Self-redundancy high-reliability fast reflecting mirror

Abstract

The invention relates to the technical field of fast reflectors, and particularly discloses a self-redundancy high-reliability fast reflector which comprises a load reflector, a swing mirror bracket, a driving assembly, a sensor reflector, a flexible supporting piece, an eddy current sensor probe, a mounting base, a photoelectric sensor, a focusing lens and a light source. The load reflecting mirror is installed on the front face of the swing mirror bracket. The swing mirror bracket is installed in an installation groove in the front face of the installation base through a flexible supporting piece. A sensor reflector is mounted on a back column of the swing mirror bracket; a corresponding metal induction block is arranged on the back surface of the swinging mirror bracket; the photoelectric sensor, the focusing lens and the light source are mounted in the mounting cavity, and laser emitted by the light source is reflected to the photoelectric sensor through the focusing lens and the sensor reflector; the driving assembly is mounted on the mounting base and used for driving the swing mirror bracket to deflect along the X-axis and the Y-axis. The invention has the advantages of simple light path, small volume and weight, and easy control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fast steering mirror, and in particular to a self-redundant high-reliability fast steering mirror. BACKGROUND

[0002] As a key component in aerospace payload system, the fast steering mirror is mainly composed of a structure body, a flexible support mechanism, a driving voice coil motor and a two-dimensional high-precision angle measurement system, and realizes the rapid deflection and stable control of the light beam through closed-loop servo control. Due to the harsh on-orbit environment of aerospace and the maintenance-free equipment, the reliability of the fast steering mirror is put forward with extremely high requirements.

[0003] In the prior art, in order to meet the high reliability requirement, a scheme of multiple fast steering mirrors backing up each other is usually adopted. This scheme has the following defects: on the one hand, the configuration of multiple fast steering mirrors will greatly increase the complexity of the system optical path, and at the same time, will cause the volume and weight of the payload to increase significantly; on the other hand, additional backup switching devices need to be designed, and the operations such as the switching out of the failed fast steering mirror, the switching in of the backup mirror or the fixing of the failed mirror surface will introduce new control complexity and system risk, and seriously affect the overall stability and ease of use of the payload system.

[0004] Therefore, there is an urgent need for a fast steering mirror which does not need to rely on external multiple mirror backup and can realize redundant reliable work through its own structural design, so as to solve the problems of system complexity, large volume and weight, and control difficulty existing in the prior art. SUMMARY

[0005] The present application provides a self-redundant high-reliability fast steering mirror to overcome the defects of optical path complexity, large volume and weight, and high control difficulty caused by the multiple fast steering mirror external backup scheme in the prior art.

[0006] The self-redundant high-reliability fast steering mirror provided by the present application adopts the following technical scheme: A self-redundant high-reliability fast steering mirror, comprising a load mirror, a swing mirror frame, a driving assembly, a sensor mirror, a flexible support, an eddy current sensor probe, a mounting seat, a photoelectric sensor, a focusing lens and a light source; the load mirror is installed on the front face of the swing mirror frame, and one end of the flexible support is installed on the back face of the swing mirror frame; the swing mirror frame is arranged in the mounting groove on the front face of the mounting seat and connected with the inner wall of the mounting groove through the flexible support; the sensor mirror is installed on the back face column of the swing mirror frame; the eddy current sensor probe is installed on the front face of the mounting seat, and the swing mirror frame has a corresponding metal sensing block on the back face, and the side face of the metal sensing block away from the swing mirror frame is a detection reference face; the mounting cavity in the mounting seat is connected with the mounting groove, and the photoelectric sensor, the focusing lens and the light source are installed in the cavity; the light source emits laser which is reflected by the focusing lens and the sensor mirror to the photoelectric sensor; the driving assembly is installed on the front face of the mounting seat and drives the swing mirror frame to deflect along the X and Y axes.

[0007] Optionally, the driving assembly is four voice coil motors distributed around the swing mirror frame, the voice coil motor comprising a skeleton, a coil and a magnetic core; the skeleton is installed on the front surface of the mounting seat, and the magnetic core is connected to the back surface of the swing mirror frame and located in the skeleton.

[0008] Optionally, the coil adopts a double-wire parallel winding method, two enameled wires are parallel and close to each other, wound in the same direction on the skeleton, and the number of turns is the same, and finally the two wires are connected in parallel on the circuit.

[0009] Optionally, four eddy current sensor probes are distributed around the swing mirror frame, and there are corresponding sensing blocks on the back surface of the swing mirror frame; the four eddy current sensor probes are divided into two groups, one group is symmetrically distributed on both sides of the Y axis and is used for detecting the deflection of the swing mirror frame along the X axis; the other group is symmetrically distributed on both sides of the X axis and is used for detecting the deflection of the swing mirror frame along the Y axis.

[0010] Optionally, four first mounting holes are arranged on the front surface of the mounting seat, and the four first mounting holes are arranged one-to-one with the four voice coil motors, the skeleton is installed in the first mounting hole, and the coil is located in the first mounting hole.

[0011] Optionally, the front surface of the mounting seat is also provided with four second mounting holes, the four second mounting holes are arranged one-to-one with the four eddy current sensor probes, and the eddy current sensor probes are installed in the second mounting holes.

[0012] Optionally, the mounting cavity comprises a first inclined hole section, a second inclined hole section and a straight hole section; one end of the first inclined hole section is communicated with the mounting groove, and the other end of the first inclined hole section is communicated with the back surface of the mounting seat; one end of the second inclined hole section is also communicated with the mounting groove, and the second inclined hole section and the first inclined hole section form a V-shaped hole; one end of the straight hole section is communicated with the other end of the second inclined hole section, and the other end of the straight hole section is communicated with the back surface of the mounting seat; the light source is installed in the end of the first inclined hole section away from the mounting groove, the focusing lens is installed in the first inclined hole section and located between the light source and the sensor mirror, and the photoelectric sensor is installed in the straight hole section close to the second inclined hole section.

[0013] Optionally, the eddy current sensor and the photoelectric sensor form a double-redundancy sensor assembly, and any one of eddy current+eddy current, photoelectric+photoelectric can be selected as the measurement principle combination, and the double-redundancy sensor assembly and the voice coil motor assembly are cross-spaced.

[0014] Optionally, it further comprises a data fusion module and an adaptive control module, the data fusion module and the adaptive control module are electrically connected with the driving assembly and the double-redundancy sensor assembly to form a complete closed-loop servo system; the data fusion module is used for processing the signals collected by the double-redundancy sensor assembly, adopts a weighted average or an adaptive filtering algorithm, fuses the detection advantages of different sensors, and outputs a high-precision angle feedback signal.

[0015] Optionally, the adaptive control module is used for receiving the target angle instruction and the feedback signal after data fusion, dynamically adjusting the driving parameters of the voice coil motor; the impedance parameters of the voice coil motor are measured in real time, the coil working state is automatically identified, when a single group of coils is detected to be faulty, the driving current distribution strategy is adjusted, and the performance fluctuation caused by the torque coefficient attenuation is compensated; by adjusting the weighting values of different sensors in the data fusion module, the system is switched to multiple modes such as double-sensor cooperative working, single-optical sensor independent working, or single-electric eddy current sensor independent working.

[0016] In summary, the present application includes at least one of the following beneficial technical effects: 1. By matching backup of sensors with different measurement principles, the system survival probability is significantly improved, and the double-redundant sensor assembly and the voice coil motor assembly are cross-spaced, which can avoid electromagnetic interference; 2. Two enameled wires are parallel and close to each other, wound in the same direction on the framework with the same number of turns, and finally connected in parallel in the circuit; when one group of coils is faulty, the other group of coils can still perform the function of the voice coil motor, but the torque coefficient is attenuated, so that the entire fast mirror does not fail due to coil failure; 3. The mounting cavity is composed of a first inclined hole section, a second inclined hole section and a straight hole section, which is used to accommodate the light source, focusing lens and photoelectric sensor in a limited space. The mounting cavity is staggered with the first mounting hole and the second mounting hole, which can install more components in a smaller mounting seat volume, making the mirror structure more compact. The redundant design is integrated inside the mounting seat of a single mirror, without the need for external multiple mirror backups and switching devices. Under the premise of basically not changing the volume and shape of the mirror, the reliability is significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the structure diagram of the explosion of the fast mirror of the embodiment of the present application; Figure 2 is the cross-sectional structure diagram of the mounting seat of the embodiment of the present application; Figure 3 is the front structure diagram of the mounting seat of the embodiment of the present application; Figure 4 is the structure diagram of the swing mirror frame of the embodiment of the present application; Figure 5 is the structure diagram of the coil of the embodiment of the present application; Figure 6 is the structure diagram of the parallel connection of the two coils in the circuit of the embodiment of the present application; Figure 7 is the working principle block diagram of the position closed-loop servo system of the sensor of the embodiment of the present application.

[0018] MARKED DESCRIPTION: 1. Load reflector; 2. Swinging frame; 21. Sensing block; 22. Column; 3. Drive assembly; 31. Frame; 32. Coil; 33. Magnetic core; 4. Sensor reflector; 5. Flexible support; 6. Eddy current sensor probe; 7. Mounting base; 71. Mounting groove; 72. Mounting cavity; 721. First oblique hole section; 722. Second oblique hole section; 723. Straight hole section; 73. First mounting hole; 74. Second mounting hole; 8. Photoelectric sensor; 9. Focusing lens; 10. Light source. Detailed Implementation

[0019] The following is in conjunction with the appendix Figures 1-7 This application will be described in further detail.

[0020] This application discloses a self-redundant, high-reliability, fast-reflecting mirror, suitable for payload systems with high reliability requirements, such as those used in aerospace. (Refer to...) Figures 1-7 The fast reflector includes a load reflector 1, a swing frame 2, a drive assembly 3, a sensor reflector 4, a flexible support 5, an eddy current sensor probe 6, a mounting base 7, a photoelectric sensor 8, a focusing lens 9, a light source 10, a data fusion module, and an adaptive control module. Both the load reflector 1 and the swing frame 2 are circular. The load reflector 1 is mounted at the center of the front of the swing frame 2. The flexible support 5 is annular, with one end mounted at the center of the back of the swing frame 2. The swing frame 2 is positioned on the front of the mounting base 7, which has a circular mounting groove 71. The swing frame 2 is mounted to the inner wall of the mounting groove 71 via the flexible support 5. A column 22 is integrally formed at the center of the back of the swing frame 2. The column 22 is located in the middle of the flexible support 5, and the sensor reflector 4 is installed on the end face of the column 22. The eddy current sensor probe 6 is installed on the front of the mounting base 7. The back of the swing mirror frame 2 is integrally formed with a sensing block 21 corresponding to the eddy current sensor probe 6. The sensing block 21 is made of metal, and the side of the sensing block 21 away from the swing mirror frame 2 is the detection reference surface. The mounting base 7 is provided with a mounting cavity 72 that communicates with the mounting groove 71. The photoelectric sensor 8, the focusing lens 9, and the light source 10 are all installed in the mounting cavity 72. The laser emitted by the light source 10 passes through the focusing lens 9 and is reflected by the sensor reflector 4 to the photoelectric sensor 8. The drive assembly 3 is installed on the front of the mounting base 7. The drive assembly 3 is used to drive the swing mirror frame 2 to generate deflection angles along the X-axis and Y-axis.

[0021] The driving component 3 is a voice coil motor, and four voice coil motors are evenly distributed around the circumference of the swinging mirror frame 2. Each voice coil motor includes a frame 31, a coil 32, and a magnetic core 33. The four frames 31 are mounted on the front of the mounting base 7, the coils 32 are wound on the frames 31, and the four magnetic cores 33 are connected to the back of the swinging mirror frame 2, evenly distributed around the circumference of the frame 2, and are housed within the frames 31. When the coils 32 are energized, they drive the magnetic cores 33 to move. Changing the direction of the current in the coils 32 changes the direction of movement of the coils 32. To achieve self-redundancy of the voice coil motors, the voice coil motor coils 32 are wound with two wires in parallel, such as... Figure 5 As shown, two enameled wires are wound in parallel and close together on the frame 31 in the same direction with the same number of turns, and finally the two wires are connected in parallel in the circuit. When one set of coils 32 fails, the other set of coils 32 can still perform the function of a voice coil motor, but the torque coefficient is reduced, so that the failure of coil 32 will not cause the entire fast-reflecting mirror to fail.

[0022] Four eddy current sensor probes 6 are provided, evenly distributed around the circumference of the swing frame 2. Four sensing blocks 21 are correspondingly arranged on the back of the swing frame 2. The four eddy current sensor probes 6 are divided into two groups: one group is symmetrically distributed on both sides of the Y-axis to detect the deflection of the swing frame 2 along the X-axis; the other group is symmetrically distributed on both sides of the X-axis to detect the deflection of the swing frame 2 along the Y-axis. The eddy current sensors and photoelectric sensors 8 form a dual-redundant sensor assembly. The measurement principle combination of this assembly can also use any combination of eddy current + eddy current or photoelectric + photoelectric. By using sensors with different measurement principles for backup, the system survivability is significantly improved. Furthermore, the dual-redundant sensor assembly and the voice coil motor assembly are distributed alternately to avoid electromagnetic interference.

[0023] The mounting base 7 has four first mounting holes 73 on its front side, which are evenly distributed around the circumference of the swinging mirror frame 2. Each of the four first mounting holes 73 corresponds to one of the four voice coil motors. The frame 31 is installed in the first mounting hole 73, and the coil 32 is located in the first mounting hole 73. The mounting base 7 also has four second mounting holes 74 on its front side, which are evenly distributed around the circumference of the swinging mirror frame 2. The four second mounting holes 74 and the four first mounting holes 73 are staggered, and the distance between the first mounting holes 73 and the adjacent second mounting holes 74 is equal. Each of the four second mounting holes 74 corresponds to one of the four eddy current sensor probes 6, and the eddy current sensor probes 6 are installed in the second mounting holes 74.

[0024] The mounting cavity 72 includes a first oblique hole section 721, a second oblique hole section 722, and a straight hole section 723. One end of the first oblique hole section 721 is connected to the mounting groove 71, and the other end of the first oblique hole section 721 is connected to the back of the mounting base 7. One end of the second oblique hole section 722 is also connected to the mounting groove 71. The second oblique hole section 722 and the first oblique hole section 721 form a V-shaped hole. One end of the straight hole section 723 is connected to the other end of the second oblique hole section 722, and the other end of the straight hole section 723 is connected to the back of the mounting base 7. The light source 10 is installed in the end of the first oblique hole section 721 away from the mounting groove 71. The focusing lens 9 is installed in the first oblique hole section 721 and located between the light source 10 and the sensor reflector 4. The photoelectric sensor 8 is installed in the straight hole section 723 near the second oblique hole section 722. Two of the first mounting holes 73 are located on one side of the mounting cavity 72, and the other two first mounting holes 73 are located on the other side of the mounting cavity 72; and the first mounting holes 73 on both sides of the mounting cavity 72 are symmetrically arranged about the mounting cavity 72; two of the symmetrical second mounting holes 74 are in the same plane as the mounting cavity 72, and the other two symmetrical second mounting holes 74 are located on both sides of the mounting cavity 72 respectively. The four first mounting holes 73 are designed to mount a voice coil motor. Based on the design of the four first mounting holes 73, four second mounting holes 74 are spaced apart on the mounting base 7 to mount the eddy current sensor probe 6. Based on the design of the first mounting holes 73 and the second mounting holes 74, a mounting cavity 72 is set. The mounting cavity 72 is composed of a first oblique hole section 721, a second oblique hole section 722 and a straight hole section 723. The purpose is to set up a space within a limited space to accommodate the light source 10, the focusing lens 9 and the photoelectric sensor 8. The mounting cavity 72 is staggered from the first mounting holes 73 and the second mounting holes 74, which allows more components to be installed in a smaller volume of the mounting base 7, making the reflector structure more compact. The redundant design is integrated inside the mounting base 7 of a single reflector, eliminating the need for multiple external reflector backup and switching devices. This significantly improves reliability without changing the volume and shape of the reflector.

[0025] The data fusion module and adaptive control module are electrically connected to the drive component 3 and the dual-redundant sensor component, forming a complete closed-loop servo system. The data fusion module processes the signals acquired by the dual-redundant sensor component, specifically using weighted averaging or adaptive filtering algorithms to fuse the detection advantages of different sensors and output a high-precision angle feedback signal. The adaptive control module receives the target angle command and the fused feedback signal, dynamically adjusting the drive parameters of the voice coil motor. Simultaneously, the adaptive control module can measure the impedance parameters of the voice coil motor in real time, automatically identifying the operating status of coil 32. When a fault is detected in a single coil 32, the drive current distribution strategy is adjusted promptly to compensate for performance fluctuations caused by torque coefficient attenuation. Furthermore, by adjusting the weighting values ​​of different sensors in the data fusion module, the system can flexibly switch to various modes, such as dual-sensor collaborative operation, independent operation of a single photoelectric sensor 8, or independent operation of a single eddy current sensor, improving the reliability of feedback detection while further enhancing sensor performance.

[0026] In this embodiment, when the driving component 3 drives the swinging mirror frame 2 to generate a deflection angle along the X-axis and Y-axis, the laser emitted by the light source 10 is focused by the focusing lens 9 and then illuminates the sensor reflector 4. The sensor reflector 4 then reflects the laser onto the photoelectric sensor 8. When the swinging mirror frame 2 is parallel to the coordinate plane, the laser spot illuminates the center position of the photoelectric sensor 8. When the swinging mirror frame 2 deflects, it drives the sensor reflector 4 to deflect, causing the position of the laser spot reflected by the sensor reflector 4 onto the photoelectric sensor 8 to change. Through this position change, the photoelectric sensor 8 can calculate the deflection angle of the swinging mirror frame 2, which is also the deflection angle of the load reflector 1.

[0027] Similar to the photoelectric sensor 8, the eddy current sensor probe 6 accurately measures the relative position between the detection reference surface of the sensing block 21 and the end face of the eddy current sensor probe 6 based on the principle of eddy current effect. By measuring the change in relative position, the deflection angle of the swing frame 2) is calculated. When the swing frame 2 deflects along the X-axis and Y-axis, the distance between the detection reference surface on the back of the swing frame 2 and the eddy current sensor probe 6 will change. The change in distance will cause the excitation signal in the sensor probe to change through eddy current induction. By detecting the change in the excitation signal, the angle change of the swing frame along the X-axis and Y-axis can be obtained.

[0028] The specific working process of this embodiment is as follows: After system initialization, the adaptive control module supplies initial current to the voice coil motor coil 32, and the swinging mirror 2 is in a zero-position state; the light source 10 is activated, and the laser is focused by the focusing lens 9 and incident on the sensor reflector 4, reflecting to form a stable light spot that is projected onto the center of the photoelectric sensor 8, and the eddy current sensor probe 6 outputs an initial excitation signal. When it is necessary to adjust the beam direction, the adaptive control module receives the target angle command and outputs a drive current to the voice coil motor coil 32. The coil 32 and the magnetic core 33 generate an electromagnetic torque, driving the swinging mirror 2 to deflect along the X-axis or Y-axis. When the swinging mirror 2 deflects, it drives the sensor reflector 4 to deflect synchronously, causing the light spot on the photoelectric sensor 8 to shift, and its output signal changes; at the same time, the distance between the detection reference surface on the back of the swinging mirror 2 and the eddy current sensor probe 6 changes, causing the probe excitation signal to change through eddy current induction. The dual redundant sensor assembly transmits the collected angle signal to the data fusion module, and after weighted averaging or adaptive filtering, outputs a high-precision feedback signal back to the adaptive control module. The adaptive control module compares the feedback signal with the target angle and dynamically adjusts the drive current to form a closed-loop servo control, ensuring stable deflection accuracy. If a set of coils 32 fails, the module identifies the fault through impedance detection and switches to another set of coils 32 to work and compensate for torque fluctuations. If a sensor fails, the module automatically shields the fault signal and switches to single-sensor working mode to ensure continuous system operation, effectively solving the problems of complex optical paths, large size and weight, and difficult control in existing solutions.

[0029] Reference Figure 6 (a) is a circuit diagram showing two coils 32 (coil A and coil B) connected in parallel. (Refer to...) Figure 6 (b) Coil A and coil B are two sets of coils 32 wound in parallel within the same voice coil motor; when the system is working, because coils A and B are connected in parallel, the current output by the power amplifier will flow through coils A and B in approximately equal proportions, i.e., IA and IB. The currents IA and IB interact with the permanent magnet on the swing frame 2, generating parallel torques TA and TB. (Refer to...) Figure 6 (c) When one of the coils 32 in coil A and coil B fails, for example, coil A, the current output by the power amplifier can only flow through coil B, and coil B can still work normally; after losing the torque of coil A, the system will automatically adjust the power and increase the current of coil B to achieve the same control effect as when it is connected in parallel with coil 32.

[0030] Reference Figure 7This is a block diagram illustrating the working principle of the closed-loop servo system for the position of a fast reflector. The working principles of the X-axis and Y-axis of the fast reflector are the same; the following explanation uses a single axis as an example. Both the photoelectric sensor 8 and the eddy current sensor are located in the feedback channel and are used to measure the deflection angle of the swinging mirror frame 2. The outputs of the photoelectric sensor 8 and the eddy current sensor are fused by a sensor fusion algorithm to output a sensor feedback value. The difference between the sensor feedback value and the command input is entered into the control algorithm module. After being processed by the control algorithm, the difference is sent to the power amplifier. After being amplified by the power amplifier, the power amplifier drives the voice coil motor, causing the swinging mirror frame 2 to deflect in the direction where the difference between the command input and the sensor feedback value decreases, until the sensor feedback value equals the command input.

[0031] Sensor fusion algorithms can be ordinary weighted averaging, adaptive filtering, or Kalman filtering, or other intelligent data fusion algorithms. The sensor fusion algorithm continuously monitors the confidence levels of the output data from the photoelectric sensor 8 and the eddy current sensor, adjusting the weighting coefficients of the two sensors in the fusion algorithm based on these confidence levels. When one sensor malfunctions, its weighting coefficient is set to 0, and the weighting coefficient of the other sensor is set to 1.

[0032] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A self-redundant, highly reliable, and fast reflecting mirror, characterized in that, The system includes a load reflector (1), a swing frame (2), a drive assembly (3), a sensor reflector (4), a flexible support (5), an eddy current sensor probe (6), a mounting base (7), a photoelectric sensor (8), a focusing lens (9), and a light source (10). The load reflector (1) is mounted on the front of the swing frame (2), and one end of the flexible support (5) is mounted on the back of the swing frame (2). The swing frame (2) is located in the mounting groove (71) on the front of the mounting base (7) and is connected to the inner wall of the mounting groove (71) through the flexible support (5). The sensor is mounted on the column (22) on the back of the swing frame (2). The device includes a reflector (4); an eddy current sensor probe (6) is mounted on the front of the mounting base (7); a corresponding metal sensing block (21) is located on the back of the swing frame (2), and the side away from the swing frame (2) is the detection reference surface; the mounting cavity (72) inside the mounting base (7) is connected to the mounting groove (71); the photoelectric sensor (8), the focusing lens (9) and the light source (10) are mounted inside the cavity; the light source (10) emits laser light, which is reflected by the focusing lens (9) and the sensor reflector (4) to the photoelectric sensor (8); the drive assembly (3) is mounted on the front of the mounting base (7) and drives the swing frame (2) to deflect along the X and Y axes.

2. The self-redundant, high-reliability, fast-reflecting mirror according to claim 1, characterized in that, The drive assembly (3) consists of four voice coil motors distributed around the swing frame (2). The voice coil motors include a frame (31), a coil (32), and a magnetic core (33). The frame (31) is mounted on the front of the mounting base (7), and the magnetic core (33) is connected to the back of the swing frame (2) and located inside the frame (31).

3. The self-redundant, high-reliability, fast-reflecting mirror according to claim 2, characterized in that, The coil (32) is wound in parallel with two enameled wires, which are wound in the same direction on the bobbin (31) with the same number of turns. Finally, the two wires are connected in parallel in the circuit.

4. The self-redundant, high-reliability, fast-reflecting mirror according to claim 1, characterized in that, Four eddy current sensor probes (6) are distributed around the swing frame (2), and there is a corresponding sensing block (21) on the back of the swing frame (2). The four eddy current sensor probes (6) are divided into two groups. One group is symmetrically distributed on both sides of the Y-axis to detect the deflection of the swing frame (2) along the X-axis. The other group is symmetrically distributed on both sides of the X-axis to detect the deflection of the swing frame (2) along the Y-axis.

5. The self-redundant, high-reliability, fast-reflecting mirror according to claim 1, characterized in that, The mounting base (7) has four first mounting holes (73) on the front. The four first mounting holes (73) correspond one-to-one with the four voice coil motors. The frame (31) is installed in the first mounting hole (73) and the coil (32) is located in the first mounting hole (73).

6. The self-redundant, high-reliability, fast-reflecting mirror according to claim 1, characterized in that, The mounting base (7) also has four second mounting holes (74) on the front. The four second mounting holes (74) correspond one-to-one with the four eddy current sensor probes (6). The eddy current sensor probes (6) are installed in the second mounting holes (74).

7. The self-redundant, high-reliability, fast-reflecting mirror according to claim 1, characterized in that, The mounting cavity (72) includes a first inclined hole section (721), a second inclined hole section (722), and a straight hole section (723); one end of the first inclined hole section (721) is connected to the mounting groove (71), and the other end of the first inclined hole section (721) is connected to the back of the mounting base (7); one end of the second inclined hole section (722) is also connected to the mounting groove (71), and the second inclined hole section (722) and the first inclined hole section (721) form a V-shaped hole, and the straight hole section (723)... The end of the first oblique hole section (722) is connected to the other end of the second oblique hole section (722), and the other end of the straight hole section (723) is connected to the back of the mounting base (7); the light source (10) is installed in the end of the first oblique hole section (721) away from the mounting groove (71), the focusing lens (9) is installed in the first oblique hole section (721) and located between the light source (10) and the sensor reflector (4), and the photoelectric sensor (8) is installed in the straight hole section (723) near the second oblique hole section (722).

8. The self-redundant, high-reliability, fast-reflecting mirror according to any one of claims 1-7, characterized in that, The eddy current sensor and the photoelectric sensor (8) form a dual-redundant sensor assembly. The measurement principle combination can also be any one of eddy current + eddy current or photoelectric + photoelectric. The dual-redundant sensor assembly and the voice coil motor assembly are distributed in a cross-interval manner.

9. The self-redundant, high-reliability, fast-reflecting mirror according to claim 8, characterized in that, It also includes a data fusion module and an adaptive control module. The data fusion module and the adaptive control module are electrically connected to the drive component (3) and the dual redundant sensor component to form a complete closed-loop servo system. The data fusion module is used to process the signals collected by the dual redundant sensor component, and adopts a weighted average or adaptive filtering algorithm to integrate the detection advantages of different sensors and output a high-precision angle feedback signal.

10. The self-redundant, high-reliability, fast-reflecting mirror according to claim 9, characterized in that, The adaptive control module is used to receive the target angle command and the feedback signal after data fusion, and dynamically adjust the driving parameters of the voice coil motor; measure the impedance parameters of the voice coil motor in real time, automatically identify the working state of the coil (32), and adjust the driving current distribution strategy when a single coil (32) fault is detected to compensate for the performance fluctuation caused by the torque coefficient decay; by adjusting the weighting values ​​of different sensors in the data fusion module, the system can switch to multiple modes such as dual sensor collaborative work, single photoelectric sensor (8) independent work or single eddy current sensor independent work.

Images