Large-scale net antenna surface shape measurement and regulation method and device based on force-position fusion visual measurement

Abstract

The application relates to a large-scale rope net antenna surface shape measurement and regulation method based on force-position fusion vision measurement, and relates to the field of antenna precision control and optimization. In order to solve the problems of high cost, high structural complexity and limited regulation precision of the existing technology, the application provides a high-efficiency regulation method. The method comprises the following steps: collecting displacement data of upper and lower rope net nodes and tensile spring marker points, and recording images; pre-processing the image data, and extracting actual coordinates of the marker points; comparing the actual coordinates with design coordinates, calculating node displacement errors, and obtaining root mean square error values of an antenna reflecting surface through a shape error formula; based on the root mean square error values, calculating deformation amounts of piezoelectric actuators and spring deformation variables, determining driving voltages and tensile force parameters; generating control instructions and optimizing regulation according to the calculation results. The method is suitable for design and maintenance of a spacecraft antenna, and has the advantages of high precision, low cost and easy operation.

Description

TECHNICAL FIELD

[0001] The application relates to the field of antenna precision control and optimization, and particularly relates to an antenna surface shape precision regulation method based on force-position fusion visual measurement. BACKGROUND

[0002] With the development of modern aerospace technology, spaceborne antennas play a crucial role in space missions, and their performance directly affects the quality of signal reception and transmission. In order to meet the higher demand for data transmission, spaceborne antennas are developing towards large aperture, high gain and high precision. In this field, mesh antennas gradually become an important antenna form in deep space exploration, communication satellites and earth observation satellites due to their light weight, high folding storage ratio and low launch cost.

[0003] Mesh antennas usually adopt an up-down cable net structure, and the shape of the reflecting surface is determined by an elastic system formed by multiple tension cables and springs. In order to ensure the precision of the reflecting surface of the antenna after deployment, the current technology mainly relies on the following methods:

[0004] Position sensor-based measurement technology

[0005] By installing high-precision position sensors at the nodes of the cable net, the displacement data of each node is measured in real time, and the length of the tension cable is adjusted according to the measurement results to achieve active adjustment of the surface shape precision. This method can achieve high measurement precision, but it requires the installation of sensors at each node, which is costly, complex to wire, and increases the overall weight and energy consumption of the system.

[0006] Force sensor-based measurement technology

[0007] Force sensors are installed on the tension cables to measure the force of each node, and the data of the position sensors are analyzed comprehensively to determine the shape error of the antenna and the adjustment scheme. Although this method is more comprehensive in terms of mechanics, similar to position sensors, the widespread deployment of force sensors also increases the complexity and cost of the system.

[0008] Multi-camera visual measurement technology

[0009] In recent years, multi-camera-based visual measurement technology has gradually become a research hotspot. By setting marker points at the nodes of the cable net, a multi-camera system is used to measure the position and displacement of the marker points. Although this method can reduce the number of sensors, the equipment cost and installation difficulty caused by the multi-camera configuration still have not been fundamentally solved.

[0010] The existing technology has the following problems in practical application:

[0011] High cost of measurement system: The cost of equipment and maintenance is greatly increased due to the need for a large number of sensors or multi-camera systems, which is not conducive to large-scale application.

[0012] High structural complexity: The arrangement of sensors and cameras requires additional mechanism design, while the complex circuit connection and power supply requirements increase the weight and energy consumption of the system.

[0013] Limited control accuracy: The existing method lacks accurate measurement of the deformation of the spring and its influence on the displacement of the cable net node, making it difficult to achieve high-precision active control of the antenna surface shape. SUMMARY

[0014] To solve the technical defects of high cost of measurement system, high structural complexity and limited control accuracy in the existing antenna surface shape precision control work, the technical solution provided by the present application is:

[0015] A large-scale cable net antenna surface shape measurement and control method based on force-position fusion vision measurement, comprising:

[0016] Collecting displacement data of upper and lower cable net nodes and tensile spring marker points and recording image data;

[0017] The step of preprocessing the image data includes marker point feature extraction and matching, and extracting the actual coordinates of the marker points;

[0018] The step of comparing the actual coordinates of the marker points with the pre-set design coordinates, calculating the node displacement error, and substituting it into the surface error formula to obtain the root mean square error value of the antenna reflecting surface;

[0019] Based on the root mean square error value of the antenna reflecting surface, the deformation of the target piezoelectric actuator and the spring deformation are calculated, and the driving voltage and tension parameters are determined;

[0020] The step of generating control instructions according to the driving voltage and tension parameters.

[0021] Further, a preferred embodiment is provided, in which the marker point feature extraction is based on a template matching feature recognition algorithm.

[0022] Further, a preferred embodiment is provided, in which the deformation of the target piezoelectric actuator and the spring deformation are calculated by an error inversion algorithm.

[0023] Further, a preferred embodiment is provided, in which the driving voltage and tension parameters are determined in combination with the voltage-deformation relationship formula, and further, a preferred embodiment is provided, in which the preprocessing further includes image noise removal.

[0024] Based on the same inventive concept, the application further provides a large-scale rope net antenna surface shape measurement and regulation device based on force-position fusion visual measurement, comprising:

[0025] A module for collecting displacement data of the upper and lower cable net nodes and the tensile spring marker points and recording image data;

[0026] A module for pre-processing the image data, including marker point feature extraction and matching, and extracting actual coordinates of the marker points;

[0027] A module for comparing the actual coordinates of the marker points with preset design coordinates, calculating node displacement errors, and substituting the node displacement errors into a surface error formula to obtain a root mean square error value of the antenna reflecting surface;

[0028] A module for calculating deformation amounts of the target piezoelectric actuator and spring deformation amounts based on the root mean square error value of the antenna reflecting surface, and determining driving voltage and tension parameters;

[0029] A module for generating control instructions according to the driving voltage and tension parameters.

[0030] Based on the same inventive concept, the application further provides a large-scale rope net antenna surface shape measurement and regulation system based on force-position fusion visual measurement, which is used to implement the method and comprises:

[0031] A ring truss for supporting and fixing the upper and lower cable net surfaces;

[0032] The upper and lower cable net surfaces each comprise at least three nodes, and the nodes are connected by vertical tension cables;

[0033] The vertical tension cables are sequentially connected with piezoelectric actuators and tensile springs;

[0034] Marker points are arranged on each node and tensile spring of the upper and lower cable net surfaces;

[0035] A camera is used to observe displacement data of cable net node marker points of the upper and lower cable net nodes in the upper and lower cable net surfaces, and to observe displacement data of spring marker points of the tensile springs;

[0036] The tensile springs transfer tension through deformation amounts to adjust positions of the nodes of the upper and lower cable net surfaces.

[0037] Based on the same inventive concept, the application further provides a computer storage medium for storing a computing program, and when the computing program is read by a computer, the computer executes the method.

[0038] Based on the same inventive concept, the application further provides a computer comprising a processor and a storage medium, wherein the computer executes the method when the processor reads a computer program stored in the storage medium.

[0039] Based on the same inventive concept, the application further provides a computer program product, which is a computer program and realizes the method when the computer program is executed.

[0040] Compared with the prior art, the technical scheme provided by the application has the advantages that:

[0041] The scheme replaces the displacement sensors and force sensors used in the traditional method by arranging marker points on the upper and lower cable net nodes and springs and measuring the displacement of the marker points and the deformation of the springs by using a visual camera. This way significantly reduces the equipment cost of the measurement system, and compared with the scheme relying on high-precision sensors, not only saves hardware expenditure, but also reduces subsequent maintenance costs.

[0042] By using a combination of piezoelectric actuators and tension springs to adjust the length of the tension cable, the scheme avoids complex circuit connection and power supply design, simplifying the system structure. Compared with the traditional method which needs to install multiple groups of sensors, this way reduces the additional mechanical design requirements, reduces the weight and energy consumption of the system, and improves the integration and reliability of the equipment.

[0043] By measuring the node displacement and spring deformation by a visual camera, the scheme can calculate and control the shape error of the antenna reflector surface in real time, improving the control accuracy. Compared with the multi-camera visual measurement technology, this scheme only needs two cameras to complete accurate measurement in a large range, significantly reducing the difficulty of equipment deployment, while ensuring the accuracy and stability of the measurement results.

[0044] Visual measurement replaces traditional sensors, so that measurement and control are no longer dependent on the accuracy of single-point sensors. This way improves the adaptability of the system to environmental changes, and compared with the traditional method, it can maintain high accuracy while avoiding performance degradation caused by sensor failure, thereby improving the stability and anti-interference ability of the overall system.

[0045] It is suitable for application in the design and maintenance work of spacecraft antennas. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 Front view of the antenna surface shape precision measurement and control system device;

[0047] Figure 2 Side view of the antenna surface shape precision measurement and control system device;

[0048] Figure 3A plan view of the antenna surface shape precision measurement and control system device;

[0049] Figure 4 A schematic diagram for marking points.

[0050] Wherein, 1 is a ring truss, 2 is an upper cable net surface, 3 is a lower cable net surface, 4 is an upper cable net node, 5 is a lower cable net node, 6 is a piezoelectric actuator, 7 is a tensile spring, 8 is a vertical tension cable, 9 is a cable net surface node marking point, 10 is a spring marking point, and 11 is a camera. DETAILED DESCRIPTION

[0051] In order to make the advantages and benefits of the technical solutions provided by the present application more clear, the technical solutions provided by the present application will be further described in detail in combination with the drawings, and the specific embodiments are as follows:

[0052] Embodiment one, the embodiment provides a large-scale cable net antenna surface shape measurement and control method based on force-position fusion visual measurement, which comprises the following steps:

[0053] The step of collecting displacement data of the upper and lower cable net nodes 5 and the tensile spring 7 marking points on the target and recording image data;

[0054] The step of pre-processing the image data, including marking point feature extraction and matching, extracting the actual coordinates of the marking points;

[0055] The step of comparing the actual coordinates of the marking points with the pre-set design coordinates, calculating the node displacement error, and substituting it into the surface error formula to obtain the root mean square error value of the antenna reflecting surface;

[0056] The step of calculating the deformation amount of the target piezoelectric actuator 6 and the spring deformation variable based on the root mean square error value of the antenna reflecting surface, and determining the driving voltage and tension parameter;

[0057] The step of generating a control instruction according to the driving voltage and tension parameter.

[0058] Specifically, it comprises:

[0059] Node displacement measurement

[0060] The marking points at the positions of the upper and lower cable net nodes 5 are observed by the visual camera 11, the actual displacement of the nodes is obtained, and the surface precision of the antenna reflecting surface is calculated.

[0061] Detailed description: Mark the points on the upper and lower cable net nodes 5 of the antenna cable net, and observe the mark points of each node in real time through the visual camera 11 installed outside the device to record their actual coordinates. Compare the observed actual coordinates with the designed coordinates to calculate the displacement error of the node. The error data is further calculated by the formula to calculate the root mean square (RMS) error value of the antenna reflector surface, which is used to evaluate the accuracy of the current antenna reflector surface.

[0062] Displacement error calculation and adjustment

[0063] The displacement data of the nodes is used to calculate the error value of the antenna reflector surface, and the deformation amount of the piezoelectric actuator 6 and the deformation amount of the spring that need to be adjusted are calculated according to the error value.

[0064] Detailed description: The node displacement data obtained in step one is input into the processor, and the RMS error value of the current antenna reflector surface is calculated by the preset error formula. The processor determines the deformation amount of the piezoelectric actuator 6 and the deformation amount of the tension spring 7 that need to be adjusted according to the error value. This calculation result is used as the input data for adjusting the voltage and applying the tension force in the subsequent steps to ensure that the adjustment accurately reflects the current error.

[0065] Voltage and force calculation

[0066] According to the deformation amount of the piezoelectric actuator 6, the corresponding driving voltage and force are calculated to provide parameter support for precise control.

[0067] Detailed description: The deformation amount of the piezoelectric actuator 6 calculated in step two is converted into the corresponding driving voltage value through the voltage-deformation relationship formula of the piezoelectric ceramic. The voltage value is further combined with the output mechanical model of the piezoelectric ceramic to calculate the size of the force corresponding to the spring deformation amount. The piezoelectric coefficient and the proportional coefficient involved in the mechanical output model of the piezoelectric ceramic are determined by experimental calibration to ensure the accuracy and repeatability of the calculation.

[0068] Tension adjustment and surface control

[0069] By applying voltage to the piezoelectric actuator 6, tension is generated to act on the spring, realizing the adjustment of the cable net node and completing the surface control.

[0070] Detailed description: According to the voltage parameters calculated in step three, the corresponding driving voltage is applied to the piezoelectric actuator 6 to make it produce a specific deformation amount, so that tension is applied through the tension spring 7. Since the tension spring 7 is connected to the vertical tension cable 8, the deformation amount of the spring further changes the position of the upper and lower cable net nodes, realizing the active adjustment of the antenna surface error. The adjustment process responds in real time, and the feedback mechanism of the processor ensures the control accuracy.

[0071] Accuracy inspection

[0072] The node displacement and spring deformation are measured again, the adjusted RMS error value is calculated, and it is verified whether the shape accuracy meets the expectation.

[0073] Detailed description: After adjustment, the displacement data of the upper and lower cable net nodes 5 and spring marker points 10 are observed again by the visual camera 11, the measurement data is input into the processor, and the RMS error value of the antenna reflector surface is recalculated. If the error value is lower than the preset threshold value, the shape adjustment is completed; if the error value still exceeds the threshold value, return to step two to recalculate the adjustment amount and iterate until the accuracy requirement is met.

[0074] Embodiment two, this embodiment is a further limitation of the large rope net antenna shape measurement and control method based on force-position fusion visual measurement provided in embodiment one, and the marker point feature extraction is based on the feature recognition algorithm of template matching.

[0075] Embodiment three, this embodiment is a further limitation of the large rope net antenna shape measurement and control method based on force-position fusion visual measurement provided in embodiment one, and the deformation amount of the target piezoelectric actuator 6 and the spring deformation amount are calculated by the error inversion algorithm.

[0076] Embodiment four, this embodiment is a further limitation of the large rope net antenna shape measurement and control method based on force-position fusion visual measurement provided in embodiment one, and the driving voltage and tension parameters are determined in combination with the voltage-deformation relationship formula

[0077] Embodiment five, this embodiment is a further limitation of the large rope net antenna shape measurement and control method based on force-position fusion visual measurement provided in embodiment one, and the pre-processing further includes image noise removal.

[0078] Embodiment six, this embodiment provides a large rope net antenna shape measurement and control device based on force-position fusion visual measurement, which comprises:

[0079] A module for collecting displacement data of target upper and lower cable net nodes 5 and tension spring 7 marker points, and recording image data;

[0080] A module for pre-processing the image data, including marker point feature extraction and matching, and extracting the actual coordinates of the marker points;

[0081] A module for comparing the actual coordinates of the marker points with the preset design coordinates, calculating the node displacement error, and substituting into the shape error formula to obtain the root mean square error value of the antenna reflector surface;

[0082] A module for calculating the deformation amount of the target piezoelectric actuator 6 and the spring deformation amount based on the root mean square error value of the antenna reflector surface, and determining the driving voltage and tension parameters;

[0083] The module generates a control instruction according to the driving voltage and the tension parameter.

[0084] Embodiment seven, the embodiment provides a large-scale cable net antenna surface shape measurement and regulation system based on force-position fusion vision measurement, the system is used for realizing the method provided by the embodiment one, comprising:

[0085] The annular truss 1 is used for supporting and fixing the upper and lower cable net surfaces 3.

[0086] The upper cable net surface 2 and the lower cable net surface 3 comprise at least three nodes, and the nodes are connected by vertical tension cables 8.

[0087] The vertical tension cable 8 is connected with the tensile spring 7 and the piezoelectric actuator 6 in sequence.

[0088] The upper cable net surface 2 and the lower cable net surface 3 are provided with a mark point on each node and the tensile spring 7.

[0089] The camera 11 is used for observing the displacement data of the cable net node mark point 9 of the upper cable net node 4 and the lower cable net node 5 in the upper cable net surface 2 and the lower cable net surface 3 and the spring mark point 10 of the tensile spring 7.

[0090] The tensile spring 7 transmits the tension through the deformation amount, and adjusts the position of the node of the upper cable net surface 2 and the lower cable net surface 3.

[0091] Specifically, it comprises:

[0092] Frame structure

[0093] The device takes the annular truss 1 as a main frame, and combines the upper and lower cable net surfaces to form the basic framework of the antenna.

[0094] Detailed description: the annular truss 1 is used as the bearing and support structure of the device, and the upper cable net surface 2 and the lower cable net surface 3 are connected and fixed at the specified position through the annular truss 1. The cable net surface is composed of a plurality of nodes and tension cables, and the nodes are kept stable through the tension of the cable net. The number of nodes of the upper and lower cable nets is equal, and each node is the intersection point of the tension cable, which is used for installing the tensile spring 7 and the piezoelectric actuator 6.

[0095] Regulation system

[0096] The tensile spring 7 and the piezoelectric actuator 6 are connected in series through the vertical tension cable 8, so as to realize the displacement adjustment of the cable net node.

[0097] Detailed description: each vertical tension cable 8 is connected with the corresponding nodes of the upper and lower cable nets respectively, and is connected in series with a group of tensile springs 7 and piezoelectric actuators 6. The stiffness coefficient of the tensile spring 7 is calibrated by experiment to adapt to different tension requirements, and the piezoelectric actuator 6 adjusts the deformation amount through the driving voltage, so as to adjust the tension distribution of the tension cable, and realize the accurate control of the node displacement.

[0098] Visual measurement system

[0099] The displacement and deformation of the nodes and the spring marker points 10 are measured in real time by observing the nodes and the spring marker points 10 through the visual camera 11.

[0100] Detailed description: The device is configured with two high-precision visual cameras 11, which respectively observe the marker points on the upper and lower cable net nodes 5 and the tension spring 7. The marker points are designed with high reflectivity or high contrast to be accurately captured by the visual camera 11 under different lighting conditions. The visual camera 11 is connected to the processor to transmit measurement data in real time for subsequent calculation.

[0101] Node arrangement

[0102] The nodes of the upper and lower cable nets are connected by tension cables and are installed with marker points for position measurement and tension regulation.

[0103] Detailed description: Each layer of cable net contains multiple nodes, which are connected by tension cables to form a grid-like structure. The node position arrangement is optimized according to the design requirements of the antenna reflector, and each node is installed with a marker point for visual observation. The layout design of the nodes simplifies the overall installation and debugging of the device while meeting the mechanical requirements.

[0104] Operation mode:

[0105] The overall frame of the device is formed by the ring truss 1, and the upper cable net surface 2 and the lower cable net surface 3 are connected to the ring truss 1 to form the basic structural frame of the antenna. The multiple nodes in the upper cable net surface 2 and the lower cable net surface 3 are respectively the upper cable net nodes 4 and the lower cable net nodes 5, which are connected by vertical tension cables 8.

[0106] A piezoelectric actuator 6 and a tension spring 7 are installed in series on each vertical tension cable 8 to adjust the tension distribution of the vertical tension cable 8 and realize displacement adjustment of the upper cable net nodes 4 and the lower cable net nodes 5. Cable net node marker points 9 and spring marker points 10 are respectively arranged at the two ends of the upper cable net nodes 4, the lower cable net nodes 5, and the tension spring 7 for subsequent displacement measurement.

[0107] The cable net node marker points 9 of the upper cable net nodes 4 and the lower cable net nodes 5 and the spring marker points 10 of the tension spring 7 are observed in real time by the camera 11. After the camera 11 collects image data, the processor pre-processes the image, including feature extraction and matching of the marker points, and then extracts the actual coordinates of each marker point. By comparing the actual coordinates with the design coordinates, the displacement error of the upper cable net nodes 4 and the lower cable net nodes 5 is calculated, and the root mean square (RMS) error value of the antenna reflector surface is calculated according to the formula.

[0108] With the RMS error value, the system calculates the deformation of the piezoelectric actuator 6 and the deformation of the tension spring 7 through a preset error inversion algorithm. According to the voltage-deformation relationship formula, the voltage value required to drive the piezoelectric actuator 6 and the corresponding tension parameter are further calculated. By driving the piezoelectric actuator 6, the tension spring 7 is adjusted to generate a tension to pull the vertical tension cable 8 to adjust the positions of the upper cable net node 4 and the lower cable net node 5, thereby realizing accurate adjustment of the antenna surface shape.

[0109] After adjustment, the displacement data of the cable net node marker point 9 and the spring marker point 10 are collected again by the camera 11, the shape error value is recalculated, and the accuracy of the adjusted shape is verified to see whether it meets the preset requirements. If the error does not reach the target value, the above process is repeated to iteratively adjust the control parameters of the piezoelectric actuator 6 until the RMS error of the antenna reflector surface meets the requirements. Finally, the displacement data of the adjusted cable net node and the tension spring 7, and the shape error result are recorded to a database, and an analysis report is generated for subsequent optimization reference.

[0110] Embodiment eight, the embodiment provides a computer storage medium for storing a computer program, when the computer program is read by a computer, the computer executes the method provided by the first embodiment.

[0111] Embodiment nine, the embodiment provides a computer including a processor and a storage medium, when the processor reads the computer program stored in the storage medium, the computer executes the method provided by the first embodiment.

[0112] Embodiment ten, the embodiment provides a computer program product as a computer program, when the computer program is executed, the method provided by the first embodiment is realized.

[0113] Embodiment eleven, in combination Figures 1-4 The embodiment is described in detail by specific examples, and the technical solutions provided above are further described in detail, specifically:

[0114] In order to solve the problems of high cost, large space occupation, increased power consumption and reduced control stability in the active control link of the mesh antenna surface shape accuracy, the embodiment provides a new antenna surface shape accuracy measurement and regulation system device. The technical scheme adopted by the embodiment

[0115] The measuring device proposed by the embodiment is composed of upper and lower cable net, ring truss 1, vertical tension cable 8, piezoelectric actuator 6, tensile spring 7, mark point and visual camera 11. The node position of the upper and lower cable net is adjusted by the vertical tension cable 8 equipped with the piezoelectric actuator 6 and the tensile spring 7, so as to achieve the purpose of surface shape adjustment. The node displacement of the cable net and the deformation amount of the spring are measured by the visual camera 11, and the specific implementation steps are as follows:

[0116] Step one: the z-axis displacement of the mark point at the node position of the antenna cable net is observed by vision (such as camera 11), that is, the coordinate error Δz between the actual coordinate and the ideal coordinate, and the surface shape accuracy of the antenna reflector at this time is calculated. The surface shape accuracy of the antenna reflector is generally described by the root mean square (RMS) error, and the surface shape RMS error of the cable net antenna reflector can be expressed as

[0117]

[0118] In the formula, z j is the actual coordinate of the z-axis of the front cable net node, is the design coordinate of the z-axis of the front cable net node, and m is the number of the front cable net nodes.

[0119] Step two: the calculated RMS error value is obtained by substituting the measured node displacement Δz into the formula, and is returned to the processor for calculation. The deformation amount Δl of the piezoelectric actuator 6 and the spring deformation amount ΔL are pre-calculated according to the displacement relationship;

[0120] Δz = Δl - ΔL (2)

[0121] Step three: the voltage V required by the piezoelectric ceramic and the acting force F are calculated by the deformation amount Δl of the piezoelectric actuator 6 and the voltage V relationship formula, and the proportional coefficient is the piezoelectric coefficient d 33 and coefficient d;

[0122] Δl = d 33 V (3)

[0123] F = dV (4)

[0124] Step four: the corresponding voltage V is applied to the piezoelectric ceramic actuator, so as to generate the corresponding tension F, which acts on the spring to make the spring deform ΔL and further pull the cable net node to generate displacement Δz, thereby realizing the active control of the cable net surface shape. Since the tensile spring 7 is connected with the traction rope, the force F k received by the tensile spring 7 is equal to the tension F received by the traction rope, so as to further determine the control amount of the piezoelectric actuator 6, and the calculation formula is as follows, wherein k is the spring stiffness coefficient:

[0125] F = F k = k·ΔL (5)

[0126] Step five: Calculate the RMS error value again to check the surface accuracy by visual observation of the spring deformation ΔL and the node displacement Δz.

[0127] In the measurement and control system device provided by the embodiment, the main frame is composed of the truss and the upper and lower cable net surface 3, the surface shape adjustment system is composed of the upper and lower nodes, the vertical tension cable 8, the piezoelectric actuator 6 and the tension spring 7 installed thereon, and the visual camera 11, and the piezoelectric actuator 6 is used as the main force and displacement distribution coordination and actuation device.

[0128] In the embodiment, the camera 11 is used to observe the deformation of each tension spring 7 to calculate the tension of the rope, and the node displacement of each upper and lower cable net is observed to obtain the surface shape information of the net antenna, and then the piezoelectric actuator 6 is used to actively adjust the deformation of each spring and the displacement of each node. This scheme can replace many groups of force sensors and displacement sensors to observe the force and position information. Therefore, it can solve the problems of high cost of measurement unit, complex circuit connection, increased power consumption, and increased control complexity in the traditional scheme.

[0129] The above further describes the technical solutions provided by the present application in several specific embodiments, in order to highlight the advantages and benefits of the technical solutions provided by the present application. However, the above several specific embodiments are not used as a limitation of the present application, and any reasonable modification and improvement of the present application, combination and equivalent replacement of the embodiments, etc. based on the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for measuring and controlling the surface shape of a large rope net antenna based on force-potential fusion visual measurement, characterized in that, include: The steps include collecting displacement data of the nodes of the upper and lower cable nets and the marked points of the tension springs, and recording the image data; The preprocessing steps for the image data include marker feature extraction and matching, and extracting the actual coordinates of the markers; The steps are as follows: compare the actual coordinates of the marked points with the preset design coordinates, calculate the node displacement error, and substitute them into the surface error formula to obtain the root mean square error value of the antenna reflector. Based on the root mean square error value of the antenna reflector, the steps are as follows: calculate the deformation and spring deformation of the target piezoelectric actuator, and determine the driving voltage and tension parameters. The step of generating control commands based on the driving voltage and tension parameters; The deformation and spring deformation of the target piezoelectric actuator are calculated using an error inversion algorithm. The driving voltage and tensile force parameters are determined by combining the voltage-deformation relationship formula.

2. The method for measuring and controlling the surface shape of a large rope net antenna based on force-potential fusion visual measurement according to claim 1, characterized in that, Marker point feature extraction is a feature recognition algorithm based on template matching.

3. The method for measuring and controlling the surface shape of a large rope net antenna based on force-potential fusion visual measurement according to claim 1, characterized in that, The preprocessing also includes image noise removal.

4. A large-scale rope net antenna surface shape measurement and control device based on force-position fusion visual measurement, characterized in that, include: A module that collects displacement data of the nodes of the upper and lower cable nets and the marker points of the tension springs, and records the image data; The module for preprocessing the image data includes marker point feature extraction and matching, and extracting the actual coordinates of the marker points; The module compares the actual coordinates of the marked points with the preset design coordinates, calculates the node displacement error, and substitutes it into the surface error formula to obtain the root mean square error value of the antenna reflector. Based on the root mean square error value of the antenna reflector, a module is used to calculate the deformation and spring deformation of the target piezoelectric actuator, and to determine the driving voltage and tension parameters. The module that generates control commands based on the driving voltage and tension parameters; The deformation and spring deformation of the target piezoelectric actuator are calculated using an error inversion algorithm. The driving voltage and tensile force parameters are determined by combining the voltage-deformation relationship formula.

5. A large-scale rope net antenna surface shape measurement and control system based on force-position fusion visual measurement, characterized in that, The system is used to implement the method of claim 1, comprising: The ring truss is used to support and fix the upper and lower cable net surfaces; The upper and lower cable net surfaces each include at least three nodes, which are connected by vertical tension cables. A vertical tension cable is connected in series with a piezoelectric actuator and a tension spring; Marking points are set on each node of the upper and lower cable net surfaces and on the tension spring; The camera is used to observe the cable net node markers of the upper and lower cable net surfaces, as well as the displacement data of the spring markers of the tension springs. The tension spring transmits tension through deformation, thereby adjusting the node positions of the upper and lower cable net surfaces.

6. A computer storage medium for storing computing programs, characterized in that, When the computer program is read by the computer, the computer executes the method of claim 1.

7. A computer, comprising a processor and a storage medium, characterized in that, When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 1.

8. A computer program product, including a computer program, characterized in that, When the computer program is executed, it implements the method of claim 1.

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