Control method and system for multi-stage optical vibration isolation device of strapdown seeker

Abstract

This application provides a control method and system for a multi-stage optical vibration isolation device for a strapdown seeker. The method utilizes a multi-axis vibration sensor of the strapdown seeker to collect mixed vibration data generated by multiple vibration sources; analyzes the mixed vibration data to determine the dominant vibration source and its characteristic frequency components; adjusts the lattice parameters of the phonon crystal isolation structure in the multi-stage optical vibration isolation device to block the characteristic frequency vibration components, obtaining the remaining vibration components after the blocking operation; converts the vibration amplitude and phase angle of the remaining vibration components to obtain an optical compensation signal; and uses the optical compensation signal to achieve optical vibration isolation control. The technical solution provided in this application achieves active suppression of the dominant vibration frequency, while simultaneously combining optical compensation for beam angle correction, thus improving the multi-stage coordinated control of the strapdown seeker.

Description

Technical Field

[0001] This application relates to the field of optical vibration isolation technology, and in particular to a control method and system for a strapdown seeker multi-stage optical vibration isolation device. Background Technology

[0002] In applications such as high-maneuverability aircraft, strapdown seekers are directly connected to the high-speed moving projectile structure, making their optical systems highly susceptible to broadband hybrid vibrations from multiple power sources. These vibrations can cause optical axis jitter, image blurring, and even tracking loss, affecting the seeker's target acquisition and guidance accuracy. Therefore, there is an urgent need for a multi-stage optical vibration isolation control method that can achieve adaptive, efficient, and low-power operation in complex dynamic environments to ensure stable operation of the seeker throughout its entire flight envelope.

[0003] To address the aforementioned technical requirements, a vibration isolation control scheme based on the collaboration of a fixed-bandgap phonon crystal and a feedback-type optical platform has emerged in the prior art. This scheme achieves passive isolation of the main vibration frequency bands under typical operating conditions by integrating a periodic phonon crystal material with preset bandgap characteristics into the seeker support structure. Simultaneously, a high-speed tilting mirror device is configured in the optical path, using residual vibration signals collected by vibration sensors to generate feedback control commands, driving the tilting mirror to perform real-time beam pointing correction, thus forming a two-stage suppression architecture of passive mechanical vibration isolation and active optical compensation. However, the existing scheme has certain drawbacks. For example, it is difficult to adapt to the vibration frequency drift caused by engine operating condition switching or attitude changes during flight, resulting in decreased vibration isolation effectiveness near non-calibrated frequencies, and even resonance amplification. Furthermore, the lack of online identification and decoupling capability for multiple vibration sources makes it impossible to distinguish the contributions of different sources, causing frequent ineffective adjustments by the optical compensation unit. Summary of the Invention

[0004] This application provides a control method and system for a strapdown seeker multi-stage optical vibration isolation device to solve problems in the prior art, such as performance degradation due to difficulty in adapting to vibration frequency drift and frequent ineffective adjustments by the optical compensation unit.

[0005] In a first aspect, this application provides a control method for a multi-stage optical vibration isolation device for a strapdown seeker, comprising:

[0006] Using a strapdown seeker with multi-axis vibration sensors, mixed vibration data generated by multiple vibration sources are collected;

[0007] The hybrid vibration data is analyzed to determine the dominant vibration source and its characteristic frequency components.

[0008] Adjusting the lattice parameters of the phononic crystal isolation structure in the multi-stage optical isolation device to generate a band gap that matches the characteristic frequency component, thereby blocking the characteristic frequency vibration component in the characteristic frequency component and obtaining the remaining vibration component after the blocking operation.

[0009] The vibration amplitude and vibration phase angle of the remaining vibration components are converted to obtain an optical compensation signal;

[0010] The optical compensation signal is used to drive a multi-stage optical vibration isolation device to correct the angle of the optical system beam of the strapdown seeker, thereby achieving optical vibration isolation control.

[0011] Optionally, the hybrid vibration data is analyzed to determine the dominant vibration source and its characteristic frequency components, including:

[0012] The mixed vibration data is separated into multiple vibration source signals using a blind source separation algorithm.

[0013] The square values ​​of vibration displacement, vibration velocity, and vibration acceleration at different timestamps in each vibration source signal are calculated separately, and all square values ​​are superimposed to obtain multiple instantaneous vibration energy values.

[0014] The instantaneous vibration energy value is integrated over time to obtain the cumulative vibration energy value of each vibration source signal, and the vibration source signal corresponding to the maximum cumulative vibration energy value is taken as the dominant vibration source.

[0015] Based on the frequency waveform matching relationship in the dominant vibration source, the dominant vibration source is subjected to spectral decomposition to obtain the dominant frequency component and the corresponding energy value. The dominant frequency component and the corresponding energy value are then combined to form the characteristic frequency component of the dominant vibration source.

[0016] Optionally, the lattice parameters of the phonon crystal isolation structure in the multi-stage optical isolation device are adjusted to generate a bandgap that matches the characteristic frequency component, thereby blocking the characteristic frequency vibration component in the characteristic frequency component and obtaining the remaining vibration component after the blocking operation, including:

[0017] Select effective dominant frequency components whose energy values ​​exceed a preset energy threshold from the characteristic frequency components of the dominant vibration source, and determine the target blocking frequency range based on the frequency distribution range of the effective dominant frequency components;

[0018] The minimum effective main frequency within the target blocking frequency range is used as the starting frequency of the phononic crystal vibration isolation structure in the multi-level optical vibration isolation device, and the maximum effective main frequency is used as the ending frequency.

[0019] Based on the starting frequency and the ending frequency, calculate the required lattice spacing adjustment and scatterer size adjustment for the phononic crystal isolation structure;

[0020] The lattice parameters in the phononic crystal isolation structure are adjusted according to the lattice spacing adjustment amount and the scatterer size adjustment amount to obtain the adjusted phononic crystal isolation structure.

[0021] By using the adjusted phononic crystal isolation structure to block the characteristic frequency vibration component in the characteristic frequency component, the remaining vibration component after the blocking operation is obtained.

[0022] Optionally, the characteristic frequency vibration component in the characteristic frequency component is blocked using the adjusted phonon crystal isolation structure to obtain the remaining vibration component after the blocking operation, including:

[0023] Based on the preset connection relationship, the vibration transmission path between the characteristic frequency vibration component and the dominant vibration source is determined;

[0024] By utilizing the bandgap characteristics of the vibration blocking structure, the characteristic frequency vibration component is blocked, resulting in multiple attenuated vibration components. The vibration blocking structure is obtained by setting the adjusted phonon crystal vibration isolation structure at the key node position of the vibration transmission path.

[0025] Monitor the energy value of the attenuated vibration component, compare the energy value with a preset attenuation threshold, retain the target vibration component with an energy value less than the preset attenuation threshold, and aggregate all target vibration components to obtain the remaining vibration component after the blocking operation.

[0026] Optionally, the vibration amplitude and phase angle of the remaining vibration components are converted to obtain an optical compensation signal, including:

[0027] The remaining vibration components are subjected to spectral decomposition to obtain multiple single-frequency vibration components, and the corresponding vibration amplitude value and vibration phase angle are extracted from each single-frequency vibration component.

[0028] According to the time sequence, the vibration amplitude value and vibration phase angle of each single-frequency vibration component are arranged to obtain the corresponding amplitude sequence and phase sequence;

[0029] Based on the optical system transfer function, the amplitude sequence is converted into a beam angle adjustment sequence, and the timing of beam angle adjustment is determined based on the phase sequence.

[0030] The beam angle adjustment sequence and beam angle adjustment timing of each single-frequency vibration component are correlated to obtain multiple single-frequency compensator sub-signals, and all single-frequency compensator sub-signals are integrated to generate an optical compensation signal.

[0031] Optionally, the beam angle adjustment sequence and beam angle adjustment timing of each single-frequency vibration component are correlated to obtain multiple single-frequency compensator sub-signals, and all single-frequency compensator sub-signals are integrated to generate an optical compensation signal, including:

[0032] The beam angle adjustment sequence and beam angle adjustment timing of each single-frequency vibration component are timestamped to obtain multiple time angle adjustment corresponding groups;

[0033] The corresponding group for each time angle adjustment is converted to obtain a single-frequency compensator sub-signal containing time markers and angle adjustment amounts;

[0034] Based on the time marker, all single-frequency compensator sub-signals are grouped to obtain multiple time signal groups, and the angle adjustment in each time signal group is accumulated to obtain the corresponding comprehensive angle adjustment.

[0035] Based on the time sequence, all time markers and their corresponding integrated angle adjustments are aggregated to form an optical compensation signal.

[0036] Optionally, the optical compensation signal is used to drive a multi-stage optical isolation device to correct the angle of the optical system beam of the strapdown seeker, thereby achieving optical isolation control, including:

[0037] Based on the optical compensation signal, calculate the target deflection angle and angle change rate of the liquid crystal optical deflector in the multi-stage optical vibration isolation device.

[0038] According to the preset drive conversion rules, the target deflection angle is converted into the drive voltage amplitude, the angle change rate is converted into the drive pulse width, and the drive voltage amplitude and drive pulse width are combined to generate a drive signal.

[0039] The driving signal is used to drive the liquid crystal optical deflector to correct the propagation angle of the optical system beam of the strapdown seeker, so as to obtain the optical system beam after angle correction.

[0040] The deviation between the propagation direction of the optical system beam after angle correction and the preset target direction is monitored, and the parameters of the driving signal are dynamically adjusted according to the deviation to achieve optical vibration isolation control.

[0041] Secondly, this application provides a control system for a strapdown seeker multi-stage optical vibration isolation device, comprising:

[0042] The acquisition module is used to acquire mixed vibration data generated by multiple vibration sources using a multi-axis vibration sensor of a strapdown seeker.

[0043] The analysis module is used to analyze the hybrid vibration data to determine the dominant vibration source and the characteristic frequency component of the dominant vibration source in the vibration source.

[0044] The blocking module is used to adjust the lattice parameters of the phononic crystal isolation structure in the multi-level optical isolation device, so that the phononic crystal isolation structure generates a band gap that matches the characteristic frequency component, so as to block the characteristic frequency vibration component in the characteristic frequency component and obtain the remaining vibration component after the blocking operation.

[0045] The conversion module is used to convert the vibration amplitude value and vibration phase angle of the remaining vibration component to obtain an optical compensation signal;

[0046] The correction module is used to drive a multi-stage optical vibration isolation device to correct the angle of the optical system beam of the strapdown seeker using the optical compensation signal, so as to achieve optical vibration isolation control.

[0047] Thirdly, this application provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement a control method for a strapdown seeker multi-stage optical vibration isolation device as described in the first aspect above.

[0048] Fourthly, this application provides a computer storage medium storing a computer program, which, when executed by a computer, implements a control method for a strapdown seeker multi-stage optical vibration isolation device as described in the first aspect.

[0049] This application provides a control method and system for a multi-stage optical vibration isolation device for a strapdown seeker. It utilizes a multi-axis vibration sensor in the strapdown seeker to collect mixed vibration data generated by multiple vibration sources. The mixed vibration data is analyzed to determine the dominant vibration source and its characteristic frequency component. The lattice parameters of the phonon crystal isolation structure in the multi-stage optical vibration isolation device are adjusted to create a bandgap that matches the characteristic frequency component, thus blocking the characteristic frequency vibration component and obtaining the remaining vibration component after blocking. The vibration amplitude and phase angle of the remaining vibration component are converted to obtain an optical compensation signal. This optical compensation signal is used to drive the multi-stage optical vibration isolation device to perform angle correction on the optical system beam of the strapdown seeker, thereby achieving optical vibration isolation control. The technical solution provided in this application utilizes a multi-axis vibration sensor in the strapdown seeker to collect mixed vibration data generated by multiple vibration sources, providing a raw data foundation for subsequent accurate identification and suppression, overcoming the limitation of single-point sensing in failing to reflect the spatial distribution characteristics of vibration. Analysis of the hybrid vibration data enabled effective decoupling of multi-source coupled vibrations and identification of key disturbance components. This allowed the control system to focus on the vibration modes that had the greatest impact on optical axis stability, improving the targeting and efficiency of the control strategy. Adjusting the lattice parameters of the phonon crystal isolation structure to generate a bandgap matching the characteristic frequency components achieved active adaptation and efficient isolation of the dominant vibration frequency band, enhancing the robustness and suppression capability of the mechanical isolation layer under varying operating conditions. Converting the remaining vibration components after isolation into optical compensation signals allowed the compensation commands to accurately reflect the amplitude and phase characteristics of the residual disturbances, providing a basis for precise beam correction. Using this optical compensation signal to drive a multi-stage device for beam angle correction effectively suppressed optical axis jitter, ensuring imaging quality and tracking stability. Furthermore, this application identifies the effective dominant frequency range that needs to be suppressed by screening the characteristic frequency components of the dominant vibration source, and determines the target blocking frequency band accordingly. Using the start and end frequencies of the target blocking frequency band as a reference, the required lattice spacing and scatterer size adjustment of the phononic crystal isolation structure are precisely calculated, and its periodic configuration is dynamically adjusted to form a tunable bandgap that matches the current dominant vibration spectrum, resulting in the adjusted phononic crystal isolation structure. This solves the technical bottleneck of traditional fixed bandgap structures being unable to cope with the dynamic drift of the dominant vibration frequency, and avoids the risk of decreased isolation performance or resonance due to frequency band mismatch.

[0050] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 A flowchart of a control method for a strapdown seeker multi-stage optical vibration isolation device provided in this application;

[0053] Figure 2 A schematic diagram of the control system of a strapdown seeker multi-stage optical vibration isolation device provided in this application;

[0054] Figure 3 A schematic diagram of the structure of a computing device provided in this application. Detailed Implementation

[0055] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0056] In some of the processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not themselves represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first," "second," etc., in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types.

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0058] To address the technical challenge of ensuring optical axis stability in strapdown seekers of high-maneuverability aircraft under complex multi-source vibration environments, this application introduces a multi-axis sensor to perceive hybrid vibrations in real time and identify the dominant vibration source and its key frequency components. This overcomes the limitation of being unable to dynamically drift with the dominant vibration frequency due to a fixed bandgap. Furthermore, it actively adjusts the lattice parameters of the phonon crystal structure to match its bandgap characteristics with the current dominant vibration spectrum, achieving efficient and selective suppression of the main interference energy. This reduces the ineffective adjustment burden on the optical actuator, improves the overall system's response accuracy, environmental adaptability, and energy utilization efficiency, and meets the urgent need for stable and efficient operation of the seeker throughout the entire flight envelope.

[0059] Figure 1 A flowchart illustrating a control method for a multi-stage optical vibration isolation device for a strapdown seeker, as provided in this application embodiment, is shown below. Figure 1 As shown, the method includes:

[0060] Step 101: Use the multi-axis vibration sensor of the strapdown seeker to collect mixed vibration data generated by multiple vibration sources.

[0061] In this step, the multi-axis vibration sensor of the strapdown seeker refers to the sensor mounted on the strapdown seeker, used to collect vibration data in multiple directions. A vibration source refers to an object or component capable of generating vibration, the vibration of which affects the stability of the optical system of the strapdown seeker. Hybrid vibration data refers to data composed of vibration signals from multiple vibration sources.

[0062] In this embodiment, a multi-axis vibration sensor of a strapdown seeker is used to collect vibration data generated by multiple vibration sources, resulting in mixed vibration data containing vibration information from each vibration source.

[0063] Step 102: Analyze the hybrid vibration data to determine the dominant vibration source and its characteristic frequency components.

[0064] In this step, the dominant vibration source refers to the vibration source that generates the most vibration energy and has the greatest impact on the optical system of the strapdown seeker among multiple vibration sources. The characteristic frequency component refers to the frequency information that reflects the vibration characteristics of the dominant vibration source.

[0065] Step 103: Adjust the lattice parameters of the phonon crystal isolation structure in the multi-stage optical isolation device to generate a band gap that matches the characteristic frequency component, so as to block the characteristic frequency vibration component in the characteristic frequency component and obtain the remaining vibration component after the blocking operation.

[0066] In this step, the multi-stage optical isolation device refers to a device used to reduce the impact of vibration on the optical system of the strapdown seeker. The phonon crystal isolation structure refers to the component in the multi-stage optical isolation device used for physical vibration isolation. Lattice parameters refer to parameters describing the arrangement characteristics of lattice units in the phonon crystal isolation structure. The bandgap matching the characteristic frequency components refers to the frequency range generated by the phonon crystal isolation structure that can cover the characteristic frequency components of the dominant vibration source, used to block vibrations within this range. The characteristic frequency vibration component refers to the specific vibration signal portion within the characteristic frequency component; that is, the vibration wave corresponding to the characteristic frequency is the primary target of the phonon crystal isolation structure. The residual vibration component refers to the vibration portion that is not eliminated after being blocked by the phonon crystal isolation structure.

[0067] Step 104: Convert the vibration amplitude value and vibration phase angle of the remaining vibration component to obtain the optical compensation signal.

[0068] In this step, the vibration amplitude value refers to the strength of the vibration signal in the remaining vibration component, and is a parameter describing the vibration intensity. The vibration phase angle refers to the phase state of the vibration signal in the remaining vibration component at different times, and is used to determine the synchronicity of the vibration. The optical compensation signal refers to the signal obtained by converting the vibration amplitude value and vibration phase angle of the remaining vibration component, and is used to drive the multi-stage optical vibration isolation device for optical correction.

[0069] Step 105: Using the optical compensation signal, drive the multi-stage optical vibration isolation device to perform angle correction on the optical system beam of the strapdown seeker, so as to achieve optical vibration isolation control.

[0070] In this step, the optical system beam refers to the optical signal used in the strapdown seeker to detect and aim at the target. The stability of its propagation direction directly affects the working accuracy of the seeker and is the object of angle correction. Optical vibration isolation control refers to the control process that reduces the impact of vibration on the propagation of the optical system beam by adjusting the phonon crystal vibration isolation structure and optical compensation, thereby stabilizing the beam propagation.

[0071] This application embodiment collects mixed vibration data and analyzes the dominant vibration source and characteristic frequency components. It then adjusts the phononic crystal isolation structure to generate a matching bandgap to block the main vibration. Finally, it converts the remaining vibration into an optical compensation signal for angle correction. This achieves multi-level coordinated control from vibration identification to active isolation to precise compensation, improving the vibration resistance and stability of the strapdown seeker optical system and adapting to the working requirements of complex vibration environments.

[0072] This application provides a specific embodiment. Step 102 involves analyzing the hybrid vibration data to determine the dominant vibration source and its characteristic frequency components. This specifically includes the following steps:

[0073] Step 201: Using a blind source separation algorithm, the mixed vibration data is separated into multiple vibration source signals.

[0074] In this step, the blind source separation algorithm refers to an algorithm used to separate unknown independent source signals from multiple mixed observation signals. It is used to decompose mixed vibration data into multiple independent vibration source signals when the characteristics of the vibration source are unknown. The vibration source signal refers to the independent signal corresponding to a single vibration source obtained from the mixed vibration data by the blind source separation algorithm, reflecting the vibration characteristics of that vibration source.

[0075] In this embodiment of the application, a blind source separation algorithm is used to perform signal separation processing on the hybrid vibration data. By analyzing the statistical characteristics of different vibration source signals in the hybrid vibration data, it is decomposed into multiple vibration source signals.

[0076] Step 202: Calculate the square values ​​of vibration displacement, vibration velocity and vibration acceleration at different timestamps in each vibration source signal, and then superimpose all the square values ​​to obtain multiple instantaneous vibration energy values.

[0077] In this step, vibration displacement refers to the physical quantity in the vibration source signal that describes the change in the position of the vibrating body, reflecting the magnitude of the displacement of the vibrating body relative to its equilibrium position at a certain moment. Vibration velocity refers to the physical quantity that describes the rate of change of the vibration body's displacement, which is the rate of change of vibration displacement with respect to time. Vibration acceleration refers to the physical quantity that describes the rate of change of the vibration body's velocity, which is the rate of change of vibration velocity with respect to time. Together, these three quantities reflect the dynamic characteristics of the vibration. Instantaneous vibration energy value refers to the energy value calculated based on the vibration displacement, vibration velocity, and vibration acceleration at a certain timestamp in the vibration source signal, used to reflect the instantaneous energy intensity of the vibration source at that moment.

[0078] In this embodiment of the application, for each vibration source signal, the vibration displacement, vibration velocity and vibration acceleration at different timestamps are extracted, the square values ​​of these three physical quantities are calculated respectively, and the three square values ​​corresponding to each timestamp are superimposed. The calculation formula is: instantaneous vibration energy value = vibration displacement² + vibration velocity² + vibration acceleration², thus obtaining multiple instantaneous vibration energy values.

[0079] Step 203: Integrate the instantaneous vibration energy value over time to obtain the cumulative vibration energy value of each vibration source signal, and take the vibration source signal corresponding to the maximum cumulative vibration energy value as the dominant vibration source.

[0080] In this step, the cumulative vibration energy value refers to the cumulative energy value obtained by integrating all instantaneous vibration energy values ​​of the vibration source signal over time, which is used to reflect the total energy of the vibration source over the entire time range.

[0081] In this embodiment of the application, time integration is performed on all instantaneous vibration energy values ​​of each vibration source signal to obtain the cumulative vibration energy value of each vibration source signal. All cumulative vibration energy values ​​are compared, and the vibration source signal corresponding to the largest cumulative vibration energy value is selected as the dominant vibration source.

[0082] Step 204: Based on the frequency waveform matching relationship in the dominant vibration source, perform spectral decomposition on the dominant vibration source to obtain the dominant frequency component and the corresponding energy value, and combine the dominant frequency component and the corresponding energy value to form the characteristic frequency component of the dominant vibration source.

[0083] In this step, the frequency waveform matching relationship refers to the similarity association between the waveforms of different frequency components in the vibration signal of the dominant vibration source and the preset frequency characteristic waveform, used to identify the main frequency components from complex vibration signals. The dominant frequency component refers to the frequency component with the highest energy proportion in the vibration signal of the dominant vibration source, reflecting the main vibration frequency of the dominant vibration source. The corresponding energy value refers to the magnitude of the energy of the dominant frequency component in the vibration signal, used to measure the vibration intensity of that frequency component.

[0084] In this embodiment, based on the waveform characteristics of different frequency components in the vibration signal of the dominant vibration source, the dominant vibration source is spectrally decomposed through frequency waveform matching relationship to identify the dominant frequency component with the highest energy proportion and its corresponding energy value. Each dominant frequency component and its corresponding energy value are combined to obtain the characteristic frequency components of the dominant vibration source.

[0085] This application embodiment uses a blind source separation algorithm to separate mixed vibration data to obtain vibration source signals, calculates instantaneous vibration energy values ​​and cumulative vibration energy values ​​to determine the dominant vibration source, and then obtains characteristic frequency components through spectral decomposition. This achieves the identification of key interference sources and their core frequencies among multiple vibration sources, providing clear targets for subsequent targeted vibration isolation and improving the targeting and effectiveness of vibration isolation control.

[0086] This application provides a specific embodiment. Step 103 involves adjusting the lattice parameters of the phononic crystal isolation structure in the multi-level optical isolation device to generate a bandgap that matches the characteristic frequency component, thereby blocking the characteristic frequency vibration component and obtaining the remaining vibration component after the blocking operation. The specific steps include:

[0087] Step 301: Select an effective dominant frequency component whose energy value exceeds a preset energy threshold from the characteristic frequency components of the dominant vibration source, and determine the target blocking frequency range based on the frequency distribution range of the effective dominant frequency component.

[0088] In this step, the preset energy threshold refers to the pre-set energy standard used to screen effective dominant frequency components. An effective dominant frequency component refers to the dominant frequency component among the characteristic frequency components of the dominant vibration source whose energy value exceeds the preset energy threshold. The frequency distribution range refers to the interval in which the frequency values ​​of all effective dominant frequency components are located, used to define the frequency range that needs to be blocked. The target blocking frequency range refers to the frequency range that needs to be blocked by the bandgap of the phonon crystal isolation structure.

[0089] In this embodiment, each dominant frequency component and its corresponding energy value are extracted from the characteristic frequency components of the dominant vibration source. The energy value of each dominant frequency component is compared with a preset energy threshold. The dominant frequency component with an energy value greater than the preset energy threshold is selected as the effective dominant frequency component. The frequency value distribution range of all effective dominant frequency components is statistically analyzed, and this range is determined as the target blocking frequency range.

[0090] Step 302: Take the minimum effective main frequency within the target blocking frequency range as the starting frequency of the phonon crystal vibration isolation structure in the multi-level optical vibration isolation device, and take the maximum effective main frequency as the ending frequency.

[0091] In this step, the minimum effective dominant frequency refers to the frequency value of the smallest effective dominant frequency component within the target blocking frequency range, used to determine the starting point of the phononic crystal isolation structure bandgap. The starting frequency refers to the lowest frequency value of the phononic crystal isolation structure bandgap. The maximum effective dominant frequency refers to the frequency value of the largest effective dominant frequency component within the target blocking frequency range, used to determine the ending point of the phononic crystal isolation structure bandgap. The ending frequency refers to the highest frequency value of the phononic crystal isolation structure bandgap.

[0092] In this embodiment of the application, all effective main frequency components within the target blocking frequency range are numerically sorted, and the effective main frequency component with the smallest value is selected as the starting frequency of the phononic crystal vibration isolation structure in the multi-level optical vibration isolation device, and the effective main frequency component with the largest value is selected as the ending frequency of the structure.

[0093] Step 303: Calculate the required lattice spacing adjustment and scatterer size adjustment for the phononic crystal isolation structure based on the starting frequency and the ending frequency.

[0094] In this step, the lattice spacing adjustment refers to the numerical change in lattice spacing required to generate the target bandgap in the phononic crystal isolation structure, and is used to guide the adjustment of the lattice spacing. The scatterer size adjustment refers to the numerical change in scatterer size required to generate the target bandgap in the phononic crystal isolation structure, and is used to guide the adjustment of the scatterer size.

[0095] In this embodiment, the target bandgap range is determined based on the start frequency and the end frequency. Combining the inherent material properties and lattice parameters of the phononic crystal isolation structure, the standard lattice spacing and standard scatterer size corresponding to the target bandgap are calculated through the correlation between material properties and bandgap. The calculation formulas are: lattice spacing adjustment amount = standard lattice spacing - current lattice spacing, scatterer size adjustment amount = standard scatterer size - current scatterer size, thus obtaining the lattice spacing adjustment amount and scatterer size adjustment amount.

[0096] Step 304: Adjust the lattice parameters in the phononic crystal isolation structure according to the lattice spacing adjustment amount and the scatterer size adjustment amount to obtain the adjusted phononic crystal isolation structure.

[0097] In this step, the adjusted phononic crystal isolation structure refers to the phononic crystal isolation structure after the lattice spacing and scatterer size have been adjusted, which can block the characteristic frequency vibration components within this range.

[0098] In this embodiment, the distance between adjacent lattice units in the phononic crystal isolation structure is changed according to the lattice spacing adjustment amount, and the size of the scatterer is changed according to the scatterer size adjustment amount, thereby completing the adjustment of the lattice parameters and obtaining the adjusted phononic crystal isolation structure.

[0099] Step 305: Use the adjusted phonon crystal isolation structure to block the characteristic frequency vibration component in the characteristic frequency component to obtain the remaining vibration component after the blocking operation.

[0100] In this embodiment, the adjusted phononic crystal vibration isolation structure is placed on the vibration transmission path so that its bandgap covers the target blocking frequency range. When the characteristic frequency vibration component in the characteristic frequency component propagates to the structure, the bandgap blocks it. The unblocked vibration part is the remaining vibration component after the blocking operation.

[0101] This application embodiment determines the target blocking frequency range by screening effective dominant frequency components, calculates and adjusts the lattice parameters of the phononic crystal vibration isolation structure based on this range, so that the structure generates a matching bandgap to block the characteristic frequency vibration components, realizing the dynamic matching of the bandgap and the key vibration frequency, solving the limitation of the fixed bandgap of the traditional structure, and improving the pertinence and effectiveness of vibration isolation.

[0102] This application provides a specific embodiment. Step 305 involves using the adjusted phononic crystal isolation structure to block the characteristic frequency vibration component in the characteristic frequency component, thereby obtaining the remaining vibration component after the blocking operation. This specifically includes the following steps:

[0103] Step 311: Determine the vibration transmission path between the characteristic frequency vibration component and the dominant vibration source and the strapdown seeker head according to the preset connection relationship.

[0104] In this step, the preset connection relationship refers to the pre-defined connection information between the dominant vibration source and the strapdown seeker, used to analyze the propagation path of vibration from the source to the seeker. The vibration transmission path refers to the physical path taken by the characteristic frequency vibration component from the dominant vibration source to the strapdown seeker, reflecting the propagation route of the vibration.

[0105] In this embodiment of the application, based on the preset connection relationship, the mechanical connection method, assembly structure and mechanical transmission characteristics between the dominant vibration source and the strapdown guide are analyzed to determine the vibration transmission path through which the characteristic frequency vibration component is transmitted from the dominant vibration source to the strapdown guide.

[0106] Step 312: By utilizing the bandgap characteristics of the vibration isolation structure, the characteristic frequency vibration component is blocked to obtain multiple attenuated vibration components. The vibration isolation structure is obtained by setting the adjusted phonon crystal vibration isolation structure at the key node position of the vibration transmission path.

[0107] In this step, the bandgap characteristic refers to the ability of the adjusted phonon crystal isolation structure to block vibrations within a specific frequency range. The attenuated vibration component refers to the vibrational component with reduced energy after passing through the vibration isolation structure at the characteristic frequency.

[0108] In this embodiment, the adjusted phononic crystal vibration isolation structure is installed at a key node position in the vibration transmission path to form a vibration blocking structure. The band gap characteristics of the vibration blocking structure are used to block the characteristic frequency vibration component that propagates to this location, thereby attenuating the energy of the characteristic frequency vibration component and obtaining multiple attenuated vibration components.

[0109] Step 313: Monitor the energy value of the attenuated vibration component, compare the energy value with a preset attenuation threshold, retain the target vibration component with an energy value less than the preset attenuation threshold, and aggregate all target vibration components to obtain the remaining vibration component after the blocking operation.

[0110] In this step, the preset attenuation threshold refers to a pre-set energy standard used to filter target vibration components, distinguishing weak vibrations that need to be retained. The target vibration component refers to the vibration portion whose energy value is less than the preset attenuation threshold after attenuation.

[0111] In this embodiment, a vibration sensor is used to monitor the energy value of each attenuated vibration component. Each energy value is compared with a preset attenuation threshold, and attenuated vibration components with energy values ​​less than the preset attenuation threshold are selected as target vibration components. All target vibration components are merged to obtain the remaining vibration components after the blocking operation.

[0112] This application embodiment determines the vibration transmission path and sets up a vibration blocking structure. It uses the bandgap characteristic to block the characteristic frequency vibration component and then uses a preset attenuation threshold to filter out the remaining vibration component. This achieves targeted isolation of vibration and extraction of remaining vibration, and improves the synergy of the vibration isolation system.

[0113] This application provides a specific embodiment. Step 104 involves converting the vibration amplitude value and vibration phase angle of the remaining vibration component to obtain an optical compensation signal, specifically including the following steps:

[0114] Step 401: Perform spectral decomposition on the remaining vibration components to obtain multiple single-frequency vibration components, and extract the corresponding vibration amplitude value and vibration phase angle from each single-frequency vibration component.

[0115] In this step, the single-frequency vibration component refers to the vibration signal with a single frequency obtained after spectral decomposition of the remaining vibration components, reflecting the vibration characteristics of a specific frequency in the remaining vibration.

[0116] In this embodiment of the application, the remaining vibration components are processed by a spectrum decomposition algorithm to decompose them into multiple vibration signals with a single frequency, namely single-frequency vibration components. From each single-frequency vibration component, the vibration amplitude value describing the intensity of the vibration and the vibration phase angle describing the time position of the vibration are extracted.

[0117] Step 402: Arrange the vibration amplitude value and vibration phase angle of each single-frequency vibration component according to the time sequence to obtain the corresponding amplitude sequence and phase sequence.

[0118] In this step, the amplitude sequence refers to the sequence formed by arranging all vibration amplitude values ​​of the same single-frequency vibration component in chronological order, which is used for subsequent conversion into angle adjustment values. The phase sequence refers to the sequence formed by arranging all vibration phase angles of the same single-frequency vibration component in chronological order, which is used to determine the timing of angle adjustment.

[0119] In this embodiment, according to the time sequence of vibration signal acquisition, all vibration amplitude values ​​of each single-frequency vibration component are arranged sequentially to form an amplitude sequence, and all vibration phase angles are arranged sequentially to form a phase sequence.

[0120] Step 403: Based on the optical system transfer function, convert the amplitude sequence into a beam angle adjustment sequence, and simultaneously determine the timing of beam angle adjustment based on the phase sequence.

[0121] In this step, the optical system transfer function (OSF) describes the relationship between the amplitude sequence and the beam angle adjustment sequence of the strapdown seeker's optical system, and is used to convert vibration amplitude values ​​into beam angle adjustment values. The beam angle adjustment sequence refers to the sequence obtained after converting the amplitude sequence through the OSF. The beam angle adjustment timing refers to the specific time point determined based on the phase sequence for adjusting the beam angle, ensuring that the adjustment is synchronized with the vibration.

[0122] In this embodiment, based on the optical system transfer function, the correspondence between the vibration amplitude value and the beam angle adjustment amount is established through the optical system transfer function, the amplitude sequence is converted into a beam angle adjustment amount sequence, and the timing of beam angle adjustment is determined according to the time point corresponding to each phase angle in the phase sequence.

[0123] Step 404: Correlate the beam angle adjustment sequence and beam angle adjustment timing of each single-frequency vibration component to obtain multiple single-frequency compensator sub-signals, and integrate all single-frequency compensator sub-signals to generate an optical compensation signal.

[0124] In this step, the single-frequency compensator sub-signal refers to the signal formed by associating the beam angle adjustment sequence of a single single-frequency vibration component with its corresponding beam angle adjustment timing, and is used to compensate for the residual vibration of that frequency individually.

[0125] In this embodiment, the beam angle adjustment sequence of each single-frequency vibration component is associated with the corresponding beam angle adjustment timing to form a single-frequency compensator sub-signal for each single-frequency vibration component. All single-frequency compensator sub-signals are superimposed and integrated along the time axis to obtain an optical compensation signal that can be used to drive optical correction.

[0126] This application embodiment extracts vibration parameters by performing spectral decomposition on the residual vibration components, arranges them into a sequence by time, and then converts them into a beam angle adjustment sequence and beam angle adjustment timing through the optical system transfer function. The optical compensation signal is obtained by correlation and integration, realizing the correspondence between residual vibration and optical compensation, improving the pertinence and accuracy of optical correction, and making up for the shortcomings of single physical vibration isolation.

[0127] This application provides a specific embodiment. Step 404 involves associating the beam angle adjustment sequence and beam angle adjustment timing of each single-frequency vibration component to obtain multiple single-frequency compensation sub-signals, and integrating all single-frequency compensation sub-signals to generate an optical compensation signal. The specific steps include:

[0128] Step 411: Timestamp match the beam angle adjustment sequence and beam angle adjustment timing for each single-frequency vibration component to obtain multiple time angle adjustment corresponding groups.

[0129] In this step, the time angle adjustment amount corresponding group refers to the combination formed by matching the beam angle adjustment amount sequence of the single-frequency vibration component with the beam angle adjustment timing through timestamps.

[0130] In this embodiment of the application, for each single-frequency vibration component, each adjustment amount in its beam angle adjustment amount sequence is matched one by one with the timestamp of the corresponding beam angle adjustment timing, so that each timestamp corresponds to an angle adjustment amount, resulting in multiple time angle adjustment amount corresponding groups.

[0131] Step 412: Convert the corresponding group for each time angle adjustment to obtain a single-frequency compensator sub-signal containing time markers and angle adjustment amounts.

[0132] In this embodiment of the application, the format of each time angle adjustment group is converted, the timestamp is converted into a time mark, and the corresponding angle adjustment is retained to form a signal unit containing the time mark and the angle adjustment. This signal unit is a single-frequency compensation sub-signal.

[0133] Step 413: Based on the time marker, group all single-frequency compensator sub-signals to obtain multiple time signal groups, and accumulate the angle adjustment amount in each time signal group to obtain the corresponding comprehensive angle adjustment amount.

[0134] In this step, the time signal group refers to the signal set formed by classifying all single-frequency compensator signals according to the same time mark; the angle adjustment amount refers to the specific value in the beam angle adjustment amount sequence, reflecting the angle that the beam needs to be adjusted at a certain time point; the comprehensive angle adjustment amount refers to the total adjustment amount obtained by accumulating all angle adjustment amounts in the same time signal group, reflecting the total angle that the beam needs to be adjusted at that time point.

[0135] In this embodiment, based on the time marker, signal units with the same time marker in all single-frequency compensator sub-signals are grouped together to obtain multiple time signal groups. All angle adjustment amounts in each time signal group are summed to obtain the comprehensive angle adjustment amount corresponding to each time marker.

[0136] Step 414: According to the time sequence, aggregate all time markers and corresponding comprehensive angle adjustment amounts to form an optical compensation signal.

[0137] In this embodiment, all time markers and their corresponding integrated angle adjustment amounts are arranged sequentially and integrated into a continuous signal form according to the order of the time markers to form an optical compensation signal.

[0138] This application embodiment achieves the fusion of multi-frequency vibration compensation information by performing timestamp matching, conversion, grouping accumulation and integration on single-frequency compensation sub-signals. The generated optical compensation signal can reflect the total adjustment requirements at each time point, improving the coordination and accuracy of optical compensation.

[0139] This application provides a specific embodiment. Step 105 involves using the optical compensation signal to drive a multi-stage optical vibration isolation device to correct the angle of the optical system beam of the strapdown seeker, thereby achieving optical vibration isolation control. Specifically, this includes the following steps:

[0140] Step 501: Calculate the target deflection angle and angle change rate of the liquid crystal optical deflector in the multi-stage optical vibration isolation device based on the optical compensation signal.

[0141] In this step, the liquid crystal optical deflector refers to the component in a multi-stage optical isolation device used to adjust the beam propagation angle of the optical system. The target deflection angle refers to the angle value to which the liquid crystal optical deflector needs to adjust the optical system beam, reflecting the target position for beam correction. The angle change rate refers to the amount of change in the target deflection angle per unit time, reflecting how quickly the beam angle is adjusted.

[0142] In this embodiment of the application, the comprehensive angle adjustment amount and the corresponding time mark in the optical compensation signal are analyzed, and the target deflection angle that the liquid crystal optical deflector needs to achieve is determined based on the comprehensive angle adjustment amount. The angle change rate is calculated by the difference between the time interval of adjacent time marks and the corresponding angle adjustment amount. The calculation formula is: angle change rate = (comprehensive angle adjustment amount at the next moment - comprehensive angle adjustment amount at the previous moment) ÷ (time mark at the next moment - time mark at the previous moment).

[0143] Step 502: According to the preset drive conversion rules, the target deflection angle is converted into the drive voltage amplitude, the angle change rate is converted into the drive pulse width, and the drive voltage amplitude and drive pulse width are combined to generate a drive signal.

[0144] In this step, the preset drive conversion rule refers to the pre-defined rules for converting mechanical parameters into electrical signal parameters, which guide the generation of the drive signal. The drive voltage amplitude refers to the magnitude of the voltage in the drive signal, which corresponds to the target deflection angle and is used to control the deflection amplitude of the liquid crystal optical deflector. The drive pulse width refers to the duration of the pulse in the drive signal, which corresponds to the angle change rate and is used to control the angle change speed of the liquid crystal optical deflector. The drive signal refers to the electrical signal containing the drive voltage amplitude and the drive pulse width, used to drive the liquid crystal optical deflector to operate.

[0145] In this embodiment of the application, the target deflection angle is converted into the driving voltage amplitude according to the preset driving conversion rule, the angle change rate is converted into the driving pulse width, and the driving voltage amplitude and driving pulse width are combined to form a driving signal containing voltage and pulse information.

[0146] Step 503: Use the driving signal to drive the liquid crystal optical deflector to correct the propagation angle of the optical system beam of the strapdown seeker, and obtain the optical system beam after angle correction.

[0147] In this step, the optical system beam after angle correction refers to the optical system beam whose propagation angle has been adjusted by the liquid crystal optical deflector.

[0148] In this embodiment, the driving signal is input to the liquid crystal optical deflector in the multi-stage optical vibration isolation device to drive the liquid crystal optical deflector to change its optical characteristics to adjust the beam propagation direction, so that the optical system beam of the strapdown seeker is deflected according to the target deflection angle, and the optical system beam after angle correction is obtained.

[0149] Step 504: Monitor the deviation between the propagation direction of the optical system beam after angle correction and the preset target direction, and dynamically adjust the parameters of the driving signal according to the deviation to achieve optical vibration isolation control.

[0150] In this step, the preset target direction refers to the ideal propagation direction of the optical system beam of the strapdown seeker, which is used as a reference for beam angle correction.

[0151] In this embodiment, the propagation direction of the optical system beam after angle correction is monitored in real time by a beam direction monitoring component. The deviation value is obtained by comparing it with a preset target direction. The driving voltage amplitude or driving pulse width of the driving signal is adjusted according to the magnitude and direction of the deviation value so that the deviation is always within the allowable range, thereby realizing optical vibration isolation control.

[0152] This application embodiment calculates deflection parameters based on optical compensation signals and converts them into driving signals to drive a liquid crystal optical deflector to correct the beam angle. At the same time, it dynamically adjusts the driving signals to eliminate deviations, thereby realizing the correction of the optical system beam and improving the dynamic response capability and beam stability of vibration isolation control.

[0153] Figure 2 This application provides a schematic diagram of the control system of a strapdown seeker multi-stage optical vibration isolation device, as shown in the embodiment of the present application. Figure 2 As shown, the system includes:

[0154] The acquisition module 21 is used to acquire mixed vibration data generated by multiple vibration sources using a multi-axis vibration sensor of a strapdown seeker.

[0155] The analysis module 22 is used to analyze the mixed vibration data to determine the dominant vibration source and the characteristic frequency component of the dominant vibration source in the vibration source.

[0156] The blocking module 23 is used to adjust the lattice parameters of the phononic crystal isolation structure in the multi-level optical vibration isolation device, so that the phononic crystal isolation structure generates a band gap that matches the characteristic frequency component, so as to block the characteristic frequency vibration component in the characteristic frequency component and obtain the remaining vibration component after the blocking operation.

[0157] The conversion module 24 is used to convert the vibration amplitude value and vibration phase angle of the remaining vibration component to obtain an optical compensation signal.

[0158] The correction module 25 is used to drive a multi-stage optical vibration isolation device to perform angle correction on the optical system beam of the strapdown seeker using the optical compensation signal, so as to achieve optical vibration isolation control.

[0159] Figure 2 The control system of the strapdown seeker multi-stage optical vibration isolation device described above can execute... Figure 1 The control method for a strapdown seeker multi-stage optical vibration isolation device described in the illustrated embodiment will not be elaborated further on its implementation principle and technical effects. The specific operation methods of each module and unit in the control system of the strapdown seeker multi-stage optical vibration isolation device in the above embodiments have been described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0160] In one possible design, Figure 2 The control system of a strapdown seeker multi-stage optical vibration isolation device in the illustrated embodiment can be implemented as a computing device, such as... Figure 3 As shown, the computing device may include a storage component 31 and a processing component 32.

[0161] The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are invoked and executed by the processing component 32.

[0162] The processing component 32 is used for the above Figure 1 The embodiment describes a control method for a strapdown seeker multi-stage optical vibration isolation device.

[0163] The processing component 32 may include one or more processors to execute computer instructions to complete all or part of the steps in the above-described method. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0164] Storage component 31 is configured to store various types of data to support operations at the terminal. The storage component can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Random Access Memory (RAM), Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0165] Of course, computing devices may also include other components, such as input / output interfaces, display components, communication components, etc.

[0166] Input / output interfaces provide interfaces between processing components and peripheral interface modules, which can be output devices, input devices, etc.

[0167] The communication components are configured to facilitate wired or wireless communication between computing devices and other devices.

[0168] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform. In this case, the computing device can refer to a cloud server, and the aforementioned processing components, storage components, etc., can be basic server resources rented or purchased from the cloud computing platform.

[0169] This application also provides a computer storage medium storing a computer program, which, when executed by a computer, can perform the above-described functions. Figure 1 The embodiment shown illustrates a control method for a strapdown seeker multi-stage optical vibration isolation device.

[0170] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0171] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0172] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method of a multi-stage optical vibration isolation device for a strapdown seeker, characterized by, The application relates to a multi-axis vibration sensor comprising a strapdown seeker, which collects mixed vibration data generated by multiple vibration sources. The mixed vibration data is analyzed to determine a dominant vibration source among the vibration sources and a characteristic frequency component of the dominant vibration source. The lattice parameters of a phononic crystal vibration isolation structure in a multi-stage optical vibration isolation device are adjusted so that the phononic crystal vibration isolation structure generates a band gap matching the characteristic frequency component to block a characteristic frequency vibration component in the characteristic frequency component, thereby obtaining residual vibration components after the blocking operation. The vibration amplitude value and vibration phase angle of the residual vibration components are converted to obtain an optical compensation signal. The optical compensation signal is used to drive the multi-stage optical vibration isolation device to perform angle correction on an optical system beam of the strapdown seeker, thereby realizing optical vibration isolation control. The mixed vibration data is analyzed to determine a dominant vibration source among the vibration sources and a characteristic frequency component of the dominant vibration source, comprising: The mixed vibration data is separated into multiple vibration source signals by using a blind source separation algorithm. The square values of vibration displacement, vibration velocity and vibration acceleration of different time stamps in each vibration source signal are calculated respectively, and all the square values are superimposed to obtain multiple instantaneous vibration energy values. The vibration energy cumulative values of each vibration source signal are obtained by time integration of the instantaneous vibration energy values, and the vibration source signal corresponding to the maximum vibration energy cumulative value is taken as the dominant vibration source. Based on the frequency waveform matching relationship in the dominant vibration source, the dominant vibration source is spectrally decomposed to obtain a main frequency component and a corresponding energy value, and the main frequency component and the corresponding energy value are combined as the characteristic frequency component of the dominant vibration source. The lattice parameters of a phononic crystal vibration isolation structure in a multi-stage optical vibration isolation device are adjusted so that the phononic crystal vibration isolation structure generates a band gap matching the characteristic frequency component to block a characteristic frequency vibration component in the characteristic frequency component, thereby obtaining residual vibration components after the blocking operation, comprising:

2. The method of claim 1, wherein, An effective main frequency component with an energy value exceeding a preset energy threshold is selected from the characteristic frequency component of the dominant vibration source, and a target blocking frequency range is determined according to the frequency distribution range of the effective main frequency component. The minimum effective main frequency in the target blocking frequency range is taken as the starting frequency of the phononic crystal vibration isolation structure in the multi-stage optical vibration isolation device, and the maximum effective main frequency is taken as the terminal frequency. The required lattice spacing adjustment amount and scatterer size adjustment amount of the phononic crystal vibration isolation structure are calculated according to the starting frequency and the terminal frequency. The lattice parameters of the phononic crystal vibration isolation structure are adjusted according to the lattice spacing adjustment amount and the scatterer size adjustment amount to obtain an adjusted phononic crystal vibration isolation structure. The adjusted phononic crystal vibration isolation structure is used to block the characteristic frequency vibration component in the characteristic frequency component, thereby obtaining residual vibration components after the blocking operation. The adjusted phononic crystal vibration isolation structure is used to block the characteristic frequency vibration component in the characteristic frequency component, thereby obtaining residual vibration components after the blocking operation, comprising:

3. The method of claim 2, wherein, ​ According to a preset connection relationship, a vibration transmission path between the characteristic frequency vibration component and the strapdown seeker is determined; The characteristic frequency vibration component is blocked by a band gap characteristic of a vibration blocking structure, and a plurality of attenuated vibration components are obtained, the vibration blocking structure being arranged on a key node position of the vibration transmission path by the adjusted phononic crystal vibration isolation structure; The energy values of the attenuated vibration components are monitored, and the energy values are compared with a preset attenuation threshold value, target vibration components with energy values less than the preset attenuation threshold value are retained, and all target vibration components are aggregated to obtain residual vibration components after blocking operation.

4. The method of claim 1, wherein, The vibration amplitude values and vibration phase angles of the residual vibration components are converted to obtain an optical compensation signal, including: The residual vibration components are subjected to frequency spectrum decomposition to obtain a plurality of single-frequency vibration components, and corresponding vibration amplitude values and vibration phase angles are extracted from each single-frequency vibration component; According to a time sequence, the vibration amplitude values and vibration phase angles of each single-frequency vibration component are arranged to obtain corresponding amplitude sequences and phase sequences; According to an optical system transfer function, the amplitude sequences are converted into beam angle adjustment amount sequences, and the beam angle adjustment timing is determined according to the phase sequences; The beam angle adjustment amount sequences and the beam angle adjustment timing of each single-frequency vibration component are associated to obtain a plurality of single-frequency compensation sub-signals, and all single-frequency compensation sub-signals are integrated to generate an optical compensation signal.

5. The method of claim 4, wherein, The beam angle adjustment amount sequences and the beam angle adjustment timing of each single-frequency vibration component are associated to obtain a plurality of single-frequency compensation sub-signals, and all single-frequency compensation sub-signals are integrated to generate an optical compensation signal, including: The beam angle adjustment amount sequences and the beam angle adjustment timing of each single-frequency vibration component are time-stamped to obtain a plurality of time-angle adjustment amount corresponding groups; Each time-angle adjustment amount corresponding group is converted to obtain a single-frequency compensation sub-signal containing a time marker and an angle adjustment amount; According to the time marker, all single-frequency compensation sub-signals are grouped to obtain a plurality of time signal groups, and the angle adjustment amounts in each time signal group are accumulated to obtain a corresponding comprehensive angle adjustment amount; According to a time sequence, all time markers and corresponding comprehensive angle adjustment amounts are aggregated to form an optical compensation signal.

6. The method of claim 1, wherein, The optical compensation signal is used to drive a multi-stage optical vibration isolation device to perform angle correction on an optical system beam of the strapdown seeker, so as to realize optical vibration isolation control, including: According to the optical compensation signal, a target deflection angle and an angle change rate of a liquid crystal optical deflector in the multi-stage optical vibration isolation device are calculated; According to a preset drive conversion rule, the target deflection angle is converted into a drive voltage amplitude, and the angle change rate is converted into a drive pulse width, and the drive voltage amplitude and the drive pulse width are combined to generate a drive signal; The liquid crystal optical deflector is driven by the drive signal to correct the propagation angle of the optical system beam of the strapdown seeker, and an angle-corrected optical system beam is obtained. The deviation between the propagation direction of the angle-corrected optical system light beam and the preset target direction is monitored, and the parameters of the driving signal are dynamically adjusted according to the deviation to realize optical vibration isolation control.

7. A control system for a strapdown seeker multi-stage optical vibration isolation device, characterized in that, The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker. The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker.

8. A computing device, comprising: The application relates to a control method of a multi-stage optical vibration isolation device for a strapdown seeker.

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