angles have completely independent rotational joints, and the azimuth control channel and the pitch angle control channel are independent, which is conducive to the design of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of a high-precision and stable tracking and aiming platform for a deep space laser communication terminal based on magnetic levitation control according to the present invention;

[0027] Figure 2 It is a schematic diagram of the U-shaped frame structure in the present invention;

[0028] FIG3( a ) is a three-dimensional schematic diagram of the axial passive magnetic bearing structure of the present invention;

[0029] FIG3( b ) is a cross-sectional view of the axial passive magnetic bearing structure of the present invention;

[0030] FIG4( a ) is a three-dimensional schematic diagram of the radial passive magnetic bearing structure of the present invention;

[0031] FIG4( b ) is a cross-sectional view of the radial passive magnetic bearing structure of the present invention;

[0032] Figure 5This is a control block diagram of the high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control of the present invention.

[0033] Reference numerals:

[0034] 1-spacecraft interface substrate, 2-feedforward accelerometer, 3-axial passive magnetic bearing, 4-U-frame, 5-radial passive magnetic bearing, 6-azimuth magnetic suspension control moment gyro, 7-pitch magnetic suspension control moment gyro, 8-deep space laser communication terminal, 9-feedback accelerometer, 10-load platform;

[0035] 301-axial rotor, 302-axial stator, 303-second axial stator permanent magnet group, 304-axial rotor permanent magnet group, 305-first axial stator permanent magnet group, 306-first axial end cover, 307-first axial bushing, 308-second axial bushing, 309-second axial end cover;

[0036] 501- radial stator, 502- first radial end cover, 503- first radial bushing, 504- radial rotor, 505- first radial rotor permanent magnet group, 506- first radial stator permanent magnet group, 507- second radial end cover, 508- second radial bushing, 509- second radial rotor permanent magnet group, 510- second radial stator permanent magnet group. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] like Figure 1 As shown, a schematic diagram of the structure of a high-precision and stable tracking and aiming platform for a deep space laser communication terminal based on magnetic levitation control, which includes a spacecraft interface substrate 1, a feedforward accelerometer 2, an axial passive magnetic bearing 3, a U-shaped frame 4, a radial passive magnetic bearing 5, a load platform 10, an azimuth magnetic levitation control moment gyro 6, a pitch angle magnetic levitation control moment gyro 7, a feedback accelerometer 9, and a deep space laser communication terminal 8. Among them,

[0039] The spacecraft interface substrate 1 is connected to the outer surface of the spacecraft through the mounting hole and is fixedly connected to the spacecraft; the feedforward accelerometer 2 is connected to the upper surface of the board surface of the spacecraft interface substrate 1 through the mounting hole; the lower end surface of the axial stator 302 of the axial passive magnetic bearing 3 is connected to the upper end surface of the column of the spacecraft interface substrate 1 through the mounting hole, and the upper end surface of the axial rotor 301 of the axial passive magnetic bearing 3 is connected to the lower end surface of the U-shaped frame 4 through the mounting hole. Figure 2As shown, a schematic diagram of the U-frame structure is given; the two ends of the radial stator 501 of the radial passive magnetic bearing 5 are respectively connected to the two ears of the U-frame 4, and the radial rotor 504 of the radial passive magnetic bearing 5 is connected to the two ears below the load platform 10 through a key; the azimuth magnetic levitation control moment gyro 6 and the pitch angle magnetic levitation control moment gyro 7 are set at positions including the symmetry axis of the upper surface of the load platform 10; the deep space laser communication terminal 8 is installed at the center of the upper surface of the load platform 10 through the mounting hole; the feedback accelerometer 9 is set at a position including the corner point of the upper surface of the load platform 10.

[0040] Preferably, as shown in Fig. 3(a) and Fig. 3(b), the axial passive magnetic bearing 3 is composed of an axial stator 302, an axial rotor 301, a first axial stator permanent magnet group 305, a second axial stator permanent magnet group 303, an axial rotor permanent magnet group 304, a first axial end cover 306, a second axial end cover 309, a first axial bushing 307, and a second axial bushing 308. The axial stator 302 of the axial passive magnetic bearing 3 is connected to the spacecraft interface substrate 1, and the axial rotor 301 is connected to the U-shaped frame 4. In order to increase the magnetic field density and improve the performance of the axial passive magnetic bearing 3, the first axial stator permanent magnet group 305 is located in the lower layer of the axial passive magnetic bearing 3, including two inner and outer annular permanent magnets; the axial rotor permanent magnet group 304 is located in the middle layer of the axial passive magnetic bearing 3, and is also composed of two inner and outer annular permanent magnets, but the magnetic pole arrangement is opposite to that of the first axial stator permanent magnet group 305; the second axial stator permanent magnet group 303 is located in the upper layer of the axial passive magnetic bearing 3, including two inner and outer annular permanent magnets, and the magnetic pole arrangement is the same as that of the first axial stator permanent magnet group 305. The first axial end cover 306 and the second axial end cover 309 limit the first axial stator permanent magnet group 305 and the second axial stator permanent magnet group 303 respectively; the first axial bushing 307 and the second axial bushing 308 limit the axial rotor permanent magnet group 304. The annular permanent magnets in the first axial stator permanent magnet group 305, the second axial stator permanent magnet group 303, and the axial rotor permanent magnet group 304 are not limited to two inner and outer ones, and may include at least two annular permanent magnets that can form the axial passive magnetic bearing. The radial passive magnetic bearing 5 can realize omnidirectional azimuth rotation of the load platform 10 through the articulation of the load platform 10 and the U-shaped frame 4, thereby increasing the field of view of the deep space laser communication terminal 8; and due to the non-contact characteristics of magnetic suspension, the mechanical vibration from the spacecraft interface substrate 1 is greatly reduced, thereby isolating external high-frequency vibrations.

[0041] Preferably, as shown in Fig. 4(a) and Fig. 4(b), the radial passive magnetic bearing 5 is composed of a radial stator 501, a radial rotor 504, a first radial stator permanent magnet group 506, a second radial stator permanent magnet group 510, a first radial rotor permanent magnet group 505, a second radial rotor permanent magnet group 509, a first radial end cover 502, a second radial end cover 507, a first radial bushing 503, and a second radial bushing 508. The radial stator 501 of the radial passive magnetic bearing 5 is connected to the U-shaped frame 4, and the radial rotor 504 is connected to the load platform 10. In order to increase the magnetic field density and improve the performance of the radial passive magnetic bearing 5, the first radial stator permanent magnet group 506 is located at the left end of the radial stator 501, including four annular permanent magnets in parallel; the first radial rotor permanent magnet group 505 is also located at the left end of the radial rotor 504 and is located inside the first radial stator permanent magnet group 506, including four annular permanent magnets in parallel, and the magnetic pole arrangement is opposite to that of the first radial stator permanent magnet group 506; the second radial stator permanent magnet group 510 is located at the right end of the radial stator 501, including four annular permanent magnets in parallel, and the magnetic pole arrangement is symmetrical to that of the first radial stator permanent magnet group 506; the second radial rotor permanent magnet group 509 is also located at the right end of the radial rotor 504 and is located inside the second radial stator permanent magnet group 510, including four annular permanent magnets in parallel, and the magnetic pole arrangement is opposite to that of the second radial stator permanent magnet group 510. The first radial end cover 502 and the second radial end cover 507 respectively limit the first radial stator permanent magnet group 506 and the second radial stator permanent magnet group 510; the first radial bushing 503 and the second radial bushing 508 respectively limit the first radial rotor permanent magnet group 505 and the second radial rotor permanent magnet group 509. The annular permanent magnets in the first radial stator permanent magnet group 506, the second radial stator permanent magnet group 510, the first radial rotor permanent magnet group 505 and the second radial rotor permanent magnet group 509 are not limited to four in parallel, and may include at least two annular permanent magnets that can form the radial passive magnetic bearing.

[0042] Preferably, the installation position of the azimuth magnetic levitation controlled moment gyro 6 includes the left-right symmetry axis of the upper surface of the load platform 10, the gyro main axis direction includes the left-right symmetry axis direction, and the control torque direction is the upper-lower symmetry axis direction; the installation position of the pitch angle magnetic levitation controlled moment gyro 7 includes the front-back symmetry axis of the upper surface of the load platform 10, the gyro main axis direction includes the front-back symmetry axis direction, and the control torque direction is the left-right symmetry axis direction. The azimuth magnetic levitation controlled moment gyro 6 and the pitch angle magnetic levitation controlled moment gyro 7 both adopt single-frame magnetic levitation controlled moment gyro. The installation position and gyro main axis direction of the azimuth magnetic levitation controlled moment gyro 6 and the pitch angle magnetic levitation controlled moment gyro 7 are not limited to the symmetry axis of the upper surface of the load platform 10, but also include all installation positions and directions on the upper surface of the load platform 10 that can control the azimuth and pitch angles. The azimuth magnetic suspension control moment gyro 6 and the pitch magnetic suspension control moment gyro 7 respectively control the azimuth and pitch angles of the load platform 10 and suppress external low-frequency vibrations; and the gyro rotor has a non-contact characteristic, and does not apply internal disturbances to the load platform 10 due to the rotation of the rotor. In addition, the azimuth magnetic suspension control moment gyro 6 and the pitch magnetic suspension control moment gyro 7 can exchange momentum with the load platform 10, and redirect the load platform 10 under the premise that the total momentum of the two remains unchanged, without applying a reaction torque to the spacecraft interface substrate 1, so as to achieve the purpose of dynamic decoupling.

[0043] Preferably, the installation position of the feedforward accelerometer 2 includes the front-to-back symmetry axis and the left-to-right symmetry axis on the upper surface of the spacecraft interface substrate 1, and the installation position of the feedback accelerometer 9 includes two corner points on the upper surface of the load platform 10 in the opposite direction to the pitch angle magnetic suspension control moment gyro 7. The feedforward accelerometer 2 and the feedback accelerometer 9 include capacitive three-axis accelerometers. The installation positions of the feedforward accelerometer 2 and the feedback accelerometer 9 are not limited to the symmetry axis and the corner points, but also include all installation positions that can transmit the feedforward vibration signal on the spacecraft interface substrate 1 and the feedback vibration signal on the load platform 10. The feedforward accelerometer 2 and the feedback accelerometer 9 are not limited to capacitive three-axis accelerometers, but also include all three-axis accelerometers that can match the azimuth magnetic suspension control moment gyro 6 and the pitch angle magnetic suspension control moment gyro 7.

[0044] Preferably, the azimuth magnetic levitation control moment gyro 6 and the pitch magnetic levitation control moment gyro 7 receive the vibration feedforward signal on the spacecraft interface substrate 1 from the feedforward accelerometer 2, receive the vibration feedback signal on the payload platform 10 from the feedback accelerometer 9, and receive the pointing signal of the uplink laser beacon from the deep space laser communication terminal 8.

[0045] Preferably, the deep space laser communication terminal 8 is installed at the center of the payload platform 10, and the optical axis direction is the front-rear symmetry axis direction of the payload platform 10. The deep space laser communication terminal 8 is not limited to the Cassegrain telescope terminal, but also includes all terminals that can realize deep space laser communication.

[0046] On the other hand, Figure 5 As shown, the present invention provides a method for controlling a high-precision and stable tracking and aiming platform of a deep space laser communication terminal based on magnetic levitation control, comprising the following steps:

[0047] After aiming and capturing the uplink laser beacon, the deep space laser communication terminal 8 tracks the uplink laser beacon, takes the pointing signal of the uplink laser beacon as the desired pointing, compares it with the current pointing of the payload platform 10, and inputs the desired pointing into the pointing controller to generate a pointing control signal;

[0048] The feedforward accelerometer 2 collects the vibration signal of the spacecraft interface substrate 1 and inputs it into the feedforward vibration controller to generate a feedforward vibration control signal;

[0049] The feedback accelerometer 9 collects the vibration signal of the load platform 10, inputs it into the feedback vibration controller, and generates a feedback vibration control signal;

[0050] The azimuth magnetic levitation control moment gyro 6 and the pitch magnetic levitation control moment gyro 7 summarize the pointing control signal, the feedforward vibration control signal, and the feedback vibration control signal, and output the control torque according to the total control signal, so that the payload platform 10 reaches the desired pointing direction, forming a tracking and aiming closed-loop control circuit of the payload platform 10, and ensuring that the deep space laser communication terminal 8 tracks the uplink laser beacon with high precision and stability.

[0051] The present invention also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned method for controlling a high-precision and stable tracking and aiming platform of a deep space laser communication terminal based on magnetic levitation control.

[0052] The present invention also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned method for controlling a high-precision and stable tracking and aiming platform of a deep space laser communication terminal based on magnetic levitation control.

[0053] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control, characterized in that: include: Spacecraft interface substrate (1), feedforward accelerometer (2), axial passive magnetic bearing (3), U-shaped frame (4), radial passive magnetic bearing (5), load platform (10), azimuth magnetic suspension control moment gyro (6), pitch angle magnetic suspension control moment gyro (7), feedback accelerometer (9), deep space laser communication terminal (8), wherein: The spacecraft interface substrate (1) is fixedly connected to the outer surface of the spacecraft; The feedforward accelerometer (2) is connected to the upper surface of the spacecraft interface substrate (1); The lower end surface of the axial passive magnetic bearing (3) is connected to the upper end surface of the spacecraft interface base plate (1), and the upper end surface is connected to the lower end surface of the U-shaped frame (4); The two ends of the radial passive magnetic bearing (5) are respectively connected to the two ear pieces of the U-shaped frame (4), and are also connected to the two ear pieces below the load platform (10); The azimuth magnetic suspension control moment gyro (6) and the pitch magnetic suspension control moment gyro (7) are arranged at positions including the symmetry axis of the upper surface of the load platform (10); The deep space laser communication terminal (8) is arranged at the center of the upper surface of the load platform (10); The feedback accelerometer (9) is set at a position including a corner point on the upper surface of the load platform (10).

2. According to the high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control according to claim 1, it is characterized in that: The axial passive magnetic bearing (3) comprises a first axial stator permanent magnet group (305), a second axial stator permanent magnet group (303), and an axial rotor permanent magnet group (304), wherein the first axial stator permanent magnet group (305) is located in the lower layer of the axial passive magnetic bearing (3); the axial rotor permanent magnet group (304) is located in the middle layer of the axial passive magnetic bearing (3), and the magnetic pole arrangement is opposite to that of the first axial stator permanent magnet group (305); and the second axial stator permanent magnet group (303) is located in the upper layer of the axial passive magnetic bearing (3), and the magnetic pole arrangement is the same as that of the first axial stator permanent magnet group (305).

3. According to the high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control according to claim 1, it is characterized in that: The axial passive magnetic bearing (3) further comprises an axial stator (302) and an axial rotor (301); the lower end surface of the axial stator (302) is connected to the upper end surface of the column of the spacecraft interface base plate (1) through a mounting hole, and the upper end surface of the axial rotor (301) is connected to the lower end surface of the U-shaped frame (4) through a mounting hole.

4. According to claim 2, a high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control is characterized in that: The first axial stator permanent magnet group (305), the second axial stator permanent magnet group (303), and the axial rotor permanent magnet group (304) each include at least two annular permanent magnets.

5. According to the high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control according to claim 1, it is characterized in that: The radial passive magnetic bearing (5) comprises a radial stator (501), a radial rotor (504), a first radial stator permanent magnet group (506), a second radial stator permanent magnet group (510), a first radial rotor permanent magnet group (505), and a second radial rotor permanent magnet group (509), wherein the first radial stator permanent magnet group (506) is located at the left end of the radial stator (501), the first radial rotor permanent magnet group (505) is located at the left end of the radial rotor (504), and the magnetic pole arrangement is opposite to that of the first radial stator permanent magnet group (506); the second radial stator permanent magnet group (510) is located at the right end of the radial stator (501), and the magnetic pole arrangement is symmetrical to that of the first radial stator permanent magnet group (506); and the second radial rotor permanent magnet group (509) is located at the right end of the radial rotor (504), and the magnetic pole arrangement is opposite to that of the second radial stator permanent magnet group (510).

6. According to claim 5, a high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control is characterized in that: The first radial stator permanent magnet group (506), the second radial stator permanent magnet group (510), the first radial rotor permanent magnet group (505), and the second radial rotor permanent magnet group (509) all include at least two parallel annular permanent magnets.

7. According to claim 5, a high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control is characterized in that: The first radial rotor permanent magnet group (505) is located inside the first radial stator permanent magnet group (506), and the second radial rotor permanent magnet group (509) is located inside the second radial stator permanent magnet group (510).

8. According to the high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control according to claim 1, it is characterized in that: The installation position of the azimuth magnetic suspension controlled moment gyro (6) includes the left and right symmetry axes on the upper surface of the load platform (10), the main axis direction of the gyro includes the direction of the left and right symmetry axes, and the control torque direction is the direction of the upper and lower symmetry axes; the installation position of the pitch angle magnetic suspension controlled moment gyro (7) includes the front and rear symmetry axes on the upper surface of the load platform (10), the main axis direction of the gyro includes the direction of the front and rear symmetry axes, and the control torque direction is the direction of the left and right symmetry axes; the azimuth magnetic suspension controlled moment gyro (6) and the pitch angle magnetic suspension controlled moment gyro (7) both adopt single-frame magnetic suspension controlled moment gyro.

9. According to the high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control according to claim 1, it is characterized in that: The installation position of the feedforward accelerometer (2) includes the front-to-rear symmetry axis and the left-to-right symmetry axis on the upper surface of the spacecraft interface substrate (1), and the installation position of the feedback accelerometer (9) includes two corner points on the upper surface of the load platform (10) in the opposite direction relative to the pitch angle magnetic suspension control moment gyro (7); the feedforward accelerometer (2) and the feedback accelerometer (9) include three-axis accelerometers.

10. According to claim 1, a high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control is characterized in that: The azimuth magnetic suspension control moment gyro (6) and the pitch magnetic suspension control moment gyro (7) receive a vibration feedforward signal on the spacecraft interface substrate (1) from the feedforward accelerometer (2), receive a vibration feedback signal on the payload platform (10) from the feedback accelerometer (9), and receive a pointing signal of an uplink laser beacon from the deep space laser communication terminal (8).

11. According to claim 1, a high-precision and stable tracking and aiming platform for deep space laser communication terminals based on magnetic levitation control is characterized in that: The optical axis direction of the deep space laser communication terminal (8) is the direction of the front-rear symmetry axis of the load platform (10), and the deep space laser communication terminal (8) comprises a Cassegrain telescope terminal.

12. A method for controlling a high-precision and stable tracking and aiming platform for a deep space laser communication terminal based on magnetic levitation control, applied to a high-precision and stable tracking and aiming platform for a deep space laser communication terminal based on magnetic levitation control as claimed in any one of claims 1 to 11, comprising the following steps: The deep space laser communication terminal (8) captures and tracks the uplink laser beacon, takes the pointing signal of the uplink laser beacon as the desired pointing, and inputs it into the pointing controller to generate a pointing control signal; A feedforward accelerometer (2) collects vibration signals of the spacecraft interface substrate (1), inputs the signals into a feedforward vibration controller, and generates a feedforward vibration control signal; The feedback accelerometer (9) collects the vibration signal of the load platform (10), inputs the signal into the feedback vibration controller, and generates a feedback vibration control signal; The azimuth magnetic suspension control moment gyro (6) and the pitch magnetic suspension control moment gyro (7) aggregate the pointing control signal, the feedforward vibration control signal and the feedback vibration control signal to generate a total control signal, and output a control torque according to the total control signal to control the load platform (10) to achieve a desired pointing direction.

13. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; Among them, when one or more programs are executed by the one or more processors, the one or more processors implement the high-precision and stable tracking and aiming platform control method for a deep space laser communication terminal based on magnetic levitation control as described in claim 12.

14. A computer-readable storage medium, characterized in that: Executable instructions are stored thereon, which, when executed by a processor, enable the processor to implement a method for controlling a high-precision and stable tracking and aiming platform of a deep space laser communication terminal based on magnetic levitation control as described in claim 12.

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