Satellite vibration suppression system and method, storage medium and computer program product

Abstract

The invention discloses a satellite vibration suppression system and method, a storage medium and a computer program product. The system comprises a passive vibration isolation module used for isolating first vibration generated by satellite vibration source equipment; the active suppression module is used for counteracting second vibration generated by the satellite vibration source equipment; wherein the second vibration is residual vibration except the first vibration isolated by the passive vibration isolation module, and the vibration frequency of the first vibration is higher than that of the second vibration. The technical problem that the effective load performance of a satellite is limited due to the fact that a traditional single passive or active vibration suppression method cannot effectively cover broadband vibration from high frequency to low frequency is solved.

Description

Technical Field

[0001] This invention relates to the field of spacecraft vibration control technology, and more specifically, to a satellite vibration suppression system, method, storage medium, and computer program product. Background Technology

[0002] With the rapid development of Earth observation, space science exploration, and satellite communication technologies, the requirements for pointing accuracy and attitude stability of satellite payloads (such as high-resolution cameras, precision pointing mechanisms, and interferometers) are increasingly stringent, reaching the arcsecond or even sub-arcsecond level. However, during satellite operation, various unavoidable micro-vibration sources exist within the satellite platform, such as reaction wheels, control moment gyroscopes, Stirling refrigerators, and solar array drive mechanisms. These devices generate broadband (typically 1Hz to 1000Hz) minute disturbances and torques during normal operation. Although their amplitudes are small, they are transmitted to sensitive payloads through the satellite structure, causing jitter in the payload's line of sight and image blurring, severely degrading payload performance. Related technologies typically employ single passive or active vibration suppression methods to suppress satellite micro-vibrations. However, these methods cannot effectively cover broadband vibrations from high to low frequencies, thus limiting the performance of satellite payloads.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a satellite vibration suppression system, method, storage medium, and computer program product to at least solve the technical problem that the satellite payload performance is limited because traditional single passive or active vibration suppression methods cannot effectively cover broadband vibrations from high frequency to low frequency.

[0005] According to one aspect of the present invention, a satellite vibration suppression system is provided, which is disposed between a satellite vibration source device and the main structure of the satellite. The satellite vibration suppression system includes: a passive vibration isolation module for isolating a first vibration generated by the satellite vibration source device; and an active suppression module for counteracting a second vibration generated by the satellite vibration source device. The second vibration is a residual vibration that is isolated from the first vibration by the passive vibration isolation module, and the vibration frequency of the first vibration is higher than the vibration frequency of the second vibration.

[0006] Optionally, the passive vibration isolation module includes: at least one flexible connector, wherein a first end of the at least one flexible connector is connected to the satellite vibration source device, and a second end of the at least one flexible connector is connected to the actuator platform.

[0007] Optionally, at least one flexible connector includes a metal rubber isolator or a wire rope isolator, and at least one flexible connector has an internally integrated passive damping material.

[0008] Optionally, the active suppression module includes: a sensor array, a signal processing and controller, and multiple actuators disposed between the actuator platform and the satellite main structure; the sensor array is used to generate a residual vibration signal based on the second vibration; the signal processing and controller is used to generate a control signal based on the residual vibration signal; and the multiple actuators are used to cancel the second vibration under the drive of the control signal.

[0009] Optionally, the multiple actuators include piezoelectric ceramic actuators or voice coil motors, and the multiple actuators are distributed along multiple spatial directions.

[0010] Optionally, the sensor array includes at least one triaxial accelerometer, and the sensor array is disposed at at least one designated location on the actuator platform.

[0011] According to another aspect of the present invention, a satellite vibration suppression method is also provided. The satellite vibration suppression method is applied to the satellite vibration suppression system in the present invention. The satellite vibration suppression method includes: isolating a first vibration generated by a satellite vibration source device using a passive vibration isolation module; and offsetting a second vibration generated by the satellite vibration source device using an active suppression module; wherein the second vibration is a residual vibration other than the first vibration isolated by the passive vibration isolation module, and the vibration frequency of the first vibration is higher than the vibration frequency of the second vibration.

[0012] Optionally, using an active suppression module to counteract the second vibration generated by the satellite vibration source device includes: using a sensor array to collect the residual vibration signal corresponding to the second vibration; using signal processing and a controller to generate a control signal corresponding to the residual vibration signal; and using multiple vibrators to counteract the second vibration under the drive of the control signal.

[0013] Optionally, generating a control signal corresponding to the residual vibration signal using signal processing and a controller includes: using signal processing and a controller, taking the residual vibration signal as an error signal, and generating a control signal through an adaptive control strategy, wherein the control signal and the residual vibration signal have the same amplitude and opposite phase.

[0014] Optionally, the satellite vibration suppression method in this embodiment of the invention further includes: acquiring the operating parameters of the satellite vibration source equipment; and adjusting the adaptive control strategy in real time based on the operating parameters.

[0015] According to another aspect of the present invention, a satellite vibration suppression device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the satellite vibration suppression method of the present invention during runtime.

[0016] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the storage medium is located to execute the satellite vibration suppression method of the present invention.

[0017] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the satellite vibration suppression method of the present invention.

[0018] According to another aspect of the present invention, a chip system is also provided, comprising: a processor for calling and running a computer program from a memory, such that a communication device equipped with the chip system performs the satellite vibration suppression method of the present invention.

[0019] In this embodiment of the invention, a satellite vibration suppression system is installed between the satellite vibration source device and the satellite main structure. The satellite vibration suppression system includes a passive vibration isolation module and an active suppression module. The passive vibration isolation module is used to isolate the first vibration generated by the satellite vibration source device, and the active suppression module is used to counteract the second vibration generated by the satellite vibration source device. The second vibration is a residual vibration that is isolated from the first vibration by the passive vibration isolation module. The vibration frequency of the first vibration is higher than that of the second vibration. This achieves the purpose of weakening high-frequency vibration and actively eliminating low-frequency residual vibration without affecting the overall structure and function of the satellite. This improves the pointing accuracy and stability of the satellite payload and solves the technical problem that the performance of the satellite payload is limited because traditional single passive or active vibration suppression methods cannot effectively cover the wide-band vibration from high frequency to low frequency. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0021] Figure 1 This is a structural block diagram of a satellite vibration suppression system according to one embodiment of the present invention;

[0022] Figure 2 This is a flowchart of a satellite vibration suppression method according to one embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of a satellite vibration suppression system according to one embodiment of the present invention;

[0024] Figure 4This is a schematic diagram of another satellite vibration suppression system according to one embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] With the rapid development of Earth observation, space science exploration, and satellite communication technologies, the requirements for pointing accuracy and attitude stability of satellite payloads (such as high-resolution cameras, precision pointing mechanisms, and interferometers) are increasingly stringent, reaching the arcsecond or even sub-arcsecond level. However, during satellite operation, various unavoidable micro-vibration sources exist within the satellite platform, such as reaction wheels, control moment gyroscopes, Stirling refrigerators, and solar array drive mechanisms. These devices generate small perturbation forces and torques over a wide frequency band (typically 1Hz to 1000Hz) during normal operation. Although their amplitude is small, they are transmitted to sensitive payloads through the satellite structure, causing jitter in the payload's line of sight and image blurring, severely degrading payload performance. Related technologies typically employ single passive or active vibration suppression methods to suppress satellite micro-vibrations. However, these methods cannot effectively cover a wide frequency band of vibrations from low to high frequencies, thus limiting the performance of satellite payloads.

[0028] Specifically, in related technologies, the suppression of satellite micro-vibrations mainly employs two approaches: passive vibration isolation and active control. Passive vibration isolation technologies, such as those using metal-rubber, steel wire rope isolators, or viscoelastic damping materials, are primarily designed for mid-to-high frequency vibrations and offer advantages such as simple structure, high reliability, and no need for external energy. However, passive vibration isolation has limited effectiveness in suppressing low-frequency vibrations (especially those close to the satellite's attitude control bandwidth, such as 1-10Hz), and there are inherent contradictions between vibration isolation and load-bearing capacity, as well as between static and dynamic stiffness, resulting in limited design optimization freedom. Active vibration control technology uses sensors, actuators, and controllers to form a closed-loop system, generating forces opposite to the disturbance in real time to counteract the vibration. Theoretically, it has superior performance in the low-frequency band, but existing solutions are typically limited by the contradiction between system complexity and reliability, high energy and weight costs, and the risk of "over-control" (i.e., overly "smart" and fast active control algorithms may dynamically couple with the satellite's attitude control system (ACS), causing instability or even amplifying vibrations in certain frequency bands).

[0029] Figure 1 This is a structural block diagram of a satellite vibration suppression system according to one embodiment of the present invention. The satellite vibration suppression system is disposed between the satellite vibration source equipment and the main structure of the satellite, such as... Figure 1 As shown, the system includes:

[0030] Passive vibration isolation module 101 is used to isolate the first vibration generated by the satellite vibration source equipment;

[0031] The active suppression module 102 is used to counteract the second vibration generated by the satellite vibration source equipment;

[0032] The second vibration is a residual vibration that is isolated from the first vibration by a passive vibration isolation module. The vibration frequency of the first vibration is higher than that of the second vibration.

[0033] The aforementioned satellite vibration sources refer to various mechanical and electronic devices, either internal or external to the satellite. These devices generate vibrations during operation, which can affect the overall stability of the satellite and the performance of its payloads. Specifically, satellite vibration sources include, but are not limited to, reaction flywheels, control moment gyroscopes, Stirling refrigerators, solar array drive mechanisms, thrusters, antenna movement mechanisms, camera shutters, and robotic arms for data storage devices. The normal operation of these devices, such as the acceleration and deceleration of reaction flywheels, the compression and release cycles of Stirling refrigerators, the ignition and shutdown of thrusters, and the movement of robotic arms, all generate vibrations of different frequencies and amplitudes. The energy generated by these vibrations is transmitted through the satellite's structural platform, potentially affecting the working accuracy and data quality of the satellite's payloads. Therefore, effectively controlling and suppressing the vibrations of satellite vibration sources is crucial for maintaining stable satellite operation and ensuring payload performance.

[0034] The aforementioned first vibration refers to the higher-frequency vibration generated by the satellite vibration source equipment. Specifically, the frequency range of the first vibration is usually from 10Hz to 1000Hz, and its high-frequency characteristics mainly originate from the rapid mechanical movement inside the satellite vibration source equipment, such as the minute movement of precision instruments, high-frequency noise generated by electronic equipment, or vibrations generated by the excitation of higher-order natural frequencies of the structure, as well as other possible transient disturbances.

[0035] For example, the unbalanced mass inside a reaction flywheel during rapid acceleration or deceleration generates high-frequency vibrations. Similarly, the rapid pressure changes during compression and release in a Stirling refrigerator's operating cycle also induce high-frequency vibrations. Likewise, the electromagnetic force fluctuations of the drive motor in a solar array drive mechanism during deployment or angle adjustment can generate high-frequency disturbances.

[0036] By setting up passive vibration isolation modules to isolate the first vibration, high-frequency vibration energy can be effectively absorbed and dissipated, thereby forming a barrier in the vibration transmission path, reducing the amplitude and energy of high-frequency vibration, protecting the satellite's precision equipment and structure from interference by high-frequency vibration, and thus improving the stability of the satellite system.

[0037] The aforementioned second vibration refers to the low-frequency vibration that remains after the first vibration has been isolated by the passive vibration isolation module. Specifically, the frequency range of the second vibration is typically from 1Hz to 10Hz, and its low-frequency characteristics mainly originate from the periodic operation of the satellite vibration source equipment, inertial effects, or inherent vibration modes related to the stiffness and mass distribution of the satellite structural platform. Although the second vibration is low in frequency and changes slowly, its long duration can lead to significant disturbances to the satellite platform and payload due to its cumulative effect.

[0038] For example, when a control moment gyroscope performs attitude correction, the inertial torque of its rotor generates low-frequency vibrations. The frequency of these vibrations is related to the gyroscope's operating speed and the platform's response time, typically falling below a few hertz. Stirling refrigerators, during long-term operation, generate low-frequency vibrations corresponding to their operating frequency due to the periodicity of their internal thermodynamic processes; these vibrations are difficult to completely eliminate even when the equipment is running stably. When a satellite thruster ignites, the thrust it generates not only causes transient high-frequency vibrations but also low-frequency platform disturbances, especially when the thruster's ignition frequency is close to the satellite's natural frequency. The robotic arms of camera shutters or data storage devices generate low-frequency inertial vibrations during movement. These vibrations can cause slight displacements of the satellite platform, affecting high-precision imaging or data read / write accuracy.

[0039] By setting up an active suppression module, residual low-frequency vibrations after passive vibration isolation can be precisely canceled, further improving the vibration suppression effect and ensuring that the satellite's payload can maintain high stability even under minor low-frequency disturbances, thereby significantly enhancing the satellite's ability to perform missions in orbit.

[0040] In this embodiment of the invention, a satellite vibration suppression system is installed between the satellite vibration source device and the satellite's main structure. The satellite vibration suppression system includes a passive vibration isolation module and an active suppression module. The passive vibration isolation module is used to isolate the first vibration generated by the satellite vibration source device, and the active suppression module is used to counteract the second vibration generated by the satellite vibration source device. The second vibration is a residual vibration that is isolated from the first vibration by the passive vibration isolation module. The vibration frequency of the first vibration is higher than that of the second vibration. This achieves the purpose of weakening high-frequency vibration and actively eliminating low-frequency residual vibration without affecting the overall structure and function of the satellite. This improves the pointing accuracy and stability of the satellite payload and solves the technical problem that the performance of the satellite payload is limited because traditional single passive or active vibration suppression methods cannot effectively cover broadband vibrations from high frequency to low frequency.

[0041] Optionally, the passive vibration isolation module includes: at least one flexible connector, wherein a first end of the at least one flexible connector is connected to the satellite vibration source device, and a second end of the at least one flexible connector is connected to the actuator platform.

[0042] The aforementioned actuator platform refers to a key structural component located between the passive vibration isolation module and the active suppression module. Specifically, the actuator platform is a rigid structure whose main function is to serve as a common connection point for the passive vibration isolation module and the active suppression module. On one hand, at least one flexible connector in the passive vibration isolation module has its first end connected to the satellite vibration source equipment and its second end connected to the actuator platform. This ensures that the vibration of the satellite vibration source equipment is effectively transmitted to the actuator platform, while the vibration isolation characteristics of the flexible connector reduce high-frequency vibrations.

[0043] The aforementioned flexible connectors refer to components with specific vibration isolation properties, used to connect satellite vibration source equipment and actuator platforms. Specifically, flexible connectors are typically made of composite materials or specially designed mechanical structures, capable of effectively attenuating and isolating high-frequency vibrations while maintaining sufficient strength and stability to support the weight of the satellite vibration source equipment and transmit low-frequency vibrations to the active suppression module.

[0044] For example, flexible connectors may include, but are not limited to, metal-rubber isolators, wire rope isolators, viscoelastic damping materials, spring-damper combinations, air cushion isolators, magnetorheological or electrorheological isolators, and carbon fiber braided isolators. Specifically, viscoelastic damping materials such as polyurethane foam and silicone can absorb and dissipate vibration energy through their inherent damping characteristics, making them suitable for vibration isolation in specific frequency bands. Spring-damper combinations can provide basic vibration isolation through springs and dissipate vibration energy through dampers, thus providing effective vibration isolation performance across multiple frequency bands. Air cushion isolators achieve vibration isolation using air pressure principles and are suitable for applications requiring low static stiffness and high dynamic vibration isolation. Magnetorheological or electrorheological isolators adjust vibration isolation characteristics by utilizing magnetic fields or currents to change material properties, making them suitable for adaptive vibration isolation under dynamic conditions. Carbon fiber braided isolators are typically made of lightweight, high-strength carbon fiber materials and achieve vibration isolation through a special braided structure, making them suitable for designs that prioritize lightweight construction.

[0045] Based on the above optional embodiments, the passive vibration isolation module includes at least one flexible connector, wherein a first end of the at least one flexible connector is connected to the satellite vibration source equipment, and a second end of the at least one flexible connector is connected to the actuator platform, which can effectively isolate and attenuate high-frequency vibrations generated by the satellite vibration source equipment. Specifically, the flexible connector, with its inherent damping characteristics and flexible structure, can provide good vibration isolation in the high-frequency band, reduce the transmission of vibration energy to the satellite structural platform, thereby protecting the payload on the satellite from the influence of high-frequency vibrations and maintaining its working accuracy and stability.

[0046] Optionally, at least one flexible connector includes a metal rubber isolator or a wire rope isolator, and at least one flexible connector has an internally integrated passive damping material.

[0047] The aforementioned metal-rubber vibration isolator is a vibration isolation element made of composite materials, combining the high strength of metal and the high damping properties of rubber. Structurally, the metal-rubber vibration isolator is typically composed of multiple layers of alternating metal sheets and rubber layers, bonded together to form a unified whole. When subjected to vibration, the rubber layers absorb vibrational energy and convert it into heat, while the metal layers provide necessary structural support, ensuring the isolator's stiffness and stability. Specifically, the damping performance of the metal-rubber vibration isolator can be optimized by adjusting the ratio and thickness of the metal and rubber layers, as well as the stacking method, to achieve excellent vibration isolation within a specific frequency range.

[0048] The aforementioned wire rope vibration isolator is a device that utilizes the flexibility and self-damping characteristics of wire rope to achieve vibration isolation. It typically consists of a central rigid material (such as metal or composite material) and multiple strands of wire rope surrounding the central material. One end of the wire rope is fixed to the central material, while the other end is connected to a satellite structure or actuator platform. When the wire rope isolator is subjected to vibration, the tension and bending of the wire rope converts the vibration energy into frictional energy between the wires, thus dissipating the vibration. Specifically, wire rope vibration isolators are suitable for applications requiring high load-bearing capacity while providing excellent vibration isolation.

[0049] The aforementioned passive damping material refers to a special material added to a structure to increase its damping, thereby absorbing and dissipating vibrational energy. Specifically, passive damping materials possess high internal friction and energy dissipation capabilities. Common passive damping materials include, but are not limited to, viscoelastic damping materials, magnetorheological fluids, and acoustic damping materials.

[0050] Specifically, the passive damping material in a metal-rubber isolator is the metal-rubber itself. Metal-rubber is a three-dimensional network structure woven from metal wires. This structure generates internal friction and deformation energy dissipation when subjected to vibration, thus providing damping. The damping characteristics of metal-rubber originate from its nonlinear elastic behavior and the sliding friction between the metal wires, maintaining stable performance over a wide temperature range, making it suitable for extreme environments such as spacecraft. In contrast, in a wire rope isolator, the passive damping material refers to a special material attached to or around the isolator, such as a viscoelastic damping material. Viscoelastic materials possess mechanical properties that vary with temperature and frequency, absorbing vibration energy within a specific frequency range and converting it into heat energy for dissipation, thereby reducing vibration propagation. These materials are typically designed as layered structures sandwiched between two metal plates, or as a coating covering the surface of the wire rope isolator, providing a damping effect through shear or compressive deformation.

[0051] Based on the above optional embodiments, at least one flexible connector has an internally integrated passive damping material that can effectively absorb and convert high-frequency vibration energy, thereby reducing the propagation of vibration at the source and achieving efficient isolation and dissipation of high-frequency micro-vibrations.

[0052] Optionally, the active suppression module includes: a sensor array, a signal processing and controller, and multiple actuators disposed between the actuator platform and the satellite main structure; the sensor array is used to generate a residual vibration signal based on the second vibration; the signal processing and controller is used to generate a control signal based on the residual vibration signal; and the multiple actuators are used to cancel the second vibration under the drive of the control signal.

[0053] The aforementioned sensor array consists of a series of high-precision sensors, including but not limited to multi-axis accelerometers and / or gyroscopes. By placing the sensor array at key locations on the actuator platform, the vibration state of the actuator platform can be monitored and quantified in real time. Specifically, the sensor array can capture vibration information in various spatial directions, including but not limited to translational and rotational vibrations, and its output signals contain key parameters such as the vibration frequency, phase, and amplitude of the actuator platform. Through the sensor array, micro-vibrations that remain on the actuator platform after being processed by the passive vibration isolation module can be accurately identified.

[0054] The aforementioned residual vibration signal refers to the low-frequency vibration signal that still propagates between the actuator platform and the satellite's main structure after initial processing by the passive vibration isolation module. Specifically, in this embodiment of the invention, the passive vibration isolation module is positioned between the satellite vibration source equipment and the actuator platform. Through its inherent damping and vibration isolation characteristics, it can effectively absorb and reduce the energy of high-frequency vibrations, thereby reducing the direct impact of high-frequency vibrations on the satellite's main structure and isolating high-frequency vibrations. However, the passive vibration isolation module has limited suppression effect on low-frequency vibrations and cannot completely eliminate low-frequency disturbances similar to the satellite's attitude control frequency. Therefore, even after processing by the passive module, some residual low-frequency vibrations may still exist in the satellite's main structure.

[0055] The aforementioned signal processing and controller is responsible for receiving residual vibration signals from the sensor array, analyzing and processing them, and then generating precise control signals based on the analysis results of the residual vibration signals to drive the actuator to suppress low-frequency vibrations.

[0056] Based on the above optional embodiments, a residual vibration signal is generated by a sensor array based on the second vibration, and then a control signal is generated by a signal processing and controller based on the residual vibration signal. Finally, multiple actuators are used to cancel the second vibration under the drive of the control signal, which can reduce the vibration impact that remains after passing through the passive vibration isolation module and improve the working stability and accuracy of the satellite payload.

[0057] Optionally, the multiple actuators include piezoelectric ceramic actuators or voice coil motors, and the multiple actuators are distributed along multiple spatial directions.

[0058] The aforementioned piezoelectric ceramic actuator refers to a device that uses the piezoelectric effect to generate displacement or force. Piezoelectric ceramic materials possess extremely high electromechanical conversion efficiency and fast response speed, directly converting electric field intensity into mechanical displacement or stress. Therefore, using a piezoelectric ceramic actuator can accurately generate the required reverse force to counteract residual vibrations filtered by the passive vibration isolation module. Furthermore, piezoelectric ceramic actuators are small in size and lightweight, effectively reducing the additional burden on the satellite structure, and also feature low power consumption, making them suitable for applications in resource-constrained space environments.

[0059] The aforementioned voice coil motor refers to a high-precision, fast-response linear or rotary motor, typically consisting of one or more voice coils (i.e., flat coils) and a permanent magnet. Its working principle is based on Ampere's law, meaning that when current flows through the voice coil, the magnetic field between the voice coil and the permanent magnet generates a force, thereby driving the motor. Specifically, the high-precision control capability of the voice coil motor allows it to precisely generate the required direction and magnitude of force according to signal processing and controller instructions to counteract residual vibrations.

[0060] For example, multiple piezoelectric ceramic actuators or voice coil motors can be installed between the actuator platform and the satellite's main structure in a specific geometric layout to achieve multi-degree-of-freedom active control of translational and rotational vibrations. Specifically, translational vibration refers to the linear vibration of the satellite's main structure in three-dimensional space, i.e., vibration along the x, y, and z axes. Translational vibration may be caused by factors such as the operation of internal satellite equipment, small external non-uniform thrust, or gravitational gradients from celestial bodies, which can easily lead to linear displacement of the payload's line of sight, thus affecting the clarity of imaging or the accuracy of measurements. Rotational vibration refers to the rotational vibration of the satellite's main structure around its center of mass, i.e., rotational vibration around the x, y, and z axes. Rotational vibration is usually generated by the starting, acceleration, deceleration, or attitude adjustment operations of reaction flywheels, control moment gyroscopes, or other rotating devices, which can easily cause the payload's line of sight to rotate or oscillate, similarly severely interfering with the normal operation of the payload.

[0061] For example, four vertically oriented piezoelectric ceramic actuators can be installed between the actuator platform and the satellite main structure to control translational vibrations in three directions. Simultaneously, two horizontally oriented voice coil motors can be installed between the actuator platform and the satellite main structure to control rotational vibrations around three axes.

[0062] Based on the above optional embodiments, by setting multiple actuators distributed along multiple spatial directions, it is possible to achieve all-round, multi-degree-of-freedom active control of vibration, counteract various forms of low-frequency vibration, including translational and rotational vibration, thereby improving the satellite vibration suppression system's adaptability and suppression effect to complex vibration fields, and ensuring the stable operation of the satellite payload.

[0063] Optionally, the sensor array includes at least one triaxial accelerometer, and the sensor array is disposed at at least one designated location on the actuator platform.

[0064] The aforementioned triaxial accelerometer refers to a sensor capable of simultaneously measuring the acceleration of an object in three-dimensional space along three orthogonal axes (usually the X, Y, and Z axes). Specifically, the core technology of a triaxial accelerometer is based on micro-electro-mechanical systems (MEMS) or sensitive materials such as quartz crystals and piezoelectric ceramics. It detects the relative displacement changes of a mass in different directions, converts them into electrical signals, and then calculates the acceleration value.

[0065] Specifically, placing at least one triaxial accelerometer at at least one designated location on the actuator platform ensures that the sensor array can accurately reflect the critical areas of the actuator platform affected by vibration.

[0066] For example, the at least one designated location mentioned above can be the center point, edge, or key point on the expected vibration propagation path of the actuator platform to ensure comprehensive detection of the vibration state of the actuator platform. By setting multiple triaxial accelerometers at different designated locations, a sensor array can be constructed, thereby improving the accuracy and reliability of vibration detection.

[0067] Based on the above optional embodiments, the sensor array includes at least one triaxial accelerometer, and the sensor array is disposed at at least one designated position on the actuator platform, which can monitor the low-frequency vibrations of the actuator platform in all directions with high precision, and then generate residual vibration signals based on the low-frequency vibrations.

[0068] Figure 2 This is a flowchart of a satellite vibration suppression method according to one embodiment of the present invention. The satellite vibration suppression method is applied to the satellite vibration suppression system in the embodiment of the present invention, such as... Figure 2 As shown, the method includes:

[0069] Step S21: Use a passive vibration isolation module to isolate the first vibration generated by the satellite vibration source equipment;

[0070] Step S22: The second vibration generated by the satellite vibration source equipment is counteracted using the active suppression module;

[0071] The second vibration is a residual vibration that is isolated from the first vibration by a passive vibration isolation module. The vibration frequency of the first vibration is higher than that of the second vibration.

[0072] Figure 3 This is a schematic diagram of a satellite vibration suppression system according to one embodiment of the present invention, such as... Figure 3 As shown, the satellite vibration suppression system is installed between the flywheel mounting interface and the satellite's main structure to suppress micro-vibrations generated by the reaction flywheel. The passive vibration isolation module consists of four rectangularly arranged metal-rubber isolators, each connected to the flywheel mounting surface via bolts at its upper end and to a rigid actuator platform at its lower end. The active suppression module includes four piezoelectric ceramic actuators, vertically mounted between the actuator platform and the satellite's main structure, evenly distributed to provide symmetrical control forces. A triaxial accelerometer is installed at the center of the actuator platform to measure the vibration acceleration transmitted to the satellite's main structure. The signal processing and controller receives signals from the accelerometer, runs the control program, and sends drive signals to the four piezoelectric ceramic actuators.

[0073] For example, when the above-mentioned satellite vibration suppression system is working, the broadband vibration of the flywheel is first attenuated by the metal rubber vibration isolator, and the residual low-frequency vibration is detected by the triaxial accelerometer. Furthermore, the signal processing and controller can calculate the inverse control signal based on the residual vibration signal, drive the piezoelectric ceramic stack actuator to apply a counteracting force to the main structure of the satellite, thereby achieving hybrid suppression of micro-vibrations.

[0074] Figure 4 This is a schematic diagram of another satellite vibration suppression system according to one embodiment of the present invention, such as... Figure 4 As shown, this satellite vibration suppression system is used to suppress the vibration of the onboard Stirling refrigerator. The passive vibration isolation module employs six wire rope isolators with triaxial stiffness decoupling to better isolate vibrations in all directions. In the active suppression module, in addition to four vertical piezoelectric ceramic stack actuators, two horizontal voice coil motors are added to achieve multi-degree-of-freedom control of translational and rotational vibrations. The sensor array is also correspondingly increased to two triaxial accelerometers, arranged diagonally on the actuator platform to more accurately reconstruct the vibration modes of the actuator platform.

[0075] Based on the above steps S21 to S22, the first vibration generated by the satellite vibration source equipment is isolated by the passive vibration isolation module, and the second vibration generated by the satellite vibration source equipment is counteracted by the active suppression module. This achieves the goal of reducing high-frequency vibration and actively eliminating low-frequency residual vibration without affecting the overall structure and function of the satellite. This improves the pointing accuracy and stability of the satellite payload and solves the technical problem that the performance of the satellite payload is limited because traditional single passive or active vibration suppression methods cannot effectively cover the wide frequency band vibration from high frequency to low frequency.

[0076] Optionally, in step S22, using the active suppression module to counteract the second vibration generated by the satellite vibration source device includes:

[0077] Step S221: Use a sensor array to collect the residual vibration signal corresponding to the second vibration;

[0078] Step S222: Use signal processing and controller to generate control signals corresponding to the residual vibration signals;

[0079] In step S223, under the drive of the control signal, multiple vibrators are used to counteract the second vibration.

[0080] Specifically, the aforementioned sensor array should include multiple high-precision triaxial accelerometers, and these triaxial accelerometers should be rationally arranged according to the measured vibration frequency characteristics and the vibration modes of the structure. Ideally, the sensor array should be placed on key nodes of the actuator platform, and the vibration response of these key nodes should be representative of or reflect the vibration state of the entire actuator platform.

[0081] The signal processing and controller is the "brain" of the active suppression module, and its functions include, but are not limited to, several key stages such as signal preprocessing, vibration signal analysis, control algorithm execution, and actuator drive signal generation. Specifically, in the signal preprocessing stage, the signal processing and controller first performs denoising, filtering, and correction on the received residual vibration signal to eliminate external interference and sensor errors, ensuring the accuracy of subsequent data processing. Subsequently, in the vibration signal analysis stage, the signal processing and controller can use signal processing techniques, such as Fourier transform, Hilbert-Huang transform, or wavelet analysis, to extract key features of the residual vibration signal, such as frequency, amplitude, and phase, to facilitate the identification of micro-vibration modes. Further, in the control algorithm execution stage, the signal processing and controller can, based on the characteristics of the residual vibration signal, use an adaptive filtering algorithm to calculate and generate a control signal with opposite phase and equal amplitude to the residual vibration signal in real time. Finally, the signal processing and controller can send the generated control signal to multiple actuators, driving them to generate corresponding forces or torques to counteract the residual low-frequency vibration.

[0082] For example, in order to achieve the best control effect, the output of the actuator can be continuously monitored by signal processing and controller, and the control parameters can be adjusted according to the actual situation to form a closed-loop control, so that the satellite vibration suppression system can adaptively respond to changes in vibration characteristics, such as temperature fluctuations, aging effects and changes in operating status.

[0083] Based on the above steps S221 to S223, the residual vibration signal corresponding to the second vibration is collected by the sensor array, and then the control signal corresponding to the residual vibration signal is generated by the signal processing and controller. Finally, under the drive of the control signal, multiple vibrators are used to cancel the second vibration, which can actively suppress the low-frequency vibration remaining after passive vibration isolation treatment, thereby improving the stability of the satellite payload.

[0084] Optionally, in step S221, the control signal corresponding to the residual vibration signal generated by the signal processing and controller includes:

[0085] Using signal processing and controllers, the residual vibration signal is used as the error signal, and an adaptive control strategy is used to generate a control signal, wherein the control signal and the residual vibration signal have the same amplitude but opposite phase.

[0086] The aforementioned adaptive control strategy refers to using signal processing and a controller to analyze the residual vibration signal from the sensor array in real time, treating it as part of the system error feedback. An algorithm then calculates a control signal with the same amplitude but completely opposite phase to the residual vibration signal. This control signal is subsequently sent to the actuator in the active suppression module, triggering the actuator to generate a force or torque that cancels out the external disturbance vibration, thereby achieving precise suppression of low-frequency micro-vibrations.

[0087] The aforementioned adaptive control strategies may include, but are not limited to, an adaptive notch filter, a least mean squares (LMS) algorithm, or a fast block least mean squares (FxLMS) algorithm.

[0088] For example, the FxLMS algorithm is particularly suitable for multi-channel data processing scenarios, capable of simultaneously processing data streams from multiple sensors, each channel representing a different vibration mode or direction. Specifically, the core idea of ​​the FxLMS algorithm is to perform analysis and control in the frequency domain. It uses Fourier transform to convert the vibration signal in the time domain into a frequency spectrum, and then generates a control signal at each frequency point of interest with the same amplitude but opposite phase to the residual vibration signal. This control signal is then transformed back to the time domain via inverse Fourier transform, forming the actual control force or torque command to drive the actuator to compensate for vibration in real time. Through this process, the FxLMS algorithm can adaptively track changes in vibration source characteristics (such as frequency, phase, and amplitude), maintaining optimal control performance even when encountering different operating modes or external disturbances during satellite operation. It effectively suppresses micro-vibrations over a wide frequency band, ensuring high-precision operation of the satellite payload.

[0089] Based on the above optional embodiments, signal processing and controllers are used to generate a control signal with the same amplitude and opposite phase as the residual vibration signal through an adaptive control strategy, using the residual vibration signal as the error signal. The control signal can be dynamically adjusted to match the characteristic changes of the vibration source in real time, thereby ensuring that the control signal always maintains the same amplitude and opposite phase as the disturbance signal, and thus generating a precise canceling force on the actuator to achieve efficient suppression of low-frequency micro-vibrations.

[0090] Optionally, the satellite vibration suppression method in this embodiment of the invention further includes:

[0091] Step S31: Obtain the operating parameters of the satellite vibration source equipment;

[0092] Step S32: Adjust the adaptive control strategy in real time based on the operating parameters.

[0093] The aforementioned operating parameters refer to various indicators that affect or characterize the working state of satellite vibration source equipment and the resulting vibration characteristics. Specifically, these operating parameters may include, but are not limited to, the operating mode, power level, rotational speed, temperature, and electromagnetic interference intensity of the satellite vibration source equipment.

[0094] For example, in the scenario of a reaction flywheel or a control moment gyroscope, the operating parameters may include, but are not limited to, the flywheel's rotational speed, direction of rotation, and rate of change of acceleration. For a spaceborne Stirling refrigerator, the operating parameters may include, but are not limited to, the refrigerator's operating frequency, refrigerant circulation rate, and compressor load.

[0095] Specifically, by monitoring operating parameters in real time, the satellite vibration suppression system can more accurately predict and analyze the dynamic behavior of vibration sources, and then adaptively adjust key parameters in the control algorithm, such as filter coefficients and control gain, to ensure that the control strategy always matches the current operating conditions. Even when equipment operating parameters change, the satellite vibration suppression system can react instantly, optimize the control effect, avoid the problems of "over-control" or "under-control," and ensure the continuity and effectiveness of micro-vibration suppression.

[0096] For example, taking the change in the rotational speed of a reaction flywheel as an example, the change in flywheel rotational speed directly affects the vibration frequency and amplitude it generates, thus affecting the control effect of the satellite vibration suppression system. In this embodiment of the invention, the signal processing and controller can not only receive the residual vibration signal from the sensor array, but also receive the real-time rotational speed information of the flywheel as feedforward operating parameters. Specifically, the signal processing and controller can store preset control reference models for different rotational speed ranges, and set prediction and suppression strategies for specific frequency disturbances for each model. When the flywheel rotational speed changes, the signal processing and controller can identify the current working state of the flywheel through the real-time monitored rotational speed signal and determine which preset rotational speed range it is in. Subsequently, based on the preset rotational speed range, the signal processing and controller can immediately switch to the reference model that best matches the current flywheel rotational speed, or calculate a customized model between two adjacent rotational speed range models through an interpolation algorithm. Further, the FxLMS algorithm can use the adjusted reference model as a guide, and use the residual vibration signal obtained from the sensor array as an error signal to iteratively adjust the coefficients of the control filter to generate a control signal with the same amplitude and opposite phase as the disturbance signal.

[0097] Based on the above steps S31 to S32, the operating parameters of the satellite vibration source equipment are obtained, and the adaptive control strategy is adjusted in real time based on the operating parameters. It can automatically identify and adapt to changes in the characteristics of the vibration source, thereby always maintaining the optimal suppression effect. This can avoid control lag or over-control, and ensure that the stability and performance of the high-precision satellite payload can be guaranteed to the greatest extent even in a dynamically changing working environment.

[0098] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, 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 is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0099] According to another aspect of the present invention, a satellite vibration suppression device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the satellite vibration suppression method of the present invention during runtime.

[0100] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the storage medium is located to execute the satellite vibration suppression method of the present invention.

[0101] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0102] Step S21: Use a passive vibration isolation module to isolate the first vibration generated by the satellite vibration source equipment;

[0103] Step S22: The second vibration generated by the satellite vibration source equipment is counteracted using the active suppression module;

[0104] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0105] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the satellite vibration suppression method of the present invention.

[0106] Optionally, in this embodiment, the above-mentioned computer program product can be configured as a computer program that performs the following steps:

[0107] Step S21: Use a passive vibration isolation module to isolate the first vibration generated by the satellite vibration source equipment;

[0108] Step S22: The second vibration generated by the satellite vibration source equipment is counteracted using the active suppression module;

[0109] According to another aspect of the present invention, a chip system is also provided, comprising: a processor for calling and running a computer program from a memory, such that a communication device equipped with the chip system performs the satellite vibration suppression method of the present invention.

[0110] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0111] Step S21: Use a passive vibration isolation module to isolate the first vibration generated by the satellite vibration source equipment;

[0112] Step S22: The second vibration generated by the satellite vibration source equipment is counteracted using the active suppression module;

[0113] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0114] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0115] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0116] 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 units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0117] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0118] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0119] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A satellite vibration suppression system, characterized by, The satellite vibration suppression system is arranged between a satellite vibration source device and a satellite main body structure, and comprises: a passive vibration isolation module, configured to isolate first vibration generated by the satellite vibration source device; an active suppression module, configured to counteract second vibration generated by the satellite vibration source device; wherein the second vibration is residual vibration other than the first vibration isolated by the passive vibration isolation module, and a vibration frequency of the first vibration is higher than a vibration frequency of the second vibration.

2. The satellite vibration suppression system of claim 1, wherein The passive vibration isolation module comprises at least one flexible connecting member, wherein a first end of the at least one flexible connecting member is connected to the satellite vibration source device, and a second end of the at least one flexible connecting member is connected to an actuator platform.

3. The satellite vibration suppression system of claim 2, wherein, The at least one flexible connecting member comprises a metal-rubber isolator or a steel wire rope isolator, and passive damping material is integrated in the at least one flexible connecting member.

4. The satellite vibration suppression system of claim 1, wherein The active suppression module comprises a sensor array, a signal processing and controller, and a plurality of actuators arranged between the actuator platform and the satellite main body structure. The sensor array is configured to generate residual vibration signals according to the second vibration. The signal processing and controller is configured to generate control signals according to the residual vibration signals. The plurality of actuators is configured to counteract the second vibration under the driving of the control signals.

5. The satellite vibration suppression system of claim 4, wherein, The plurality of vibrators comprises piezoelectric ceramic actuators or voice coil motors, and the plurality of vibrators is distributed along multiple spatial directions.

6. The satellite vibration suppression system of claim 4, wherein The sensor array comprises at least one three-axis accelerometer, and the sensor array is arranged at at least one designated position of the actuator platform.

7. A method of satellite vibration suppression, characterized by, The satellite vibration suppression method is applied to the satellite vibration suppression system of any one of claims 1 to 6, and the satellite vibration suppression method comprises: isolating first vibration generated by the satellite vibration source device by using the passive vibration isolation module; counteracting second vibration generated by the satellite vibration source device by using the active suppression module; wherein the second vibration is residual vibration other than the first vibration isolated by the passive vibration isolation module, and a vibration frequency of the first vibration is higher than a vibration frequency of the second vibration.

8. The satellite vibration suppression method according to claim 7, characterized by, The counteraction of the second vibration generated by the satellite vibration source device by using the active suppression module comprises: acquiring residual vibration signals corresponding to the second vibration by using the sensor array; generating control signals corresponding to the residual vibration signals by using the signal processing and controller; and counteracting the second vibration by using a plurality of vibrators under the driving of the control signals.

9. The satellite vibration suppression method according to claim 8, characterized by, The generation of the control signals corresponding to the residual vibration signals by using the signal processing and controller comprises: taking the residual vibration signals as error signals by using the signal processing and controller, and generating the control signals by using an adaptive control strategy, wherein the control signals have the same amplitude and opposite phase as the residual vibration signals.

10. The satellite vibration suppression method according to claim 9, characterized by, The satellite vibration suppression method further comprises: acquiring working condition parameters of the satellite vibration source device; adjusting the adaptive control strategy in real time based on the working condition parameters.

11. A satellite vibration suppression apparatus, characterized by comprising: The satellite vibration suppression system comprises: a memory storing an executable program. A processor configured to execute the program, wherein the program, when executed, performs the satellite vibration suppression method of any one of claims 7 to 10.

12. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a stored executable program, wherein the executable program, when executed, controls a device in which the storage medium is located to perform the satellite vibration suppression method of any one of claims 7 to 10.

13. A computer program product, characterised in that, A computer program product including a computer program that, when executed by a processor, implements the satellite vibration suppression method of any one of claims 7 to 10.

14. A chip system, characterized by including: A processor configured to call and execute a computer program from a memory, such that a communication device in which the chip system is installed performs the satellite vibration suppression method of any one of claims 7 to 10.

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