Double-hyper platform motion load compensation control method and system

Abstract

The invention provides a double-hyper platform motion load compensation control method and system, and relates to the technical field of spaceflight, and the method comprises the steps: determining a load motion work rule; calculating disturbance torque generated by the load to the load cabin of the double-super platform; the disturbance torque is sequenced according to a load motion time sequence, and a load cabin feed-forward control link is designed to generate a load cabin feed-forward control torque for compensating disturbance caused by load motion; designing a load cabin feedback control link to ensure the stability of the load cabin for the influence caused by inaccurate measurement of environmental disturbance torque and rotational inertia suffered by the load cabin; carrying out translation control on the load cabin, and designing an inter-cabin translation feedback control link to keep a gap between the two cabins; designing a platform cabin feedback control link to keep the platform cabin following the load cabin; the load cabin feedforward control link, the load cabin feedback control link, the inter-cabin translation feedback control link and the platform cabin feedback control link jointly form a motion load double-hyper platform control system. According to the invention, compensation control of the motion load disturbance torque by the double-super platform can be realized.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a dual-super-platform motion load compensation control method and system. Background Art

[0002] The "Dual Super" satellite platform can achieve separation of the payload and platform compartments, static and dynamic isolation, and master-slave coordinated control, achieving the control objectives of ultra-high pointing accuracy and ultra-high stability for the satellite platform. With the development and improvement of the dual super platform's functions and performance, the scientific exploration needs of specific targets require combining the dual super platform with multiple payloads with complex motion patterns, while still achieving the control objectives of ultra-high pointing accuracy and ultra-high stability. However, payloads with complex motion patterns will obviously introduce interference torques to the platform, causing the platform's stability to diverge.

[0003] Regarding the dual-super-platform control method, researchers have achieved the following results:

[0004] The invention patent with publication number CN112644737B discloses a method and system for rapid attitude maneuvering control of a dual-supersatellite with two cabins in the unlocked state. The system plans the attitude maneuvering path and generates a feedforward control torque based on the mass characteristics of the two cabins and the characteristics of the actuators; generates the inter-cabin translational control force based on the attitude maneuvering planning results; and designs a feedforward and feedback combined control law to ensure that the two cabins do not collide during coordinated maneuvers.

[0005] The invention patent with publication number CN114527653B discloses a two-cabin continuous maneuvering path planning and optimization method based on a dual super platform. First, the payload cabin maneuvering path is designed according to the movement requirements of the payload cabin; then the platform cabin maneuvering path is designed according to the execution structure characteristics of the platform cabin; finally, the platform cabin maneuvering path is optimized according to the angle change between the payload cabin and the platform cabin.

[0006] The invention patent with publication number CN112977888B discloses a method and system for estimating the magnetic levitation control force requirements between the cabins of two super-satellites. By combining four types of control force requirements, namely the attitude control torque of the payload cabin, the translational control force of the two cabins, the gyroscopic torque feedforward control torque of the payload cabin, and the control force to offset the centrifugal force between the two cabins, with the installation method of the magnetic levitation actuator, the upper limit of the required force of the magnetic levitation actuator is estimated.

[0007] Zhang Wei et al. [Zhang Wei, Zhao Yanbin, Liao He, Zhao Hongbo. "Design of a Dual Supersatellite Platform with Dynamic and Static Isolation and Master-Slave Collaborative Control," Shanghai Aerospace, Vol. 31, No. 5, 2014] adopted a collaborative control strategy with the payload as the primary and the platform as the secondary, and rationally utilized the gap nonlinearity in the dead zone of the magnetic levitation actuator to achieve ultra-precise and ultra-stable control of the payload compartment of the dual super-platform.

[0008] Regarding onboard motion payload compensation control methods, researchers have achieved the following results:

[0009] Patent publication number CN110481816B discloses a multi-system synchronization method for onboard feedforward torque compensation. The main steps include timing the attitude and orbit control system, the scanning and stepping imaging payloads, feedforward compensation of the scanning and stepping payloads by the attitude and orbit control system, and post-compensation waiting. Summary of the Invention

[0010] In view of the defects in the prior art, the present invention provides a dual-super-platform motion load compensation control method and system.

[0011] According to a dual-super-platform motion load compensation control method and system provided by the present invention, the scheme is as follows:

[0012] In a first aspect, a dual-super-platform motion load compensation control method is provided, the method comprising:

[0013] Step S1: Determine the load motion law, wherein the load combines translation and rotation and repeats periodically;

[0014] Step S2: Calculate the interference torque generated by the load on the dual super platform payload cabin according to the load motion sequence and its installation position in the load motion law;

[0015] Step S3: sorting the interference torque according to the load motion time sequence, designing the load cabin feedforward control link to generate the load cabin feedforward control torque to compensate for the disturbance caused by the load motion;

[0016] Step S4: Designing a feedback control link for the payload cabin to ensure stability of the payload cabin in response to the environmental disturbance torque and the uncertainty in the measurement of the moment of inertia.

[0017] Step S5: The payload cabin is subjected to translation control, and the inter-cabin translation feedback control link is designed to maintain the gap between the two cabins;

[0018] Step S6: Designing the platform cabin feedback control link to keep the platform cabin following the payload cabin;

[0019] Step S7: The payload cabin feedforward control link, the payload cabin feedback control link, the inter-cabin translation feedback control link and the platform cabin feedback control link together constitute a motion payload dual super platform control system.

[0020] Preferably, the step S1 includes: after the load translates t1, waiting t2, the polarization modulation mechanism rotates t3, waiting time t4, and imaging time t5 in sequence, and the entire cycle is t1+t2+(t3+t4+t5)*6.

[0021] Preferably, step S2 includes:

[0022] The scanning mechanism in the payload performs linear motion along the satellite's +X axis. The payload weight is m, the velocity is v1, the motion time is t1, and the moment arm around the Y axis is L. The polarization modulation mechanism in the payload performs rotational motion along the satellite's Y axis. The payload's moment of inertia is approximately J, the maximum angular velocity is ω, and the rotation time is t2.

[0023] The disturbance torque generated by the load translation is recorded as The interference torque generated by the load rotation is recorded as

[0024] Preferably, the step S4 of designing the payload cabin feedback control link includes:

[0025] Assume that the attitude angle control error of the payload cabin is θ z , the payload cabin attitude angular velocity control error is ω z , then the load compartment control torque T z for:

[0026] T z =-kp z ·θ z -kd z ·ω z

[0027] Among them, kp z is the load compartment proportional control coefficient, kd z is the differential control coefficient of the payload cabin.

[0028] Preferably, step S5 includes:

[0029] Assuming the translational displacement control error is x and the velocity control error is v, the translational control force F is:

[0030] F=-kp c ·x-kd c ·v

[0031] Among them, kp c is the load cabin translation proportional control coefficient, kd c is the load cabin translation differential control coefficient.

[0032] Preferably, step S6 includes:

[0033] Assume that the platform cabin attitude angle control error is θ p , the platform cabin attitude angular velocity control error is ω p , then the platform cabin control torque T p for:

[0034] T p =-kp p ·θ p -kd p·ω p

[0035] Among them, kp p is the platform cabin proportional control coefficient, kd p is the differential control coefficient of the platform cabin.

[0036] In a second aspect, a dual-super-platform motion load compensation control system is provided, the system comprising:

[0037] Module M1: Determine the load motion law, in which the load combines translation and rotation and repeats periodically;

[0038] Module M2: Calculates the interference torque generated by the load on the payload cabin of the dual super platform based on the load motion sequence and its installation position in the load motion law;

[0039] Module M3: Sort the disturbance torque according to the load motion sequence, design the load cabin feedforward control link to generate the load cabin feedforward control torque to compensate for the disturbance caused by the load motion;

[0040] Module M4: To address the impact of environmental interference torque and inaccurate measurement of the moment of inertia on the payload cabin, a feedback control link is designed to ensure the stability of the payload cabin.

[0041] Module M5: The payload cabin performs translational control and designs the inter-cabin translational feedback control link to maintain the gap between the two cabins;

[0042] Module M6: Design the feedback control link of the platform cabin to keep the platform cabin following the payload cabin;

[0043] Module M7: The payload cabin feedforward control link, payload cabin feedback control link, inter-cabin translation feedback control link and platform cabin feedback control link together constitute the motion payload dual super platform control system.

[0044] Preferably, the module M1 includes: after the load translates t1, waits t2, the polarization modulation mechanism rotates t3, waits t4, and takes imaging time t5, and the entire cycle is t1+t2+(t3+t4+t5)*6;

[0045] The module M2 includes:

[0046] The scanning mechanism is a linear motion, moving along the satellite's +X axis. The load weight is m, the speed is v1, the motion time is t1, and the moment arm around the Y axis is calculated as L. The polarization modulation mechanism is a rotational motion, with the rotation axis along the satellite's Y axis. The load's moment of inertia is approximately J, the maximum angular velocity is ω, and the rotation time is t2.

[0047] The polarization modulation mechanism is a rotational motion, and the axis of rotation is along the Y axis of the satellite. The interference torque generated by the load translation is recorded as The interference torque generated by the load rotation is recorded as

[0048] Preferably, the module M4 designs the payload cabin feedback control link including:

[0049] Assume that the attitude angle control error of the payload cabin is θ z , the payload cabin attitude angular velocity control error is ω z , then the load compartment control torque T z for:

[0050] T z =-kp z ·θ z -kd z ·ω z

[0051] Among them, kp z is the load compartment proportional control coefficient, kd z is the differential control coefficient of the payload cabin;

[0052] The module M5 includes:

[0053] Assuming the translational displacement control error is x and the velocity control error is v, the translational control force F is:

[0054] F=-kp c ·x-kd c ·v

[0055] Among them, kp c is the load cabin translation proportional control coefficient, kd c is the load cabin translation differential control coefficient.

[0056] Preferably, the module M6 includes:

[0057] Assume that the platform cabin attitude angle control error is θ p , the platform cabin attitude angular velocity control error is ω p , then the platform cabin control torque T p for:

[0058] T p =-kp p ·θ p -kd p ·ω p

[0059] Among them, kp p is the platform cabin proportional control coefficient, kd p is the differential control coefficient of the platform cabin.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] 1. This invention solves the problem of combining a dual-super platform with a complex motion load. Even if subjected to the interfering torque of the load, the platform remains highly stable in the imaging range.

[0062] 2. The present invention constructs a time synchronization system to ensure that the load and the output of the magnetic levitation mechanism are highly synchronized;

[0063] 3. The present invention utilizes the characteristics of the dual super platform and the advantages of the inter-cabin magnetic levitation mechanism with high output precision, good stability and fast response, and is capable of achieving high-precision and high-stability compensation for the interference torque of complex motion loads;

[0064] Other beneficial effects of the present invention will be explained through the introduction of specific technical features and technical solutions in the specific implementation methods. Those skilled in the art should be able to understand the beneficial technical effects brought about by the introduction of these technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0066] Figure 1 Flowchart of the dual-super-platform motion load compensation control method of the present invention;

[0067] Figure 2 is the load motion sequence;

[0068] Figure 3 Schematic diagram of load interference compensation torque;

[0069] Figures 4a-4b To compensate for the front load compartment control effect diagram;

[0070] Figures 5a-5b This is the control effect diagram of the load compartment after compensation. DETAILED DESCRIPTION

[0071] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0072] The embodiment of the present invention provides a dual super platform motion load compensation control method, referring to Figure 1 As shown, the method includes:

[0073] Step S1: Determine the load movement law, wherein the load combines translation and rotation and repeats periodically.

[0074] This step specifically includes: after the load moves horizontally for t1, wait for t2, the polarization modulation mechanism rotates in sequence for t3, waits for t4, and takes imaging time t5. The entire cycle is t1+t2+(t3+t4+t5)*6. In the present invention, after the load moves horizontally for 20ms, wait for 80ms, the polarization modulation mechanism rotates in sequence for 200ms, waits for 300ms, and takes imaging time 400ms. The entire cycle is 20ms+80ms+(200ms+300ms+400ms)*6=5500ms. The theoretical angular velocity curve of the load motion is as follows: Figure 2 As shown, the motion and time series are shown in Table 1.

[0075] Table 1

[0076]

[0077]

[0078] Step S2: Calculate the interference torque generated by the load on the dual-super-platform payload cabin according to the load motion sequence and its installation position in the load motion law.

[0079] The scanning mechanism is a linear motion, with the motion direction along the satellite +X axis. The load weight is m, the motion speed is v1, the motion time is t1, and the moment arm around the Y axis is calculated as L. The polarization modulation mechanism is a rotational motion, with the rotation axis along the satellite Y axis. The load moment of inertia is approximately J, the maximum angular velocity of rotation is ω, and the rotation time is t2. In the present invention, the load weight is 435g, the motion speed is 0.067mm / s, the motion time is 20ms, and the moment arm around the Y axis is calculated as 400mm. The polarization modulation mechanism is a rotational motion, with the rotation axis along the satellite Y axis, and the load moment of inertia is approximately 3.348×10 -4 kg.m 2 The interference torque generated by the load translation is recorded as The interference torque generated by the load rotation is recorded as

[0080] Step S3: Sort the interference torque according to the load motion sequence, design the load cabin feedforward control link to generate the load cabin feedforward control torque to compensate for the disturbance caused by the load motion. Figure 3 The purpose of this feedforward control torque is to generate a control torque for compensating interference according to the load motion law, avoid the time delay of feedback control, and make the load cabin remain highly stable under the interference of high-frequency motion load. Figure 4a 、 Figure 4b The figure shows the effect of the front load compartment control. Figure 5a 、 Figure 5b Shown is the control effect diagram of the load compartment after compensation.

[0081] Step S4: In order to address the impact of environmental interference torque and inaccurate measurement of the moment of inertia on the payload cabin, a feedback control link for the payload cabin is designed to ensure the stability of the payload cabin.

[0082] Specifically, the payload cabin is not only affected by the disturbance torque caused by the load movement, but also by the environmental disturbance torque and the impact of inaccurate ground moment of inertia measurement. For the above parts, the feedback control link is designed to maintain its stability. The feedback control link of the payload cabin is designed to include:

[0083] Assume that the attitude angle control error of the payload cabin is θ z , the payload cabin attitude angular velocity control error is ω z , then the load compartment control torque T z for:

[0084] T z =-kp z ·θ z -kd z ·ω z

[0085] Among them, kp z is the load compartment proportional control coefficient, kd z is the differential control coefficient of the payload cabin.

[0086] Step S5: To ensure that the payload cabin and the platform cabin do not collide during operation, the payload cabin needs to be controlled in translation, and the inter-cabin translation feedback control link is designed to maintain the gap between the two cabins.

[0087] Specifically, the dual-super platform needs to prevent the payload cabin and the platform cabin from colliding during operation. The inter-cabin magnetic levitation actuator has the ability to control translation, so it is necessary to design an inter-cabin translation feedback control link to maintain the gap between the two cabins. Assuming the translation displacement control error is x and the velocity control error is v, the translation control force F is:

[0088] F=-kp c ·x-kd c ·v

[0089] Among them, kp c is the load cabin translation proportional control coefficient, kd c is the load cabin translation differential control coefficient.

[0090] Step S6: To ensure that the platform cabin follows the movement of the payload cabin during operation, a feedback control link of the platform cabin is designed to keep the platform cabin following the payload cabin.

[0091] Specifically, the dual-super platform adopts the strategy of active control of the payload cabin and following control of the platform cabin during operation. It is necessary to design a feedback control link of the platform cabin to keep the platform cabin in the following state. Assume that the attitude angle control error of the platform cabin is θ p, the platform cabin attitude angular velocity control error is ω p , then the platform cabin control torque T p for:

[0092] T p =-kp p ·θ p -kd p ·ω p

[0093] Among them, kp p is the platform cabin proportional control coefficient, kd p is the differential control coefficient of the platform cabin.

[0094] Step S7: The payload cabin feedforward control link, the payload cabin feedback control link, the inter-cabin translation feedback control link and the platform cabin feedback control link together constitute a motion payload dual super platform control system.

[0095] The present invention also provides a dual-super-platform motion load compensation control system, which can be implemented by executing the process steps of the dual-super-platform motion load compensation control method. That is, those skilled in the art can understand the dual-super-platform motion load compensation control method as a preferred embodiment of the dual-super-platform motion load compensation control system. The system specifically includes:

[0096] Module M1: Determine the load motion law, in which the load combines translation and rotation and repeats periodically.

[0097] The module specifically includes: after the load moves horizontally for t1, it waits for t2, the polarization modulation mechanism rotates in sequence for t3, waits for t4, and takes imaging time t5. The entire cycle is t1+t2+(t3+t4+t5)*6. In the present invention, after the load moves horizontally for 20ms, it waits for 80ms, the polarization modulation mechanism rotates in sequence for 200ms, waits for 300ms, and takes imaging time 400ms. The entire cycle is 20ms+80ms+(200ms+300ms+400ms)*6=5500ms. The theoretical angular velocity curve of the load motion is as follows: Figure 2 As shown, the motion and time series are shown in Table 1.

[0098] Module M2: Calculate the interference torque generated by the load on the dual super platform payload cabin based on the load motion sequence and its installation position in the load motion law.

[0099] The scanning mechanism is a linear motion, with the motion direction along the satellite +X axis. The load weight is m, the motion speed is v1, the motion time is t1, and the moment arm around the Y axis is calculated as L. The polarization modulation mechanism is a rotational motion, with the rotation axis along the satellite Y axis. The load moment of inertia is approximately J, the maximum angular velocity of rotation is ω, and the rotation time is t2. In the present invention, the load weight is 435g, the motion speed is 0.067mm / s, the motion time is 20ms, and the moment arm around the Y axis is calculated as 400mm. The polarization modulation mechanism is a rotational motion, with the rotation axis along the satellite Y axis, and the load moment of inertia is approximately 3.348×10 -4 kg.m 2 The interference torque generated by the load translation is recorded as The interference torque generated by the load rotation is recorded as

[0100] Module M3: Sort the interference torque according to the load motion sequence, design the load cabin feedforward control link to generate the load cabin feedforward control torque to compensate for the disturbance caused by the load motion. Figure 3 The purpose of this feedforward control torque is to generate a control torque for compensating interference according to the load motion law, avoid the time delay of feedback control, and make the load cabin remain highly stable under the interference of high-frequency motion load. Figure 4a 、 Figure 4b The figure shows the effect of the front load compartment control. Figure 5a 、 Figure 5b Shown is the control effect diagram of the load compartment after compensation.

[0101] Module M4: To address the impact of environmental interference torque and inaccurate measurement of the moment of inertia on the payload cabin, a feedback control link is designed to ensure the stability of the payload cabin.

[0102] Specifically, the payload cabin is not only affected by the disturbance torque caused by the load movement, but also by the environmental disturbance torque and the impact of inaccurate ground moment of inertia measurement. For the above parts, the feedback control link is designed to maintain its stability. The feedback control link of the payload cabin is designed to include:

[0103] Assume that the attitude angle control error of the payload cabin is θ z , the payload cabin attitude angular velocity control error is ω z , then the load compartment control torque T z for:

[0104] T z =-kp z ·θ z -kd z ·ω z

[0105] Among them, kp z is the load compartment proportional control coefficient, kdz is the differential control coefficient of the payload cabin.

[0106] Module M5: To ensure that the payload cabin and the platform cabin do not collide during operation, the payload cabin needs to be controlled in translation, and the inter-cabin translation feedback control link is designed to maintain the gap between the two cabins.

[0107] Specifically, the dual-super platform needs to prevent the payload cabin and the platform cabin from colliding during operation. The inter-cabin magnetic levitation actuator has the ability to control translation, so it is necessary to design an inter-cabin translation feedback control link to maintain the gap between the two cabins. Assuming the translation displacement control error is x and the velocity control error is v, the translation control force F is:

[0108] F=-kp c ·x-kd c ·v

[0109] Among them, kp c is the load cabin translation proportional control coefficient, kd c is the load cabin translation differential control coefficient.

[0110] Module M6: To ensure that the platform cabin follows the movement of the payload cabin during operation, a feedback control link of the platform cabin is designed to keep the platform cabin following the payload cabin.

[0111] Specifically, the dual-super platform adopts the strategy of active control of the payload cabin and following control of the platform cabin during operation. It is necessary to design a feedback control link of the platform cabin to keep the platform cabin in the following state. Assume that the attitude angle control error of the platform cabin is θ p , the platform cabin attitude angular velocity control error is ω p , then the platform cabin control torque T p for:

[0112] T p =-kp p ·θ p -kd p ·ω p

[0113] Among them, kp p is the platform cabin proportional control coefficient, kd p is the differential control coefficient of the platform cabin.

[0114] Module M7: The payload cabin feedforward control link, payload cabin feedback control link, inter-cabin translation feedback control link and platform cabin feedback control link together constitute the motion payload dual super platform control system.

[0115] The embodiment of the present invention provides a dual-super-platform motion load compensation control method and system, which adopts a feedforward compensation control method to realize the compensation control of the dual-super-platform on the motion load interference torque. Compared with other methods, this is the first combination of dual-super-platform and complex motion load.

[0116] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices, modules, and units provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; the devices, modules, and units for implementing various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0117] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A dual-super-platform motion load compensation control method, characterized in that: include: Step S1: Determine the load motion law, wherein the load combines translation and rotation and repeats periodically; Step S2: Calculate the interference torque generated by the load on the dual super platform payload cabin according to the load motion sequence and its installation position in the load motion law; Step S3: sorting the interference torque according to the load motion time sequence, designing the load cabin feedforward control link to generate the load cabin feedforward control torque to compensate for the disturbance caused by the load motion; Step S4: Designing a feedback control link for the payload cabin to ensure stability of the payload cabin in response to the environmental disturbance torque and the uncertainty in the measurement of the moment of inertia. Step S5: The payload cabin is subjected to translation control, and the inter-cabin translation feedback control link is designed to maintain the gap between the two cabins; Step S6: Designing the platform cabin feedback control link to keep the platform cabin following the payload cabin; Step S7: The payload cabin feedforward control link, the payload cabin feedback control link, the inter-cabin translation feedback control link and the platform cabin feedback control link together constitute a motion payload dual super platform control system.

2. The dual super platform motion load compensation control method according to claim 1, characterized in that: The step S1 includes: after the load translates t1, waiting time t2, the polarization modulation mechanism rotates t3, waiting time t4, and imaging time t5 in sequence, and the entire cycle is t1+t2+(t3+t4+t5)*6.

3. The dual super platform motion load compensation control method according to claim 1, characterized in that: The step S2 comprises: The scanning mechanism is a linear motion, moving along the satellite's +X axis. The load weight is m, the speed is v1, the motion time is t1, and the moment arm around the Y axis is calculated as L. The polarization modulation mechanism is a rotational motion, with the rotation axis along the satellite's Y axis. The load's moment of inertia is approximately J, the maximum angular velocity is ω, and the rotation time is t2. The polarization modulation mechanism is a rotational motion, and the axis of rotation is along the Y axis of the satellite. The interference torque generated by the load translation is recorded as The interference torque generated by the load rotation is recorded as 4. The dual super platform motion load compensation control method according to claim 1, characterized in that: The step S4 of designing the feedback control link of the payload cabin includes: Assume that the attitude angle control error of the payload cabin is θ z , the payload cabin attitude angular velocity control error is ω z , then the load compartment control torque T z for: T z =-kp z ·θ z -kd z ·ω z Among them, kp z is the load compartment proportional control coefficient, kd z is the differential control coefficient of the payload cabin.

5. The dual super platform motion load compensation control method according to claim 1, characterized in that: The step S5 comprises: Assuming the translational displacement control error is x and the velocity control error is v, the translational control force F is: F=-kp c ·x-kd c ·v Among them, kp c is the load cabin translation proportional control coefficient, kd c is the load cabin translation differential control coefficient.

6. The dual super platform motion load compensation control method according to claim 1, characterized in that: The step S6 comprises: Assume that the platform cabin attitude angle control error is θ p , the platform cabin attitude angular velocity control error is ω p , then the platform cabin control torque T p for: T p =-kp p ·θ p -kd p ·ω p Among them, kp p is the platform cabin proportional control coefficient, kd p is the differential control coefficient of the platform cabin.

7. A dual-super-platform motion load compensation control system, characterized in that: include: Module M1: Determine the load motion law, in which the load combines translation and rotation and repeats periodically; Module M2: Calculates the interference torque generated by the load on the payload cabin of the dual super platform based on the load motion sequence and its installation position in the load motion law; Module M3: Sort the disturbance torque according to the load motion sequence, design the load cabin feedforward control link to generate the load cabin feedforward control torque to compensate for the disturbance caused by the load motion; Module M4: To address the impact of environmental interference torque and inaccurate measurement of the moment of inertia on the payload cabin, a feedback control link is designed to ensure the stability of the payload cabin. Module M5: The payload cabin performs translational control and designs the inter-cabin translational feedback control link to maintain the gap between the two cabins; Module M6: Design the feedback control link of the platform cabin to keep the platform cabin following the payload cabin; Module M7: The payload cabin feedforward control link, payload cabin feedback control link, inter-cabin translation feedback control link and platform cabin feedback control link together constitute the motion payload dual super platform control system.

8. The dual super platform motion load compensation control system according to claim 7, characterized in that: The module M1 includes: after the load moves in translation t1, it waits for t2, the polarization modulation mechanism rotates in sequence t3, waits for t4, and takes imaging time t5. The entire cycle is t1+t2+(t3+t4+t5)*6; The module M2 includes: The scanning mechanism is a linear motion, moving along the satellite's +X axis. The load weight is m, the speed is v1, the motion time is t1, and the moment arm around the Y axis is calculated as L. The polarization modulation mechanism is a rotational motion, with the rotation axis along the satellite's Y axis. The load's moment of inertia is approximately J, the maximum angular velocity is ω, and the rotation time is t2. The polarization modulation mechanism is a rotational motion, and the axis of rotation is along the Y axis of the satellite. The interference torque generated by the load translation is recorded as The interference torque generated by the load rotation is recorded as 9. The dual super platform motion load compensation control system according to claim 7, characterized in that: The module M4 design payload cabin feedback control link includes: Assume that the attitude angle control error of the payload cabin is θ z , the payload cabin attitude angular velocity control error is ω z , then the load compartment control torque T z for: T z =-kp z ·θ z -kd z ·ω z Among them, kp z is the load compartment proportional control coefficient, kd z is the differential control coefficient of the payload cabin; The module M5 includes: Assuming the translational displacement control error is x and the velocity control error is v, the translational control force F is: F=-kp c ·x-kd c ·v Among them, kp c is the load cabin translation proportional control coefficient, kd c is the load cabin translation differential control coefficient.

10. The dual super platform motion load compensation control system according to claim 7, characterized in that: The module M6 includes: Assume that the platform cabin attitude angle control error is θ p , the platform cabin attitude angular velocity control error is ω p , then the platform cabin control torque T p for: T p =-kp p ·θ p -kd p ·ω p Among them, kp p is the platform cabin proportional control coefficient, kd p is the differential control coefficient of the platform cabin.

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