Hybrid drive type servo tracking and positioning platform and positioning method

Abstract

The invention provides a hybrid drive type servo tracking and positioning platform and a positioning method. The hybrid drive type servo tracking and positioning platform comprises a base, a pitching unit, a yawing unit and an imaging tracking unit. The pitching unit is arranged on the base so as to respectively realize coarse positioning and fine positioning of the imaging tracking unit in the pitching direction in an electromagnetic driving mode and a piezoelectric driving mode; the yawing unit is installed on the pitching unit and used for bearing the imaging tracking unit, and coarse positioning and fine positioning of the imaging tracking unit in the yawing direction are achieved in an electromagnetic driving mode and a piezoelectric driving mode respectively. By using the hybrid drive type servo tracking and positioning platform and the positioning method provided by the invention, coarse positioning and fine positioning of the imaging tracking unit in the pitching direction and the yawing direction can be realized, and positioning precision and speed are both realized.

Description

Technical Field

[0001] The present invention relates to the technical field of precision engineering, and particularly to a hybrid-driven servo tracking and positioning platform and a positioning method. Background Art

[0002] Servo tracking and positioning platforms have advantages such as high precision, good positioning performance, and strong flexibility, and play an important role in fields such as micromanipulation, biomedicine, precision machining, and aerospace.

[0003] Currently, the positioning platforms widely used in the industrial field generally adopt the direct drive mode of electromagnetic motors. However, limited by the manufacturing precision, subdivision, control system, etc. of electromagnetic motors, the resolution of such positioning platforms is relatively low, and it is difficult to meet the high-precision development requirements put forward by precision tracking scenarios. Improving the drive mode of the positioning platform can improve the positioning accuracy and response speed of the positioning platform.

[0004] As a new drive mode, the piezoelectric drive mode has the advantages of compact structure, easy miniaturization, high resolution, fast response, etc. compared with the traditional direct drive mode of electromagnetic motors, and is not affected by external electromagnetic interference during operation, which is beneficial to improving the positioning accuracy. However, the disadvantage of the piezoelectric drive mode is that its operating speed is relatively small, and it is difficult to ensure high operating and positioning efficiency. Summary of the Invention

[0005] The present invention proposes a hybrid-driven servo tracking and positioning platform and a positioning method, which adopt the combination of electromagnetic drive and piezoelectric drive, and can not only ensure that the positioning platform has high positioning accuracy, but also ensure that it has high operating speed and positioning efficiency.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention first provides a hybrid-driven servo tracking and positioning platform, which includes a base, a pitching unit, a yawing unit, and an imaging and tracking unit. Specifically, the base serves as the basic framework of the hybrid-driven servo tracking and positioning platform; the pitching unit is installed on the base and is used to achieve the rough positioning of the current angle of the hybrid-driven servo tracking and positioning platform in the pitching direction by means of electromagnetic drive, and is also used to achieve the fine positioning of the current angle in the pitching direction by means of piezoelectric drive; the yawing unit is installed on the pitching unit, is used to carry the imaging and tracking unit, and is also used to achieve the rough positioning of the current angle in the yawing direction by means of electromagnetic drive, and is also used to achieve the fine positioning of the current angle in the yawing direction by means of piezoelectric drive; the imaging and tracking unit is used to generate a target angle; the current angle reaches the target angle through the rough positioning and fine positioning in the pitching direction and the yawing direction.

[0008] In some preferred embodiments, the pitching unit includes a pitching frame, two pitching drive shafts, a pitching permanent magnet synchronous motor, a pitching piezoelectric motor, and a pitching encoder. Among them, the pitching frame is installed on the base as the basic frame of the pitching unit; the two pitching drive shafts are respectively located on the opposite sides of the pitching frame in the horizontal direction, and one end of each of the two pitching drive shafts is joined to the outer wall of the pitching frame on its respective side; the pitching permanent magnet synchronous motor is joined to the other end of the first pitching drive shaft among the two pitching drive shafts, and is used to drive the first pitching drive shaft to rotate, so as to achieve the coarse positioning of the current angle in the pitching direction; the pitching piezoelectric motor is joined to the other end of the second pitching drive shaft among the two pitching drive shafts, and is used to drive the second pitching drive shaft to rotate, so as to achieve the fine positioning of the current angle in the pitching direction; the pitching encoder is electrically connected to the second pitching drive shaft and is used to collect the current angle.

[0009] In some preferred embodiments, the pitching permanent magnet synchronous motor includes a pitching permanent magnet synchronous motor stator and a pitching permanent magnet synchronous motor rotor. Among them, the pitching permanent magnet synchronous motor stator is fixedly arranged on the outer wall of the pitching frame where one end of the first pitching drive shaft is located, and the position of the pitching permanent magnet synchronous motor stator on the outer wall of the pitching frame corresponds to the position towards which one end of the first pitching drive shaft faces; the pitching permanent magnet synchronous motor rotor is nested on the outer surface of one end of the first pitching drive shaft, and one end of the first pitching drive shaft nested with the pitching permanent magnet synchronous motor rotor can be inserted into the pitching permanent magnet synchronous motor stator.

[0010] In some preferred embodiments, the pitching frame further includes a stator slot, and the stator slot is fixedly arranged on the outer wall of the pitching frame, and the pitching permanent magnet synchronous motor stator is fixedly arranged in the stator slot.

[0011] In some preferred embodiments, the pitching frame further includes two first shaft holes, which are respectively located on the two side walls of the pitching frame where the two pitching drive shafts are located; one end of the first pitching drive shaft is inserted into the pitching permanent magnet synchronous motor stator through a first shaft hole after the pitching permanent magnet synchronous motor rotor is nested; one end of the second pitching drive shaft is joined to the side wall of the pitching frame through the other first shaft hole.

[0012] In some preferred embodiments, the pitching piezoelectric motor includes a pitching clutch unit and a pitching drive unit joined in sequence; the output end of the pitching drive unit is used as the output end of the pitching piezoelectric motor and is joined to the other end of the second pitching drive shaft; the pitching clutch unit and the pitching drive unit are used to achieve the fine positioning of the current angle in the pitching direction.

[0013] In some preferred embodiments, the pitch clutch unit includes a pitch clutch flexible structure and a pitch clutch piezoelectric stack, and the pitch driving unit includes a pitch driving flexible structure and a pitch driving piezoelectric stack; the pitch clutch piezoelectric stack, the pitch clutch flexible structure, the pitch driving piezoelectric stack, and the pitch driving flexible structure are joined in sequence, and the pitch driving flexible structure is joined to the other end of the second pitch driving shaft as the output end of the pitch piezoelectric motor.

[0014] In some preferred embodiments, the yaw unit includes a yaw frame, two yaw driving shafts, a yaw permanent magnet synchronous motor, a yaw piezoelectric motor, and a yaw encoder. Among them, the yaw frame is installed on the pitch frame for carrying the imaging tracking unit; the two yaw driving shafts are horizontally located on the opposite sides of the yaw frame respectively, one ends of the two yaw driving shafts are joined to the outer walls of the yaw frame on their respective sides, and the axial directions of the two yaw driving shafts are orthogonal to the axial directions of the two pitch driving shafts; the yaw permanent magnet synchronous motor is joined to the other end of the first yaw driving shaft among the two yaw driving shafts for driving the first yaw driving shaft to rotate so as to achieve the coarse positioning of the current angle in the yaw direction; the yaw piezoelectric motor is joined to the other end of the second yaw driving shaft for driving the second yaw driving shaft to rotate so as to achieve the fine positioning of the current angle in the yaw direction; the yaw encoder is electrically connected to the second yaw driving shaft for collecting the current angle.

[0015] In some preferred embodiments, the yaw permanent magnet synchronous motor includes a yaw permanent magnet synchronous motor stator and a yaw permanent magnet synchronous motor rotor. Among them, the yaw permanent magnet synchronous motor stator is fixedly arranged on the outer wall of the yaw frame where one end of the first yaw driving shaft is located, and the position of the yaw permanent magnet synchronous motor stator on the outer wall of the yaw frame corresponds to the position towards which one end of the first yaw driving shaft faces; the yaw permanent magnet synchronous motor rotor is nested on the outer surface of one end of the first yaw driving shaft, and one end of the first yaw driving shaft nested with the pitch permanent magnet synchronous motor rotor can be inserted into the yaw permanent magnet synchronous motor stator.

[0016] In addition to the above-mentioned hybrid drive type servo tracking and positioning platform, the present invention also provides a hybrid drive type servo tracking and positioning method, which is implemented based on the aforementioned hybrid drive type servo tracking and positioning platform, and the method specifically includes:

[0017] Step 1: Generate a target angle by using the imaging tracking unit;

[0018] Step 2: Use the pitch unit, adopt the electromagnetic drive mode to achieve the coarse positioning of the current angle of the hybrid drive type servo tracking and positioning platform in the pitch direction, and adopt the piezoelectric drive mode to achieve the fine positioning of the current angle in the pitch direction;

[0019] Step 3: Use the yaw unit and adopt the electromagnetic drive mode to achieve the coarse positioning of the current angle in the yaw direction, and adopt the piezoelectric drive mode to achieve the fine positioning of the current angle in the yaw direction; Through the coarse positioning and fine positioning in the pitch direction and the yaw direction, the current angle reaches the target angle.

[0020] According to the specific embodiments provided by the present invention, the following technical effects are disclosed by the present invention:

[0021] The present invention provides a hybrid drive type servo tracking and positioning platform and a positioning method. Among them, the hybrid drive type servo tracking and positioning platform specifically includes a base, a pitch unit, a yaw unit and an imaging tracking unit. Among them, the pitch unit is carried on the base, and the yaw unit carries the imaging tracking unit and is engaged with the pitch unit. After using the imaging tracking unit to obtain the target angle where the positioning platform is located, the coarse positioning adjustment and fine positioning adjustment of the current angle in the pitch direction can be completed through the pitch unit, and the coarse positioning adjustment and fine positioning adjustment of the current angle in the yaw direction can be completed through the yaw unit. Furthermore, the current angle can reach the target angle efficiently and accurately. These two adjustment methods have both positioning accuracy and speed, and can significantly improve the existing tracking and positioning ability.

[0022] At the same time, the hybrid drive type servo tracking and positioning platform has a compact structure, light weight, simple control, easy processing and assembly, and has advantages such as high positioning accuracy and fast rotation speed, and has good application prospects in the field of precision engineering technology. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a schematic diagram of the overall structure of the hybrid drive type servo tracking and positioning platform in Embodiment 1 of the present invention;

[0025] Figure 2 It is an assembly schematic diagram of the hybrid drive type servo tracking and positioning platform in Embodiment 1 of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of the pitch piezoelectric motor of the hybrid drive type servo tracking and positioning platform in Embodiment 1 of the present invention;

[0027] Figure 4 It is a working principle diagram of the pitch clutch unit of the pitch piezoelectric motor of the hybrid drive type servo tracking and positioning platform in Embodiment 1 of the present invention;

[0028] Figure 5 This is the working principle diagram of the pitch driving unit of the pitch piezoelectric motor of the hybrid drive type servo tracking and positioning platform in Embodiment 1 of the present invention;

[0029] Figure 6 This is the schematic diagram of the principle of electromagnetic and piezoelectric dual-stage drive of the hybrid drive type servo tracking and positioning platform in Embodiment 1 of the present invention;

[0030] Figure 7 This is the working flow chart of the hybrid drive type servo tracking and positioning method in Embodiment 2 of the present invention;

[0031] Figure 8 This is the timing control diagram of the hybrid drive type servo tracking and positioning method in Embodiment 2 of the present invention.

[0032] Symbol description:

[0033] 1. Base; 2. Pitch unit; 2-1. Pitch permanent magnet synchronous motor; 2-1-1. Stator of pitch permanent magnet synchronous motor; 2-1-2. Rotor of pitch permanent magnet synchronous motor; 2-2. Pitch piezoelectric motor; 2-2-1. Pitch clutch flexible structure; 2-2-2. Pitch clutch piezoelectric stack; 2-2-3. Pitch drive flexible structure; 2-2-4. Pitch drive piezoelectric stack; 2-3. Pitch encoder; 2-4. Pitch frame; 2-5. Pitch drive shaft; 3. Yaw unit; 3-1. Yaw permanent magnet synchronous motor; 3-1-1. Stator of yaw permanent magnet synchronous motor; 3-1-2. Rotor of yaw permanent magnet synchronous motor; 3-2. Yaw piezoelectric voltage; 3-3. Yaw encoder; 3-4. Yaw frame; 3-5. Yaw drive shaft; 4. Imaging tracking unit. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] The technical objective of the present invention is to provide a hybrid drive type servo tracking and positioning platform and positioning method, which combines the electromagnetic drive mode and the piezoelectric drive mode, can improve the angular resolution and dynamic performance of the positioning platform, and can broaden the application scope of the piezoelectric drive technology.

[0036] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0037] Example 1:

[0038] In this embodiment, the structure of a hybrid-driven servo tracking and positioning platform provided by the present invention will be clearly described.

[0039] In this embodiment, the hybrid-driven servo tracking and positioning platform includes a base, a pitch unit, a yaw unit, and an imaging tracking unit. Among them, the pitch unit includes a pitch permanent magnet synchronous motor, a pitch piezoelectric motor, a pitch encoder, a pitch frame, and two pitch drive shafts; among them, the pitch permanent magnet synchronous motor includes a pitch permanent magnet synchronous motor stator and a pitch permanent magnet synchronous motor rotor; the pitch piezoelectric motor includes a pitch clutch flexible structure, a pitch clutch piezoelectric stack, a pitch drive flexible structure, and a pitch drive piezoelectric stack; the yaw unit includes a yaw permanent magnet synchronous motor, a yaw piezoelectric motor, a yaw encoder, a yaw frame, and two yaw drive shafts. The yaw permanent magnet synchronous motor includes a yaw permanent magnet synchronous motor stator and a yaw permanent magnet synchronous motor rotor. The following specifically describes the positional relationship and connection method of the above structures in this hybrid-driven servo tracking and positioning platform.

[0040] In this embodiment, the base serves as the basic framework of the hybrid-driven servo tracking and positioning platform. The pitch unit is installed on the base, and its function is to use the electromagnetic drive method to achieve the rough positioning of the current angle of the positioning platform in the pitch direction, and use the piezoelectric drive method to achieve the fine positioning of the current angle in the pitch direction; the yaw unit is installed on the pitch unit, and its first function is to carry the imaging tracking unit, among which the imaging tracking unit is used to generate the target angle; the second function is to use the electromagnetic drive method to achieve the rough positioning of the current angle in the yaw direction, and use the piezoelectric drive method to achieve the fine positioning of the current angle in the yaw direction. By using the hybrid-driven servo tracking and positioning platform provided in this embodiment of the present invention, the current angle can be roughly positioned and finely positioned in the pitch direction and the yaw direction respectively. This positioning method is not only highly accurate but also very efficient and can be applied to a variety of environments.

[0041] In addition, in this embodiment, the pitch frame is installed on the base; the two pitch drive shafts are respectively located on the opposite sides of the pitch frame in the horizontal direction, and one end of each of the two pitch drive shafts is joined to the outer wall of the pitch frame on its corresponding side; the pitch permanent magnet synchronous motor is joined to the other end of the first pitch drive shaft among the two pitch drive shafts, and its function is to drive the first pitch drive shaft to rotate, thereby achieving the rough positioning of the current angle in the pitch direction; the pitch piezoelectric motor is joined to the other end of the second pitch drive shaft among the two pitch drive shafts, and its function is to drive the second pitch drive shaft to rotate, thereby achieving the fine positioning of the current angle in the pitch direction; the pitch encoder is electrically connected to the second pitch drive shaft, and its function is to collect the current angle.

[0042] In this embodiment, the pitch permanent magnet synchronous motor stator is fixedly arranged on the outer wall of the pitch frame where one end of the first pitch drive shaft is located, and the position of the pitch permanent magnet synchronous motor stator on the outer wall of the pitch frame corresponds to the position towards which one end of the first pitch drive shaft faces; the pitch permanent magnet synchronous motor rotor that cooperates with the pitch permanent magnet synchronous motor stator is nested on the outer surface of one end of the first pitch drive shaft. After one end of the first pitch drive shaft nests the pitch permanent magnet synchronous motor rotor, it can be inserted into the pitch permanent magnet synchronous motor stator. And, when powered on, the pitch permanent magnet synchronous motor rotor can rotate in the pitch permanent magnet synchronous motor stator driven by the first pitch drive shaft.

[0043] It should be noted that in the above structure of this embodiment, it may further include stator slots and two first shaft holes. Among them, the pitch frame includes stator slots, and the stator slots are fixedly arranged on the outer wall of the pitch frame, and the pitch permanent magnet synchronous motor stator can be fixedly arranged in the stator slots. In addition, the pitch frame may further include two first shaft holes, and these two first shaft holes are respectively located on the two side walls of the pitch frame where the two pitch drive shafts are located. Among them, after one end of the first pitch drive shaft nests the pitch permanent magnet synchronous motor rotor, it can be inserted into the pitch permanent magnet synchronous motor stator after passing through one first shaft hole; and after one end of the second pitch drive shaft passes through the other first shaft hole, it can be joined to the side wall of the pitch frame.

[0044] Next, the structure and connection relationship of the pitch piezoelectric motor in this embodiment will be specifically described. As mentioned above, the pitch piezoelectric motor includes a pitch clutch flexible structure, a pitch piezoelectric stack, a pitch drive flexible structure, and a pitch drive piezoelectric stack. Specifically, the pitch clutch flexible structure and the pitch clutch piezoelectric stack belong to the pitch clutch unit, and the pitch drive flexible structure and the pitch drive piezoelectric stack belong to the pitch drive unit, that is, the pitch piezoelectric motor includes a pitch clutch unit and a pitch drive unit. Among them, the pitch clutch piezoelectric stack, the pitch clutch flexible structure, the pitch drive piezoelectric stack, and the pitch drive flexible structure are joined in sequence, and the pitch drive flexible structure is joined to the other end of the second pitch drive shaft as the output end of the pitch piezoelectric motor. In actual operation, fine positioning in the pitch direction of the current angle can be achieved through the cooperation among the pitch clutch piezoelectric stack, the pitch clutch flexible structure, the pitch drive piezoelectric stack, and the pitch drive flexible structure.

[0045] Next, in this embodiment, the yaw frame in the yaw unit is installed above the pitch frame, and its function is to carry the imaging tracking unit. The two yaw drive shafts are horizontally located on opposite sides of the yaw frame respectively. One end of each of the two yaw drive shafts is engaged with the outer wall of the yaw frame on its respective side, and the axial directions of the two yaw drive shafts are orthogonal to the axial directions of the two pitch drive shafts. In addition, the yaw permanent magnet synchronous motor in this embodiment is engaged with the other end of the first yaw drive shaft among the two yaw drive shafts, and its function is to drive the first yaw drive shaft to rotate, so as to achieve the coarse positioning of the current angle in the yaw direction; the yaw piezoelectric motor is engaged with the other end of the second yaw drive shaft among the two yaw drive shafts, and its function is to drive the second yaw drive shaft to rotate, so as to achieve the fine positioning of the current angle in the yaw direction. The yaw encoder is electrically connected to the second yaw drive shaft, and its function is to collect the current angle.

[0046] Finally, the positional relationship and connection method between the yaw permanent magnet synchronous motor stator and the yaw permanent magnet synchronous motor rotor included in the yaw permanent magnet synchronous motor in this embodiment will be specifically described. In this embodiment, the yaw permanent magnet synchronous motor stator is fixedly arranged on the outer wall of the yaw frame where one end of the first yaw drive shaft is located, and the position of the yaw permanent magnet synchronous motor stator on the outer wall of the yaw frame corresponds to the position towards which one end of the first yaw drive shaft faces; while the yaw permanent magnet synchronous motor rotor is nested on the outer surface of one end of the first yaw drive shaft. After one end of the first yaw drive shaft is nested with the pitch permanent magnet synchronous motor rotor, it can be inserted into the yaw permanent magnet synchronous motor stator.

[0047] Next, the above hybrid drive type servo tracking and positioning platform will be specifically described with reference to the accompanying drawings.

[0048] As Figure 1 shown, it is a preferred embodiment of a hybrid drive type servo tracking and positioning platform provided by the present invention.

[0049] In this embodiment, the hybrid drive type servo tracking and positioning platform is placed in the space rectangular coordinate system set along the xyz axes. Among them, the reference numeral 1 represents the base, Figure 1 and the base in Figure 1 is disc-shaped. It should be noted that any shape of the base 1 is within the protection scope of the present invention as long as the function of the base 1 is realized. The reference numeral 2 represents the pitch unit. As can be seen from Figure 1 in, the pitch unit 2 is erected on the base 1, and in Figure 1Among them, the yaw unit 3 is also a box-shaped frame structure with an upward opening, but the opening diameter of this box-shaped frame structure is smaller than that of the pitch unit 2. That is, the yaw unit 3 can be sleeved and installed in the upward opening of the pitch unit 2. The reference numeral 4 represents the imaging tracking unit. In Figure 1 Among them, the imaging tracking unit 4 is placed in the upward opening of the yaw unit 3.

[0050] Next, a specific description will be given of the above structure in combination with Figure 2 this.

[0051] In Figure 2 this, the base 1 includes a disc structure at the bottom of the base 1 and two triangular support structures erected on the upper surface of the disc structure. Combining Figure 1 this, the two triangular support structures are respectively erected on the opposite sides of the outer wall of the pitch unit 2, so that the pitch unit 2 is suspended relative to the disc structure in the base 1.

[0052] In addition, combining Figure 1 and Figure 2 it can be seen that the pitch unit 2 specifically includes a pitch permanent magnet synchronous motor 2-1, a pitch piezoelectric motor 2-2, a pitch encoder 2-3, a pitch frame 2-4 and two pitch drive shafts 2-5. Among them, the pitch frame 2-4 is used as the basic frame of the pitch unit 2 and is supported by the two triangular support structures on the base 1 above the upper surface of the disc structure of the base 1. The two pitch drive shafts 2-5 are respectively located on the opposite sides of the outer wall of the pitch frame 2-4. When specifically connected, one end of one pitch drive shaft 2-4 on each side first passes through the gap of one triangular support structure on that side, and then is joined to the outer wall of the pitch frame 2-4 on that side. From Figure 2 it can be seen that one side outer wall of the pitch frame 2-4 is joined to one end of the first pitch drive shaft among the two pitch drive shafts 2-5, the other end of this first pitch drive shaft is joined to the pitch permanent magnet synchronous motor 2-1, and after the other side outer wall of the pitch frame 2-4 is joined to one end of the second pitch drive shaft among the two pitch drive shafts 2-5, it is first joined to the pitch piezoelectric motor 2-2 and then to the pitch encoder 2-3.

[0053] Specifically, Figure 2 in this, the reference numeral 2-1-1 in the figure represents the stator of the pitch permanent magnet synchronous motor, and the reference numeral 2-1-2 represents the rotor of the pitch permanent magnet synchronous motor. From Figure 2As can be seen, the outer diameter of the ring of the pitch permanent magnet synchronous motor stator 2-1-1 fits the inner diameter of the circular groove on a triangular support frame. Therefore, the pitch permanent magnet synchronous motor stator 2-1-1 can be fitted and fixed in the circular groove of a triangular support frame of the base 1. The pitch permanent magnet synchronous motor rotor 2-1-2 is sleeved on the outer surface of the first pitch drive shaft, and its outer diameter is smaller than the inner diameter of the pitch permanent magnet synchronous motor stator 2-1-1. That is, when the first pitch drive shaft rotates, it can drive the pitch permanent magnet synchronous motor rotor 2-1-2 sleeved on its outer surface to rotate inside the pitch permanent magnet synchronous motor stator 2-1-1.

[0054] In addition, combined with Figure 1 and Figure 2 it can be seen that the yaw unit 3 specifically includes a yaw permanent magnet synchronous motor 3-1, a yaw piezoelectric motor 3-2, a yaw encoder 3-3, a yaw frame 3-4, and two yaw drive shafts 3-5. Among them, the yaw frame 3-4 serves as the basic frame of the yaw unit 3 and is located in the upward opening of the pitch frame 2-4, and it is used to carry the imaging tracking unit 4. As can be seen from Figure 2 the axis direction of the yaw frame 3-4 is orthogonal to the axis direction of the pitch unit 2-4. Through holes are respectively provided on two different sides where the two pitch drive shafts 2-5 are located on the yaw frame 3-4. One end of the first yaw drive shaft among the two yaw drive shafts 3-5 on one side passes through the through hole on this side and is joined to the outer wall of the yaw frame 3-4, and the other end of the first yaw drive shaft is joined to the yaw permanent magnet synchronous motor 3-1. One end of the second yaw drive shaft among the two yaw drive shafts 3-5 on the side opposite to the first yaw drive shaft passes through the through hole on the side where the second yaw drive shaft is located and is joined to the outer wall of the yaw frame 3-4, and the other end of the second yaw drive shaft is joined and electrically connected to the yaw encoder 3-3, and the yaw piezoelectric motor 3-2 is sleeved on the outer surface of the other end of the second yaw drive shaft and is in pre-tight contact with the outer surface.

[0055] More specifically, Figure 2The reference numeral 3-1-1 in the figure represents the stator of the yaw permanent magnet synchronous motor, and the reference numeral 3-1-2 represents the rotor of the yaw permanent magnet synchronous motor. Among them, the rotor 3-1-2 of the yaw permanent magnet synchronous motor can be sleeved on the outer surface of the first yaw drive shaft and can rotate with the rotation of the first yaw drive shaft. The inner diameter of the ring of the stator 3-1-1 of the yaw permanent magnet synchronous motor is larger than the outer diameter of the rotor 3-1-2 of the yaw permanent magnet synchronous motor. That is, the stator 3-1-1 of the yaw permanent magnet synchronous motor can be fixedly installed on one outer wall of the pitch frame 2-4 and sleeved on the outer surface of the rotor 3-1-2 of the yaw permanent magnet synchronous motor. During actual operation, the rotation of the yaw drive shaft 3-5 on this side can drive the rotor 3-1-2 of the yaw permanent magnet synchronous motor sleeved on its outer surface to rotate within the ring of the stator 3-1-1 of the pitch permanent magnet synchronous motor.

[0056] As can be seen from Figure 2 it, the structures and connection modes of the pitch piezoelectric motor 2-2 and the pitch encoder 2-3 in the pitch unit 2 are similar to those of the yaw piezoelectric motor 3-2 and the yaw encoder 3-3 in the yaw unit 3. That is, the yaw piezoelectric motor 3-2 also includes a yaw clutch unit and a yaw drive unit, that is, it includes a yaw clutch piezoelectric stack, a yaw clutch flexible structure, a yaw drive piezoelectric stack, and a yaw drive flexible structure that are sequentially engaged. Moreover, the positional relationship and connection mode of the yaw clutch piezoelectric stack, the yaw clutch flexible structure, the yaw drive piezoelectric stack, and the yaw drive flexible structure are the same as those of the pitch clutch piezoelectric stack 2-2-2, the pitch clutch flexible structure 2-2-1, the pitch drive piezoelectric stack 2-2-4, and the pitch drive flexible structure 2-2-3 in the pitch piezoelectric motor 2-2, and can also finely control the angle of the yaw drive shaft by applying different voltages to the yaw clutch piezoelectric stack and the yaw drive piezoelectric stack. And the pitch clutch flexible structure 2-2-1, the pitch drive flexible structure 2-2-3, the yaw clutch flexible structure, and the yaw drive flexible structure can all be flexible hinge structures.

[0057] Moreover, the structures and connection modes of the pitch permanent magnet synchronous motor 2-1 and the two pitch drive shafts 2-5 in the pitch unit 2 are similar to those of the yaw permanent magnet synchronous motor 3-1 and the two yaw drive shafts 3-5 in the yaw unit 3. Since the structure and connection relationship of the yaw permanent magnet synchronous motor are similar to those of the pitch permanent magnet synchronous motor 2-1, and since the structure and connection relationship of the yaw piezoelectric motor are similar to those of the pitch piezoelectric motor 2-2, no further elaboration will be made.

[0058] In specific cases, the yaw permanent magnet synchronous motor and the yaw piezoelectric motor can be correspondingly controlled according to the specific operation modes of the pitch permanent magnet synchronous motor 2-1 and the pitch piezoelectric motor 2-2.

[0059] Figure 3The specific structure of the pitching piezoelectric motor 2-2, as well as its mutual positional relationship and connection method with the pitching encoder 2-5, are depicted. Among them, the pitching piezoelectric motor 2-2 specifically includes a pitching clutch unit and a pitching drive unit. The pitching clutch unit includes a pitching clutch flexible structure 2-2-1 and a pitching clutch piezoelectric stack 2-2-2, and the pitching drive unit includes a pitching drive flexible structure 2-2-3 and a pitching drive piezoelectric stack 2-2-4.

[0060] Take Figure 3 as an example. The pitching clutch piezoelectric stack 2-2-2, the pitching clutch flexible structure 2-2-1, the pitching drive piezoelectric stack 2-2-4, and the pitching drive flexible structure 2-2-3 are joined in sequence. Finally, the pitching drive flexible structure 2-2-3 contacts the outer surface of the pitching drive shaft 2-5.

[0061] In Figure 3 the illustrated embodiment, the pitching clutch piezoelectric stack 2-2-2 is a long strip structure. The pitching clutch piezoelectric stack 2-2-2 is in the shape of a concave groove. Both ends of the concave groove are joined to the two long sides of the clutch piezoelectric stack 2-2-2 respectively. When the pitching clutch piezoelectric stack 2-2-2 deforms, it can drive the pitching clutch flexible structure 2-2-1 joined thereto to shift. The pitching drive piezoelectric stack 2-2-4 is also a long strip structure. One end of the long side of this long strip structure is joined to one side of the pitching clutch flexible structure 2-2-1. The pitching clutch piezoelectric stack 2-2-2 and the pitching drive piezoelectric stack 2-2-4 are independent of each other, and the deformations of the two do not interfere with each other. However, during actual operation, there can be three situations: the pitching clutch piezoelectric stack 2-2-2 deforms alone, the pitching drive piezoelectric stack 2-2-4 deforms alone, and the pitching clutch piezoelectric stack 2-2-2 and the pitching drive piezoelectric stack 2-2-4 deform simultaneously. All these are within the protection scope of the present invention. Additionally, in Figure 3 the pitching drive flexible structure 2-2-3 is a knife-shaped structure. The handle part of this knife-shaped structure is joined to the other end of the long side of the pitching drive piezoelectric stack 2-2-4 and is joined to one side of the concave groove where the pitching drive piezoelectric stack 2-2-4 is located. The tip part of this knife-shaped structure is pre-tightly contacted with the outer surface of the second pitching drive shaft in the initial state.

[0062] The specific working principles of the pitching permanent magnet synchronous motor 2-1 and the pitching piezoelectric motor 2-2 in the pitching unit 2 are as Figures 4 - 5 shown.

[0063] First, in the initial state, the pitching clutch flexible structure 2-2-3 is pre-tightly contacted with the pitching drive shaft 2-5 and achieves self-locking.

[0064] In Figure 4In the shown state, an excitation voltage V1 is applied to the pitch clutch piezoelectric stack 2-2-2. Each of the piezoelectric materials stacked inside the pitch clutch piezoelectric stack 2-2-2 will be affected by the electric field to generate the piezoelectric effect, and then undergo a slight expansion. What is shown in Figure 4 is the elongation of the pitch clutch piezoelectric stack 2-2-2 along the long side direction. This elongation causes the pitch clutch flexible structure 2-2-1 joined to one end of this long side to shift to the Figure 4 dashed line position in, so that the tip part of the knife-shaped structure of the pitch drive flexible structure 2-2-3 joined to it moves a certain distance along the elongation direction of the long side and is spaced from the outer surface of the second pitch drive shaft by a distance d.

[0065] Figure 5 Shows the specific operation process for the pitch drive piezoelectric stack 2-2-4. As shown in Figure 5 , in the initial state, the pitch drive flexible structure 2-2-3 is in pre-tight contact with the second pitch drive shaft and is self-locked. During actual operation, first apply a PID control signal V2 to the pitch drive piezoelectric stack 2-2-4, so that the pitch drive piezoelectric stack 2-2-4 deforms based on the piezoelectric effect, so that the pitch drive piezoelectric stack 2-2-4 elongates along its long side (in Figure 5 it is the left-right direction), causing the tip part of the pitch drive flexible structure 2-2-3 joined to one end of its long side to move to the Figure 5 dashed line position in, so that the second pitch drive shaft rotates by an angle θ along the Figure 5 direction shown in.

[0066] Based on the above, in actual operation, the pitch drive flexible structure 2-2-3 can be made to generate a large displacement relative to the second pitch drive shaft by applying a voltage to the pitch clutch piezoelectric stack 2-2-2 first, and then the pitch drive flexible structure 2-2-3 can be shifted to contact the second pitch drive shaft and drive the pitch drive shaft 2-5 to rotate by a certain angle by applying another voltage to the pitch drive piezoelectric stack 2-2-4, so as to achieve fine adjustment of the angle of the second pitch drive shaft.

[0067] Using the above-mentioned hybrid drive type servo tracking and positioning platform provided in Embodiment 1 of the present invention, the pitch unit can be used to achieve rough positioning and fine positioning of the current angle of the hybrid drive type servo tracking and positioning platform in the pitch direction, and the yaw unit can be used to achieve rough positioning and fine positioning of the current angle in the yaw direction. The above-mentioned structure and the two-stage drive angle adjustment method described in this embodiment can efficiently and accurately achieve angle adjustment.

[0068] Embodiment 2:

[0069] In this embodiment, a hybrid-driven servo tracking and positioning method is introduced, and this positioning method is implemented based on the above-mentioned hybrid-driven servo tracking and positioning platform. Next, in combination with Figures 4 - 8 , taking the operation and control of the pitch unit 2 as an example, the specific positioning process of the above-mentioned hybrid-driven servo tracking and positioning platform will be described in detail.

[0070] In the initial state, the pitch driving unit of the pitch piezoelectric motor 2-2 is in pre-tight contact with the second pitch driving shaft and achieves self-locking.

[0071] First, the imaging tracking unit 4 generates the target angle and the position deviation threshold Y required for the precise positioning of the target, and the pitch encoder 2-3 reads the current angle of the second pitch driving shaft. Then, it is judged whether the deviation E between the current angle and the target angle is within the range of the position deviation threshold Y. It should be noted that both the current angle and the target angle can be positive angles or negative angles, the position deviation threshold Y is the angular range between positive angles and negative angles including the zero angle, and this position deviation threshold Y is generally smaller than the maximum adjustable range of the piezoelectric motor.

[0072] If the deviation E is within the range of the position deviation threshold Y, a fast and large-stroke coarse positioning drive is performed. The specific operation process of this coarse positioning drive is as follows:

[0073] First, an excitation voltage V1 ( Figure 8 is also shown in, and Figure 8 in the attached drawing reference U represents voltage, I represents current, and T represents time) is applied to the pitch clutch piezoelectric stack 2-2-2 of the pitch piezoelectric motor 2-2, so that the pitch clutch piezoelectric stack 2-2-2 elongates towards both ends of the long side due to the piezoelectric effect, thereby pushing the pitch clutch flexible structure 2-2-1 engaged with the pitch clutch piezoelectric stack 2-2-2 to shift, thereby driving the pitch driving flexible structure 2-2-3 engaged with one end of the long side of the pitch clutch flexible structure 2-2-1 to shift away from the outer surface of the second pitch driving shaft, so that the distance between the tip part of the pitch driving flexible structure 2-2-3 and the outer surface of the pitch driving shaft 2-5 is the distance d, so that the pitch driving unit of the pitch piezoelectric motor 2-2 is disengaged from the second pitch driving shaft, avoiding the frictional blockage between the pitch driving flexible structure 2-2-3 and the second pitch driving shaft during the subsequent driving of the pitch permanent magnet synchronous motor 2-1.

[0074] Then, a FOC vector control signal is sent to the pitch permanent magnet synchronous motor 2-1 by a computer or a control device. By controlling the magnitude and direction of the magnetic field of the pitch permanent magnet synchronous motor 2-1, the second pitch driving shaft rotates by a large-stroke angle Φ. This large-stroke angle Φ is used to reduce the difference between the deviation E and the position deviation threshold Y, so that the deviation E enters the range of the position deviation threshold Y, realizing coarse positioning.

[0075] Among them, FOC (Field-Oriented Control), also known as vector control, is a technology used to efficiently control brushless DC motors and permanent magnet synchronous motors. By precisely controlling the magnitude and direction of the magnetic field, this technology can ensure smooth torque, low noise, high efficiency of the motor, and enable the motor to have a high-speed dynamic response.

[0076] Specifically, in the specific process of coarse positioning drive, the voltage equation of the pitch permanent magnet synchronous motor 2-1 in the dq coordinate system can be expressed as formula (1):

[0077]

[0078] Among them, u d represents the voltage on the d-axis, u q represents the voltage on the q-axis, R represents the resistance of the stator of the pitch permanent magnet synchronous motor, i d represents the current on the d-axis, i q represents the current on the q-axis, ψ d represents the magnetic flux component on the d-axis, ψ q represents the magnetic flux component on the q-axis, t represents time, and ω represents angular velocity.

[0079] And among them, the dq coordinate system is a synchronous rotating two-phase coordinate system widely used in motor control and analysis. This coordinate system is composed of orthogonal d-axis and q-axis. The d-axis is always aligned with the N pole direction of the permanent magnet of the motor rotor, and the q-axis leads the d-axis by 90 electrical degrees in space. The dq coordinate system rotates synchronously with the mechanical speed of the rotor, making electrical quantities such as stator current and voltage appear as direct current quantities in this dq coordinate system. This dq coordinate system can achieve efficient decoupling control of three-phase motor variables through coordinate transformation.

[0080] The magnetic flux equation can be expressed as formula (2):

[0081]

[0082] Among them, ψ ro represents the permanent magnet magnetic flux, L d represents the inductance of the d-axis, L q represents the inductance of the q-axis.

[0083] The electromagnetic torque equation can be expressed as formula (3):

[0084]

[0085] Among them, T e represents the electromagnetic torque, n p represents the number of pole pairs.

[0086] The motion equation can be expressed as formula (4):

[0087]

[0088] Where, T L represents the load torque, and J represents the moment of inertia.

[0089] In addition, taking the current as the state variable of the system, the state equation of the pitch permanent magnet synchronous motor 2-1 can be obtained as formula (5):

[0090]

[0091] Where, A, B, and C are system matrices, x is the state variable, and u and ψ are input variables, which can be expressed in the following forms:

[0092]

[0093] After the deviation E enters the range of the position deviation threshold Y, precise positioning is achieved by the pitch piezoelectric motor 2-2. The specific process is as follows:

[0094] First, reduce the excitation voltage applied to the pitch clutch piezoelectric stack 2-2-2 to zero, so that the pitch clutch flexible structure 2-2-1 engaged with one end of the long side of the pitch clutch piezoelectric stack 2-2-2 rebounds to the initial position, thereby enabling the pitch drive flexible structure 2-2-3 to re-contact and pre-tighten with the second pitch drive shaft.

[0095] Then, cut off the power supply of the pitch permanent magnet synchronous motor 2-1, that is, disable the pitch permanent magnet synchronous motor 2-1 (corresponding to V0 in the figure). When the deviation E is a positive angle, apply a PID control signal V2 to the pitch drive piezoelectric stack 2-2-4 using a computer or control device, so that the pitch drive flexible structure 2-2-3 drives the second pitch drive shaft to generate an angle θ in the direction shown in the figure, precisely compensating the deviation E of the second pitch drive shaft to be within the position deviation threshold Y and further approaching the zero angle. When the deviation E is negative, apply a step control signal V 2max , so that it quickly generates the maximum deformation it can withstand, thereby driving the pitch drive flexible structure 2-2-3 to generate the maximum displacement outward along the outer surface of the second pitch drive shaft. During the generation of the maximum displacement, the pitch drive flexible structure 2-2-3 will slide relative to the second pitch drive shaft, and the second pitch drive shaft will only rotate a small angle or remain at the current angle in the direction shown in the figure. Then, apply a PID control signal V2 (where, V2 < V 2max) Due to the decrease in the control signal strength, the deformation of the pitch drive flexible structure 2-2-3 gradually decreases, so that the pitch drive flexible structure 2-2-3 drives the second pitch drive shaft to generate a rotation angle θ' in the direction shown in the figure, to reversely compensate for the deviation E, so that the deviation E is within the position deviation threshold Y and further approaches the zero angle.

[0096] Among them, PID (Proportional-Integral-Derivative Control) control is proportional-integral-derivative control, which forms a control deviation according to the given value and the actual output value, and forms a control quantity by linearly combining the deviation according to proportion, integral and differential, and controls the controlled object.

[0097] In the above precise positioning drive process, the pitch clutch piezoelectric stack 2-2-2 and the pitch drive piezoelectric stack 2-2-4 generate different deformations under the action of different drive voltages respectively, so as to push the pitch clutch flexible structure 2-2-1 and the pitch drive flexible structure 2-2-3 to generate displacements respectively. In this process, the mutual relationship between the displacement vector of the flexible structure, the load vector of the flexible structure and the compliance matrix of the flexible structure can be expressed by the following formula (6):

[0098] [u] = [C][L]

[0099] Among them, [u] represents the displacement vector of the flexible structure, [L] represents the load vector of the flexible structure, [C] represents the compliance matrix of the flexible structure, and the structure of the flexible matrix can be calculated according to the above mutual relationship.

[0100] And among them, the displacement vector [u] of the flexible structure and the load vector [L] of the flexible structure can be expressed by formula (7):

[0101] [u] = [u x u y u z θ x θ y θ z T

[0102] [L] = [F x F y F z M x M y M z T

[0103] Among them, u x 、u y and u z respectively represent the linear displacements of the flexible structure along the three directions of the x, y, and z axes, θ​​x , θ y and θ z respectively represent the rotation angles of the flexible structure along the three directions of the x, y, and z axes, F x , F y and F z respectively represent the acting forces of the flexible structure along the three directions of the x, y, and z axes, M x , M y , M z respectively represent the torque of rotation of the flexible structure about the three directions of the x, y, and z axes, and T represents the transpose of the matrix.

[0104] In summary, to achieve precise positioning, the hybrid drive servo tracking and positioning platform in the present invention uses two drive modes, namely the electromagnetic drive of the permanent magnet synchronous motor and the piezoelectric drive of the piezoelectric motor. When the deviation E between the current angle and the target angle is greater than the position deviation threshold Y, the permanent magnet synchronous motor in the pitch unit 2 or the yaw unit 3 is first used for rough adjustment of the angle, so that the deviation E enters the range of the position deviation threshold Y. Then, the clutch unit and the drive unit in the piezoelectric motor in the pitch unit 2 or the yaw unit 3 are used to finely adjust the current angle, so that the current angle gradually approaches the target angle, thereby completing the precise positioning process. In this process, the advantage of the fast speed of the direct drive mode of the electromagnetic motor as described in the background art is utilized, and at the same time, the problem of low precision of the direct drive mode of the electromagnetic motor is compensated by adopting the piezoelectric drive mode, so that the positioning platform of the present invention has both positioning speed and positioning accuracy.

[0105] In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A hybrid-driven servo tracking and positioning platform, characterized in that, Comprising: A base (1) and an imaging tracking unit (4), the imaging tracking unit (4) being configured to generate a target angle; A pitch unit (2), mounted on the base (1), for achieving coarse positioning of the current angle of the hybrid drive servo tracking positioning platform in the pitch direction by means of electromagnetic drive, and for achieving fine positioning of the current angle in the pitch direction by means of piezoelectric drive; A yaw unit (3), mounted on the pitch unit (2), for carrying the imaging tracking unit (4), and for achieving coarse positioning of the current angle in the yaw direction by means of electromagnetic drive, and for achieving fine positioning of the current angle in the yaw direction by means of piezoelectric drive, such that the current angle reaches the target angle through coarse positioning and fine positioning in the pitch direction and the yaw direction.

2. The hybrid drive type servo tracking and positioning platform according to claim 1, wherein The pitch unit (2) comprises: A pitch frame (2-4), mounted on the base (1); Two pitch drive shafts (2-5), horizontally located on opposite sides of the pitch frame (2-4) respectively, one ends of the two pitch drive shafts (2-5) being respectively joined to the outer wall of the pitch frame (2-4) on their respective sides; A pitch permanent magnet synchronous motor (2-1), joined to the other end of the first pitch drive shaft among the two pitch drive shafts (2-5), for driving the first pitch drive shaft to rotate, thereby achieving coarse positioning of the current angle in the pitch direction; A pitch piezoelectric motor (2-2), joined to the other end of the second pitch drive shaft among the two pitch drive shafts (2-5), for driving the second pitch drive shaft to rotate, thereby achieving fine positioning of the current angle in the pitch direction; A pitch encoder (2-3), electrically connected to the second pitch drive shaft, for collecting the current angle.

3. The hybrid drive type servo tracking and positioning platform according to claim 2, characterized in that The pitch permanent magnet synchronous motor (2-1) comprises: A pitch permanent magnet synchronous motor stator (2-1-1), fixedly arranged on the outer wall of the pitch frame (2-4) where one end of the first pitch drive shaft is located, the position of the pitch permanent magnet synchronous motor stator (2-1-1) on the outer wall of the pitch frame (2-4) corresponding to the position towards which one end of the first pitch drive shaft faces; A pitch permanent magnet synchronous motor rotor (2-1-2), nested on the outer surface of one end of the first pitch drive shaft, and one end of the first pitch drive shaft nested with the pitch permanent magnet synchronous motor rotor (2-1-2) can be inserted into the pitch permanent magnet synchronous motor stator (2-1-1).

4. The hybrid drive servo tracking and positioning platform according to any one of claims 2-3, characterized in that The pitch frame (2-4) further comprises a stator slot, the stator slot being fixedly arranged on the outer wall of the pitch frame (2-4), and the pitch permanent magnet synchronous motor stator (2-1-1) being fixedly arranged in the stator slot.

5. The hybrid drive servo tracking and positioning platform according to claim 4, wherein The pitch frame (2-4) further comprises two first shaft holes, respectively located on two side walls of the pitch frame (2-4) where the two pitch drive shafts (2-5) are located; One end of the first pitch drive shaft is inserted into the pitch permanent magnet synchronous motor stator (2-1-1) through a first shaft hole after the pitch permanent magnet synchronous motor rotor (2-1-2) is nested thereon. One end of the second pitch drive shaft is joined to the side wall of the pitch frame (2-4) through another first shaft hole.

6. The hybrid drive servo tracking and positioning platform according to claim 2, characterized in that, The pitch piezoelectric motor (2-2) includes a pitch clutch unit and a pitch drive unit joined in sequence; the output end of the pitch drive unit serves as the output end of the pitch piezoelectric motor (2-2) and is joined to the other end of the second pitch drive shaft; the pitch clutch unit and the pitch drive unit are used to achieve fine positioning of the current angle in the pitch direction.

7. The hybrid drive servo tracking and positioning platform according to claim 6, characterized in that, The pitch clutch unit includes a pitch clutch flexible structure (2-2-1) and a pitch clutch piezoelectric stack (2-2-2), and the pitch drive unit includes a pitch drive flexible structure (2-2-3) and a pitch drive piezoelectric stack (2-2-4). The pitch clutch piezoelectric stack (2-2-2), the pitch clutch flexible structure (2-2-1), the pitch drive piezoelectric stack (2-2-4), and the pitch drive flexible structure (2-2-3) are joined in sequence, and the pitch drive flexible structure (2-2-3) serves as the output end of the pitch piezoelectric motor (2-2) and is joined to the other end of the second pitch drive shaft.

8. The hybrid drive servo tracking and positioning platform according to any one of claims 1-2, characterized in that The yaw unit (3) includes: A yaw frame (3-4), installed on the pitch frame (2-4) for carrying the imaging tracking unit (4). Two yaw drive shafts (3-5), horizontally located on opposite sides of the yaw frame (3-4) respectively. One end of each of the two yaw drive shafts (3-5) is joined to the outer wall of the yaw frame (3-4) on its respective side, and the axial directions of the two yaw drive shafts (3-5) are orthogonal to the axial directions of the two pitch drive shafts (2-5). A yaw permanent magnet synchronous motor (3-1), joined to the other end of the first yaw drive shaft among the two yaw drive shafts (3-5), for driving the first yaw drive shaft to rotate, thereby achieving coarse positioning of the current angle in the yaw direction. A yaw piezoelectric motor (3-2), joined to the other end of the second yaw drive shaft among the two yaw drive shafts (3-5), for driving the second yaw drive shaft to rotate, thereby achieving fine positioning of the current angle in the yaw direction. A yaw encoder (3-3), electrically connected to the second yaw drive shaft, for collecting the current angle.

9. The hybrid drive servo tracking and positioning platform according to claim 8, wherein, The yaw permanent magnet synchronous motor (3-1) includes: A yaw permanent magnet synchronous motor stator (3-1-1), fixedly arranged on the outer wall of the yaw frame (3-4) where one end of the first yaw drive shaft is located, and the position of the yaw permanent magnet synchronous motor stator (3-1-1) on the outer wall of the yaw frame (3-4) corresponds to the position towards which one end of the first yaw drive shaft faces. The yaw permanent magnet synchronous motor rotor (3-1-2) is nested on the outer surface of one end of the first yaw drive shaft, and one end of the first yaw drive shaft nested with the pitch permanent magnet synchronous motor rotor (3-1-2) can be inserted into the yaw permanent magnet synchronous motor stator (3-1-1).

10. A hybrid drive servo tracking and positioning method, implemented based on the hybrid drive servo tracking and positioning platform as described in claim 1, characterized in that, The method includes the following steps: Step 1: Generate a target angle by using the imaging tracking unit (4). Step 2: Use the pitch unit (2) to achieve rough positioning of the current angle of the hybrid drive type servo tracking positioning platform in the pitch direction by electromagnetic drive, and achieve fine positioning of the current angle in the pitch direction by piezoelectric drive. Step 3: Use the yaw unit (3) to achieve rough positioning of the current angle in the yaw direction by electromagnetic drive, and achieve fine positioning of the current angle in the yaw direction by piezoelectric drive; make the current angle reach the target angle through rough positioning and fine positioning in the pitch direction and the yaw direction.

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