Surface precision regulation and control device and method for inflatable antenna

Abstract

The invention provides a surface precision regulation and control device and method for an inflatable antenna, the regulation and control device at least comprises an execution module, and the execution module comprises a mounting mechanism which comprises a plurality of mounting parts arranged on a reflecting surface; the adjusting mechanism comprises a plurality of adjusting elements, and one end of each adjusting element is mounted on the corresponding mounting part; the driving mechanism is arranged in the lower air cavity and installed on the inner wall of the air bag assembly, the driving mechanism comprises a plurality of driving assemblies, each driving assembly is connected with the end, away from the installation part, of the corresponding adjusting element, and each driving assembly is used for driving the adjusting element connected with the driving assembly to act so as to adjust the surface type of the connecting position of the reflecting surface and the adjusting element. According to the scheme, different positions of the reflecting surface can be independently and accurately adjusted by arranging a plurality of adjusting elements and driving assemblies, so that the regulation and control capability of the surface precision is greatly improved. Fine adjustment of the specific position of the reflecting surface is achieved, and the problem that a traditional method is not high in adjustment and control precision is effectively solved.

Description

Technical Field

[0001] The present application relates to the technical field of inflatable antennas, and in particular to a device and method for controlling the surface accuracy of an inflatable antenna. Background Art

[0002] With the continuous development of communication technology, inflatable antennas have been widely used in satellite communications, emergency communications and other fields due to their advantages of light weight, easy to carry and deploy, etc. However, during the use of inflatable antennas, due to the influence of external environmental factors (such as temperature, air pressure changes, etc.) and their own structure and material properties, the surface accuracy of the reflective surface is prone to change, thus affecting the performance of the antenna.

[0003] The upper and lower air cavities of traditional inflatable antennas are divided into several honeycomb-shaped air bags by partitions. After a pressure difference is formed between the upper and lower air cavities, the surface accuracy control method is mainly achieved by adjusting the air pressure of the air bags in the corresponding areas. However, this method has problems such as low control accuracy and slow response speed. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a device and method for controlling the surface accuracy of an inflatable antenna.

[0005] In a first aspect, the present application proposes a surface accuracy control device for an inflatable antenna, the inflatable antenna comprising a shell, an airbag assembly being arranged in the shell, a first cavity being arranged in the airbag assembly, a reflective film being arranged in the first cavity, the reflective film dividing the first cavity into an upper air cavity and a lower air cavity, the air pressure in the upper air cavity being greater than the air pressure in the lower air cavity, and the surface of the reflective film located in the lower air cavity being a reflective surface; the control device comprises at least an execution module, the execution module comprising: A mounting mechanism, the mounting mechanism comprising a plurality of mounting parts disposed on the reflecting surface; An adjustment mechanism, the adjustment mechanism comprising a plurality of adjustment elements, one end of each of the adjustment elements being mounted on the corresponding mounting portion; A driving mechanism, wherein the driving mechanism is disposed in the lower air cavity and installed on the inner wall of the airbag assembly, wherein the driving mechanism comprises a plurality of driving assemblies, each of which is connected to an end of the corresponding adjusting element away from the mounting portion, and each of which is used to drive the adjusting element connected thereto to move so as to adjust the surface shape of the connection between the reflecting surface and the mounting portion corresponding to the adjusting element, wherein the corresponding mounting portion is the mounting portion connected to the adjusting element.

[0006] According to the technical solution provided in the embodiment of the present application, the adjusting element is a driving rope, one end of the driving rope is connected to the corresponding mounting portion, the driving assembly includes a servo motor mounted on the inner wall of the airbag assembly, the output shaft of the servo motor is connected to a transmission wheel, one end of the driving rope away from the mounting portion is wound around the transmission wheel, and the servo motor is used to drive the driving rope connected thereto to pull the reflecting surface away from the upper air cavity side.

[0007] According to the technical solution provided in the embodiment of the present application, it also includes a measuring module electrically connected to the execution module, the measuring module includes a plurality of measuring components distributed in an array in a circumferential direction outside the shell, the measuring components include a projection component and a measuring element, the projection component is used to project a checkerboard-shaped grid light onto the reflecting surface so that the reflecting surface forms a plurality of grid units, the grid light projected by all the projection components can cover the entire reflecting surface, and the measuring element is used to sequentially measure the actual three-dimensional information of the grid unit formed by the projection of each corresponding projection component.

[0008] According to the technical solution provided in the embodiment of the present application, the mounting portion includes a first positioning block mounted on the reflecting surface, a rope fixing assembly is provided on the first positioning block, and a locking element cooperating with the rope fixing assembly is also provided on the reflecting surface. One end of the driving rope away from the driving assembly passes through the rope fixing assembly and is locked by the locking element.

[0009] According to the technical solution provided in the embodiment of the present application, the reflecting surface has two mutually perpendicular virtual diameters, each of which is the diameter of the projection circle of the reflecting surface in the first direction, and each of the virtual diameters has N-1 N equally divided points, and each of the N equally divided points is provided with a mounting portion at a corresponding point on the reflecting surface along the first direction.

[0010] According to the technical solution provided in the embodiment of the present application, N is six, the two virtual diameters share the center of the projection circle as a six-equally divided point of each virtual diameter, and nine mounting parts are provided on the reflecting surface.

[0011] According to the technical solution provided in the embodiment of the present application, a plurality of motor brackets are installed on the inner wall of the airbag assembly, and the servo motor is installed on each of the motor brackets.

[0012] In a second aspect, the present application proposes a method for controlling the surface accuracy of an inflatable antenna, which is implemented based on the surface accuracy control device for an inflatable antenna as described above, and includes the following steps: Acquire a target surface shape standard of the reflective surface, wherein the target surface shape standard includes target three-dimensional information of each of the grid cells; Acquire actual three-dimensional information of each of the grid units, and respectively compare each of the actual three-dimensional information with the corresponding target three-dimensional information to obtain at least one grid unit to be adjusted and a surface error corresponding to the grid unit to be adjusted, wherein the surface error is an error between the actual three-dimensional information and the target three-dimensional information; Determining whether the grid unit to be adjusted has the installation portion; If yes, calibrate the servo motor corresponding to the mounting portion as a first target motor, and obtain a first adjustment parameter according to the surface error, wherein the first adjustment parameter at least includes a rotation angle and a rotation speed of the first target motor; The first target motor is controlled to drive the driving rope connected thereto to perform a rope retracting and releasing action under the first adjustment parameter.

[0013] According to the technical solution provided in the embodiment of the present application, after determining whether the to-be-adjusted grid unit has the installation portion, the following steps are also included: If not, obtaining at least three of the installation parts that are close to the grid unit to be adjusted, and calibrating the servo motors corresponding to the at least three installation parts as second target motors; Allocating the surface error to each of the second target motors to obtain a second adjustment parameter of each of the second target motors, wherein the second adjustment parameter includes a rotation angle and a rotation speed of the second target motor; Each of the second target motors is controlled to drive the driving rope connected thereto to perform a rope retracting and releasing action under the corresponding second adjustment parameter.

[0014] According to the technical solution provided in the embodiment of the present application, allocating the surface error to each of the second target motors to obtain the second adjustment parameter of each of the second target motors specifically includes the following steps: Marking the center of the grid unit to be adjusted as a grid unit point, and marking the positions of at least three mounting parts that are close to the grid unit to be adjusted as fixed points; Respectively obtaining the three-dimensional deviation between each of the fixed points and the grid unit point; Calculating a weighting coefficient of each of the fixed points according to a three-dimensional deviation between each of the fixed points and the grid unit point; The surface error is distributed to the second target motor corresponding to each of the fixed points by using the weighting coefficient corresponding to each of the fixed points, so as to obtain the second adjustment parameter of each of the second target motors.

[0015] Compared with the prior art, the beneficial effect of the present application is that by setting up multiple adjustment elements and drive components, the present application can independently and accurately adjust different positions of the reflecting surface, greatly improving the ability to control the surface accuracy. Each drive component can accurately drive the adjustment element connected to it to move as needed, thereby achieving fine adjustment of a specific position of the reflecting surface, effectively solving the problem of low control accuracy of traditional methods. The drive mechanism is directly connected to the adjustment element and can quickly respond to the needs of changes in surface accuracy. When the shape of the reflecting surface is detected to change, the drive component can quickly drive the adjustment element to adjust, thereby improving the response speed and working efficiency of the antenna. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of a surface accuracy control device for an inflatable antenna provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of the drive assembly and the adjustment element provided in the embodiment of the present application; Figure 3 A flowchart of the steps of a method for controlling the surface accuracy of an inflatable antenna provided in an embodiment of the present application.

[0017] The text annotations in the figure represent: 1. Inflatable antenna; 2. Reflection surface; 3. Drive rope; 4. Base; 5. Measurement module; 6. Container bottom plate; 7. First positioning block; 8. Rope fixing assembly; 9. Locking element; 10. Servo motor; 11. Motor bracket; 12. Drive wheel; 13. Second positioning block. DETAILED DESCRIPTION

[0018] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] Example 1 As mentioned in the background technology, in response to the problems in the prior art, the present application proposes a surface accuracy control device for an inflatable antenna 1, the inflatable antenna 1 includes a shell, an airbag assembly is arranged in the shell, the airbag assembly has a first cavity, the first cavity has a reflective film, the reflective film separates the first cavity into an upper air cavity and a lower air cavity, the air pressure in the upper air cavity is greater than the air pressure in the lower air cavity, and the surface of the reflective film located in the lower air cavity is a reflective surface 2; the control device includes at least an execution module, please refer to Figure 1 As shown, the execution module includes: A mounting mechanism, the mounting mechanism comprising a plurality of mounting parts arranged on the reflecting surface 2; Specifically, during the manufacturing process of the inflatable antenna 1, the wall of the upper air cavity, the wall of the lower air cavity and the reflective film are first produced separately. The wall of the upper air cavity and the wall of the lower air cavity respectively have a preset opening that matches the shape and size of the reflective film. After the production is completed, the reflective film is attached to the junction of the upper air cavity and the lower air cavity, making it a common part of the wall of the upper air cavity and the wall of the lower air cavity. Therefore, when the air pressure of the upper air cavity is controlled to be greater than the air pressure of the lower air cavity to form an air pressure difference, the reflective film can form a parabolic shape corresponding to the air pressure difference downward. The inflatable antenna 1 is installed on a base, and the base can be fixed on the bottom plate 6 of the container.

[0021] Furthermore, the reflecting surface 2 has two mutually perpendicular virtual diameters, each of which is the diameter of a projection circle of the reflecting surface 2 in the first direction. Each of the virtual diameters has N-1 N equally divided points, and each of the N equally divided points is provided with a mounting portion at a corresponding point on the reflecting surface 2 along the first direction. Specifically, the first direction is a direction perpendicular to the ground.

[0022] Furthermore, N is six, the two virtual diameters share the center of the projection circle as a six-equal-division point of each virtual diameter, and nine mounting portions are provided on the reflecting surface 2 .

[0023] Specifically, each virtual diameter has five sextuplicate points including the center of the circle. Since the center of the circle is shared, the two virtual diameters have a total of nine sextuplicate points. Therefore, the nine sextuplicate points along the first direction are respectively bonded and installed at corresponding points on the reflective surface 2 by strong adhesive.

[0024] An adjustment mechanism, the adjustment mechanism comprising a plurality of adjustment elements, one end of each of the adjustment elements being mounted on the corresponding mounting portion; A driving mechanism, wherein the driving mechanism is disposed in the lower air cavity and installed on the inner wall of the airbag assembly, wherein the driving mechanism includes a plurality of driving assemblies, each of which is connected to an end of the corresponding adjusting element away from the mounting portion, and each of which is used to drive the adjusting element connected thereto to move so as to adjust the surface shape of the connection between the reflecting surface 2 and the mounting portion corresponding to the adjusting element, wherein the corresponding mounting portion is the mounting portion connected to the adjusting element.

[0025] In a preferred embodiment, please refer to Figure 2 As shown, the adjusting element is a driving rope 3, one end of which is connected to the corresponding mounting portion, the driving assembly comprises a servo motor 10 mounted on the inner wall of the airbag assembly, the output shaft of the servo motor 10 is connected to a transmission wheel 12, one end of the driving rope 3 away from the mounting portion is wound around the transmission wheel 12, the servo motor 10 is used to drive the driving rope 3 connected thereto to retract and release the rope, thereby driving the corresponding mounting portion to move, so as to adjust the surface shape of the connection between the reflecting surface 2 and the mounting portion.

[0026] Specifically, when it is necessary to adjust the surface shape at a certain location, the servo motor 10 can be controlled to rotate forward, and a certain amount of the driving rope 3 can be retracted to pull the surface shape of the connection between the reflecting surface 2 and the mounting portion away from the upper air cavity. When the degree of pulling is too large and it is necessary to reduce the degree of pulling, the servo motor 10 can be controlled to rotate reversely, and a certain amount of the driving rope 3 can be released to reduce the degree to which the surface shape of the connection between the reflecting surface 2 and the mounting portion is pulled away from the upper air cavity.

[0027] Furthermore, a plurality of motor brackets 11 are installed on the inner wall of the airbag assembly, and the servo motor 10 is installed on each of the motor brackets 11 .

[0028] Specifically, it also includes a second positioning block 13, which is pasted on the inner wall of the airbag assembly by strong adhesive, and a motor bracket 11 is installed on the second positioning block 13. The servo motor 10 is installed on the motor bracket 11. The position selection of the motor should be considered to match the layout and movement direction of the drive rope 3 so as to effectively transmit power. The output shaft of the servo motor 10 is tightly connected to the transmission wheel 12, and a key connection, a coupling, etc. can be used to ensure reliable transmission. The diameter and shape of the transmission wheel 12 should be designed according to the specifications and adjustment requirements of the drive rope 3 to achieve reasonable tension transmission and rope length control. The end of the drive rope 3 away from the mounting portion is neatly wound on the transmission wheel 12 to ensure that the winding is tight and will not slip off. The transmission wheel 12 is wound with a release amount for adjusting the length of the drive rope 3. During the winding process, it is necessary to pay attention to keeping the tension of the drive rope 3 uniform to avoid the situation of being too tight or too loose locally. The servo motor 10 accurately controls its rotation direction and speed by receiving the control signal, thereby driving the transmission wheel 12 to rotate, so that the drive rope 3 performs the rope-retracting and releasing action. By adjusting the parameters of the motor, fine adjustment of different positions of the reflecting surface 2 can be achieved.

[0029] In a preferred embodiment, it also includes a measuring module 5 electrically connected to the execution module, the measuring module 5 includes a plurality of measuring components circumferentially distributed in an array outside the shell, the measuring components include a projection component and a measuring element, the projection component is used to project a checkerboard-shaped grid light onto the reflecting surface 2 so that the reflecting surface 2 forms a plurality of grid units, the grid light projected by all the projection components can cover the entire reflecting surface 2, and the measuring element is used to sequentially measure the actual three-dimensional information of the grid unit formed by the projection of each corresponding projection component.

[0030] Specifically, in order to meet the requirements of visual detection, the shell of the inflatable antenna is made of a wave-transparent material, such as polyester film (PET), polyurethane (PU) film, and polyvinyl chloride (PVC) film, which can achieve a wave-transparent effect. Preferably, polyester film (PET) and polyurethane (PU) film have better light transmittance, and structured light can pass through. The thickness can be adjusted. The measurement module 5 includes three measurement components distributed in an array outside the shell in a circumferential direction, and the angle between each two measurement components is 120 degrees. A sufficient number of projection components are evenly distributed on the arrangement circle. The line connecting the arrangement circle and the center of the projection circle of the reflective surface 2 along the first direction is the first direction. The light projected by all the projection components is like a puzzle. Figure 1 In this way, it can be ensured that the entire 360-degree reflective surface 2 is covered with the projected checkerboard-shaped grid light.

[0031] Specifically, the measuring module 5 can also be installed on the container bottom plate 6. The measuring module 5 is used to transmit the above-mentioned control signal to the execution module. The projection component is a projector, and the measuring component is a binocular camera. The projector projects a chessboard-shaped grid light onto the reflective surface 2. The binocular camera measures the actual three-dimensional information of the reflective surface 2 grid unit by grid unit. According to the feedback of the binocular camera and the surface shape standard of the reflective surface 2, it is determined which grid unit needs to be fine-tuned. Then, a control signal can be sent to the servo motor 10 corresponding to the grid unit. After receiving the control signal, the servo motor 10 controls its rotation, thereby driving the transmission wheel 12 to rotate and wrap around the drive rope 3, so that the drive rope 3 pulls the reflective surface 2 at the grid unit away from the upper air cavity side, so that its surface shape meets the surface shape standard.

[0032] In a preferred embodiment, the mounting portion includes a first positioning block 7 mounted on the reflecting surface 2, a rope fixing assembly 8 is provided on the first positioning block 7, and a locking element 9 cooperating with the rope fixing assembly 8 is also provided on the reflecting surface 2. One end of the driving rope 3 away from the driving assembly passes through the rope fixing assembly 8 and is locked by the locking element 9.

[0033] Specifically, the rope fixing assembly 8 can be a structure such as an eyelet, a hook or a clamp. The function of the rope fixing assembly 8 is to provide a fixing point for the drive rope 3 so that the drive rope 3 can be stably connected to the mounting portion. The size and shape of the rope fixing assembly 8 should match the specifications of the drive rope 3 to ensure that the drive rope 3 can pass through and be fixed therein smoothly. For example, if it is an eyelet structure, the diameter of the hole should be slightly larger than the diameter of the drive rope 3 so that the drive rope 3 can pass through it easily. The locking element 9 can be a buckle, a nut or a clamp, etc. After the end of the drive rope 3 away from the drive assembly passes through the rope fixing assembly 8, the locking element 9 is used to lock the drive rope 3 to prevent the drive rope 3 from loosening during the adjustment process. The operation of the locking element 9 should be convenient and quick, and the drive rope 3 can be quickly fixed or loosened when needed. At the same time, the locking element 9 should have sufficient strength and reliability to ensure that it will not be damaged or fail during the adjustment process. Pass one end of the drive rope 3 through the rope fixing assembly 8, and then use the locking element 9 to lock it.

[0034] Specifically, during operation, the tension of the driving rope 3 must be appropriate, neither too loose to effectively pull the reflecting surface 2, nor too tight to affect the structural stability of the reflecting surface 2. The tension of the driving rope 3 can be fine-tuned by adjusting the tightness of the locking element 9 to achieve the best surface adjustment effect. At the same time, the connection and fixation of the driving rope 3 must be checked regularly to ensure that it will not loosen or fall off during use.

[0035] Example 2 On the basis of Example 1, this embodiment proposes a method for controlling the surface accuracy of an inflatable antenna 1, which is implemented based on the surface accuracy control device for an inflatable antenna 1 as described in Example 1. Please refer to Figure 3 , including the following steps: S1, obtaining a target surface standard of the reflective surface 2, wherein the target surface standard includes target three-dimensional information of each grid unit; Specifically, the target surface standard is usually determined based on the design requirements and expected performance of the inflatable antenna 1. The target three-dimensional information that each grid unit should have under an ideal state can be obtained through theoretical calculations and computer simulations (for example, using professional antenna design software to model and simulate according to the antenna's operating frequency band, gain requirements, beam pointing and other parameters). These target three-dimensional information may include the coordinate values ​​of each vertex of the grid unit in the three-dimensional coordinate system, and the curvature of the reflection surface 2 in the grid unit.

[0036] S2, obtaining actual three-dimensional information of each of the grid units, and comparing each of the actual three-dimensional information with the corresponding target three-dimensional information, respectively, to obtain at least one grid unit to be adjusted and a surface error corresponding to the grid unit to be adjusted, wherein the surface error is an error between the actual three-dimensional information and the target three-dimensional information; Specifically, the actual three-dimensional information of each grid unit is read one by one and compared with the corresponding target three-dimensional information. Exemplarily, the actual three-dimensional information and target three-dimensional information of each grid unit are input into the error model, and the error model outputs the surface error. The input of the error model is the actual coordinate value and target coordinate value of each vertex of each grid unit in the three-dimensional coordinate system, as well as the actual curvature and target curvature of the reflection surface 2 in the grid unit, and the output is the surface error of the reflection surface 2 in the grid unit. When the error between the actual three-dimensional information and the target three-dimensional information of a grid unit exceeds a preset threshold, the grid unit is determined as a grid unit to be adjusted, and the corresponding surface error value is recorded at the same time.

[0037] S3, determining whether the grid unit to be adjusted has the installation portion; Specifically, the control system pre-stores the position coordinate information of each installation part on the reflective surface 2 (these coordinates correspond to the overall coordinate system of the reflective surface 2 and are accurately recorded when the installation part is installed). For each grid unit to be adjusted, according to its own coordinate range and vertex information, the control system uses coordinate comparison and area judgment algorithms to determine whether there is a coordinate position point corresponding to the installation part in the area of ​​the grid unit, so as to make a judgment on whether the installation part is included.

[0038] S4, if yes, calibrate the servo motor 10 corresponding to the mounting portion as a first target motor, and obtain a first adjustment parameter according to the surface error, wherein the first adjustment parameter at least includes a rotation angle and a rotation speed of the first target motor; Exemplarily, the face error is input into the first adjustment model, and the first adjustment model outputs the first adjustment parameter. The first adjustment model is obtained by training the first sample set, and the first sample set includes several face error samples and the first adjustment parameter corresponding to each face error sample.

[0039] S5. Control the first target motor to drive the driving rope 3 connected thereto to perform a rope-retracting and rope-releasing action under the first adjustment parameter.

[0040] Specifically, the control system generates a control signal for the first target motor based on the first adjustment parameter obtained. This control signal includes the motor's rotation direction (determined by the positive or negative rotation angle, a positive angle corresponds to forward rotation, and a negative angle corresponds to reverse rotation), rotation speed, and start and stop and other related control information.

[0041] In a preferred embodiment, after determining whether the to-be-adjusted grid unit has the installation portion, the following steps are further included: If not, obtaining at least three installation parts that are close to the grid unit to be adjusted, and calibrating the servo motors 10 corresponding to the at least three installation parts as second target motors; Allocating the surface error to each of the second target motors to obtain a second adjustment parameter of each of the second target motors, wherein the second adjustment parameter includes a rotation angle and a rotation speed of the second target motor; Each of the second target motors is controlled to drive the driving rope 3 connected thereto to perform rope retracting and releasing actions under the corresponding second adjustment parameters.

[0042] Furthermore, allocating the surface error to each of the second target motors to obtain a second adjustment parameter of each of the second target motors specifically includes the following steps: Marking the center of the grid unit to be adjusted as a grid unit point, and marking the positions of at least three mounting parts that are close to the grid unit to be adjusted as fixed points; Calculating a weighting coefficient of each of the fixed points according to a three-dimensional deviation between each of the fixed points and the grid unit point; Specifically, the difference between the grid cell point P of the grid cell to be adjusted and the three surrounding fixed points (p1, p2, p3) in three-dimensional space is calculated, and the coordinate difference between the grid cell point P and the fixed points in the local coordinate system is calculated by establishing a local coordinate system with the fixed points as the origin, so as to obtain the three-dimensional deviation between each of the fixed points and the grid cell point. The weighting coefficient can be obtained by using the inverse distance weighting method, that is, it is obtained by the following formula: ; in, is the weighting coefficient of the i-th fixed point, i=1, 2, 3, is the three-dimensional deviation from the i-th fixed point to the grid cell point P.

[0043] The surface error is distributed to the second target motor corresponding to each of the fixed points by using the weighting coefficient corresponding to each of the fixed points, so as to obtain the second adjustment parameter of each of the second target motors.

[0044] Specifically, the product of the weighted coefficient corresponding to each fixed point and the surface error is used as the distribution error of the fixed point, and the distribution error of each fixed point is input into the first adjustment model in the same way. The first adjustment model outputs the second adjustment parameter, wherein the second adjustment parameter corresponding to each fixed point is the second adjustment parameter of the second target motor corresponding to the fixed point. The three second target motors work together under their respective corresponding second adjustment parameters to correct the surface error. During the adjustment process, it is observed in real time whether the adjustment is in place and whether there are new errors, and the feedback information is transmitted to the control system to form a closed-loop control.

[0045] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A device for controlling the surface accuracy of an inflatable antenna, characterized in that: An inflatable antenna (1) comprises a shell, an airbag assembly is arranged in the shell, a first cavity is arranged in the airbag assembly, a reflective film is arranged in the first cavity, the reflective film separates the first cavity into an upper air cavity and a lower air cavity, the air pressure in the upper air cavity is greater than the air pressure in the lower air cavity, and the surface of the reflective film located in the lower air cavity is a reflective surface (2); the control device comprises at least an execution module, the execution module comprising: A mounting mechanism, the mounting mechanism comprising a plurality of mounting parts arranged on the reflecting surface (2); An adjustment mechanism, the adjustment mechanism comprising a plurality of adjustment elements, one end of each of the adjustment elements being mounted on the corresponding mounting portion; A driving mechanism, the driving mechanism is arranged in the lower air cavity and installed on the inner wall of the airbag assembly, the driving mechanism includes a plurality of driving assemblies, each of the driving assemblies is connected to an end of the corresponding adjusting element away from the mounting portion, each of the driving assemblies is used to drive the adjusting element connected thereto to move, so as to adjust the surface shape of the connection between the reflecting surface (2) and the mounting portion corresponding to the adjusting element, wherein the corresponding mounting portion is the mounting portion connected to the adjusting element.

2. The surface accuracy control device for an inflatable antenna according to claim 1, characterized in that: The adjusting element is a driving rope (3), one end of which is connected to the corresponding mounting portion, the driving assembly comprises a servo motor (10) mounted on the inner wall of the airbag assembly, the output shaft of the servo motor (10) being connected to a transmission wheel (12), the end of the driving rope (3) away from the mounting portion being wound around the transmission wheel (12), the servo motor (10) being used to drive the driving rope (3) connected thereto to retract and release the rope, thereby driving the corresponding mounting portion to move, so as to adjust the surface shape of the connection between the reflecting surface (2) and the mounting portion.

3. The surface accuracy control device for an inflatable antenna according to claim 2, characterized in that: The invention also comprises a measuring module (5) electrically connected to the execution module, the measuring module (5) comprising a plurality of measuring components distributed in an array in a circumferential direction outside the shell, the measuring components comprising a projection component and a measuring element, the projection component being used to project a chessboard-shaped grid light onto the reflection surface (2) so that the reflection surface (2) is formed with a plurality of grid units, the grid light projected by all the projection components being able to cover the entire reflection surface (2), and the measuring element being used to sequentially measure the actual three-dimensional information of the grid unit formed by the projection of each corresponding projection component.

4. The surface accuracy control device for an inflatable antenna according to claim 3, characterized in that: The mounting portion comprises a first positioning block (7) mounted on the reflecting surface (2), a rope fixing assembly (8) being provided on the first positioning block (7), and a locking element (9) cooperating with the rope fixing assembly (8) being provided on the reflecting surface (2), and an end of the driving rope (3) away from the driving assembly passes through the rope fixing assembly (8) and is locked by the locking element (9).

5. The surface accuracy control device for an inflatable antenna according to claim 4, characterized in that: The reflecting surface (2) has two mutually perpendicular virtual diameters, the virtual diameters being the diameters of a projection circle of the reflecting surface (2) in a first direction, each of the virtual diameters having N-1 N equally divided points, each of the N equally divided points being provided with a mounting portion at a corresponding point on the reflecting surface (2) along the first direction.

6. The surface accuracy control device for an inflatable antenna according to claim 5, characterized in that: N is six, the two virtual diameters share the center of the projection circle as a six-equal-division point of each virtual diameter, and nine mounting portions are provided on the reflection surface (2).

7. The surface accuracy control device for an inflatable antenna according to claim 6, characterized in that: A plurality of motor brackets (11) are mounted on the inner wall of the airbag assembly, and the servo motor (10) is mounted on each of the motor brackets (11).

8. A method for controlling the surface accuracy of an inflatable antenna, implemented based on the device for controlling the surface accuracy of an inflatable antenna as claimed in any one of claims 3 to 7, characterized in that: The following steps are involved: Acquiring a target surface shape standard of the reflective surface (2), the target surface shape standard comprising target three-dimensional information of each grid unit; Acquire actual three-dimensional information of each of the grid units, and respectively compare each of the actual three-dimensional information with the corresponding target three-dimensional information to obtain at least one grid unit to be adjusted and a surface error corresponding to the grid unit to be adjusted, wherein the surface error is an error between the actual three-dimensional information and the target three-dimensional information; Determining whether the grid unit to be adjusted has the installation portion; If yes, calibrating the servo motor (10) corresponding to the mounting portion as a first target motor, and obtaining a first adjustment parameter based on the surface error, the first adjustment parameter at least including a rotation angle and a rotation speed of the first target motor; The first target motor is controlled to drive the driving rope (3) connected thereto to perform a rope retracting and releasing action under the first adjustment parameter.

9. The method for controlling the surface accuracy of an inflatable antenna according to claim 8, characterized in that: After determining whether the grid unit to be adjusted has the installation portion, the following steps are also included: If not, obtaining at least three of the installation parts that are relatively close to the grid unit to be adjusted, and calibrating the servo motors (10) corresponding to the at least three installation parts as second target motors; Allocating the surface error to each of the second target motors to obtain a second adjustment parameter of each of the second target motors, wherein the second adjustment parameter includes a rotation angle and a rotation speed of the second target motor; Each of the second target motors is controlled to drive the drive rope (3) connected thereto to perform a rope retracting and releasing action under the corresponding second adjustment parameter.

10. The method for controlling the surface accuracy of an inflatable antenna according to claim 9, characterized in that: The step of allocating the surface error to each of the second target motors to obtain a second adjustment parameter of each of the second target motors specifically includes the following steps: Marking the center of the grid unit to be adjusted as a grid unit point, and marking the positions of at least three mounting parts that are close to the grid unit to be adjusted as fixed points; Respectively obtaining the three-dimensional deviation between each of the fixed points and the grid unit point; Calculating a weighting coefficient of each of the fixed points according to a three-dimensional deviation between each of the fixed points and the grid unit point; The surface error is distributed to the second target motor corresponding to each of the fixed points by using the weighting coefficient corresponding to each of the fixed points, so as to obtain the second adjustment parameter of each of the second target motors.

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