Reaction disturbance self-compensation fast reflecting mirror driven by voice coil motor

Abstract

The application belongs to the technical field of fast reflecting mirror, and discloses a reaction disturbance self-compensation fast reflecting mirror driven by a voice coil motor, which can flexibly change the position of a virtual rotating shaft by adjusting the included angle between the spring blades on the spring blade group. Compared with the rotating shaft of the traditional compliant mechanism which is limited in the mechanism, the virtual rotating shaft of the compliant mechanism can cover the theoretical working position and can be flexibly configured according to the load characteristics, which greatly improves the design freedom. Through the interaction force between the voice coil motor coil and the magnetic base, the compensation block is driven to move while driving the reflecting mirror to deflect, and the reverse dynamic compensation force generated by the deflection of the compensation block is used to realize the compensation of the reaction force on the base, replacing the mirror image arrangement actuator in the traditional scheme. Compared with the traditional scheme, the application is more integrated, the response is more direct, the control cost is lower, and the overall machine quality is smaller.

Description

Technical Field

[0001] This invention belongs to the field of fast reflector technology, specifically a voice coil motor driven reaction disturbance self-compensating fast reflector. Background Technology

[0002] The fields of space security and scientific exploration have a core requirement for large-aperture, high-resolution, and high-precision pointing of optical systems. However, in practical applications, external disturbances and the reaction forces generated by the movement of internal actuators can couple to the optical system base, thereby causing line-of-sight jitter, resulting in a decrease in the pointing accuracy of the optical system and damage to the imaging quality.

[0003] There are currently different approaches to addressing the dynamic reaction force generated on the base when the actuator drives a fast reflector. Among them, traditional small fast reflectors, due to their small driving force, experience a weak reaction force on the base, which has no significant impact on the system's pointing accuracy, and therefore compensation measures are usually not adopted.

[0004] Large-aperture fast reflectors typically have the same actuator mounted mirror-on the back of the base. This actuator drives a compensator block to deflect in the opposite direction, compensating for the reaction force on the base and reducing pointing errors. However, current actuator reaction force compensation schemes for large-aperture fast reflectors fail to effectively balance practicality and economy, exhibiting significant technical flaws. In short, they cannot effectively address the adverse effects of actuator reaction forces on the fast reflector system and other optical systems without adding extra overhead. While the mirror-mounted actuator-driven compensator block deflection compensation scheme reduces the impact of actuator reaction forces on the system base to some extent, it adds additional components such as actuators and compensator blocks, significantly increasing the overall weight. It also increases the difficulty of control and manufacturing costs, hindering lightweight design and large-scale application. Summary of the Invention

[0005] This invention provides a voice coil motor driven reaction disturbance self-compensating fast reflector, which solves the problems of complex control, high hardware cost and increased system weight faced by traditional large-aperture fast reflectors in the process of compensating for the reaction force of the actuator on the base.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A voice coil motor-driven reaction disturbance self-compensating fast reflector includes a compensation block, a lower flexible joint mounted at the top center of the compensation block, a base mounted on the top of the lower flexible joint, and an upper flexible joint mounted at the top center of the base. Both the upper and lower flexible joints are hollow cylinders with connecting lugs at the bottom and are coaxial. A mirror mount is mounted at the top center of the upper flexible joint, and a reflector is mounted on the mirror mount. Four voice coil motors are evenly arranged circumferentially on the base. Each voice coil motor includes a coil and a magnetic base. The coil and the mirror mount are fixedly connected, and the magnetic base and the compensation block are fixedly connected. An eddy current sensor is also mounted on the top of the base. Four identical rectangular cutout windows are evenly opened circumferentially at the axial center of the upper and lower flexible joints. Two opposite rectangular cutout windows are connected by a through-cutout strip that extends continuously along the circumferential direction. A reed assembly is provided in each rectangular cutout window.

[0008] Preferably, each reed assembly includes two radially extending inclined reeds. The two reeds are symmetrical about a plane formed by the center of the cutout window and the cylindrical axis of the upper flexible joint. The radial inner end face and outer end face of the reed are integrally connected to the inner surface and outer surface of the upper flexible joint, respectively. The two sides of the reed are separated from the sidewall of the rectangular cutout window. The thickness, length and width of the reed are the same.

[0009] Preferably, the reflector, the mirror mount, and the coil constitute the upper load. The reeds on the two opposite reed groups on the upper flexible joint intersect at a point on their extensions along their length direction. The line connecting the two points is a virtual rotation axis of the upper flexible joint. The two virtual axes formed are mutually orthogonal and coplanar. The virtual rotation plane is determined by the two virtual rotation axes, and the center of mass of the upper load is located in the virtual rotation plane.

[0010] Preferably, the compensation block and the magnetic base constitute the lower load, the lower load has the same moment of inertia as the upper load, the lower flexible joint has the same configuration as the upper flexible joint, the reed group of the lower flexible joint is arranged in opposite directions to the reed group of the upper flexible joint, the reeds on the two opposite reed groups on the lower flexible joint intersect at a point on their extensions in the length direction, and the line connecting the two points is a virtual rotation axis of the lower flexible joint. The two virtual axes formed therefrom are orthogonal to each other and coplanar. The virtual rotation plane is determined by the two virtual rotation axes of the lower flexible joint. The virtual rotation plane formed by the two virtual rotation axes of the lower flexible joint is far away from the center of mass of the lower load. In the top view direction, the two virtual rotation axes of the upper flexible joint and the two virtual rotation axes of the lower flexible joint are completely coincident.

[0011] Preferably, in a top-down view, the center line connecting the opposing voice coil motors coincides with the virtual rotation axis.

[0012] Preferably, the voice coil motors arranged opposite to each other move in opposite directions.

[0013] Preferably, the rotational stiffness of the lower flexible joint is the same as that of the upper flexible joint.

[0014] Preferably, the upper surface of the mirror base has a boss that is bonded to the reflector, and the lower surface of the mirror base has a coil positioning groove, an upper flexible joint positioning groove, and an upper flexible joint positioning pin hole, which are respectively used for radial positioning of the coil, radial positioning of the upper flexible joint, and circumferential positioning of the upper flexible joint.

[0015] Preferably, the eddy current sensor includes a first eddy current sensor and a second eddy current sensor, which are respectively located on the vertical center line of two adjacent voice coil motors in the top view direction, and the first eddy current sensor and the second eddy current sensor are arranged on both sides of the same voice coil motor.

[0016] Preferably, an upper outer shell is fixedly installed on the top of the base, the upper outer shell covers the top component of the base, and a circular hole is opened on the top of the upper outer shell to expose the reflector. A lower outer shell is fixedly installed on the bottom of the base, and the lower outer shell covers the bottom component of the base.

[0017] Compared with existing technologies, the present invention has the following advantages: The present invention provides a voice coil motor-driven reaction disturbance self-compensating fast reflector. By adjusting the included angle between the reeds on the reed assembly, the position of the virtual rotation axis can be flexibly changed. Compared with the rotation axis of the traditional compliant mechanism, which is limited by the internal structure, the virtual rotation axis of the compliant mechanism of the present invention can cover the theoretical working position and can be flexibly configured according to the load characteristics, greatly improving the design freedom. Through the interaction force between the voice coil motor coil and the magnetic base, the reflector is driven to deflect while the compensation block moves. The reverse dynamic compensation force generated by the deflection of the compensation block is used to compensate for the reaction force on the base, replacing the actuator with a mirror arrangement in the traditional solution. Compared with the traditional solution, this solution is more integrated, has a more direct response, lower control cost, and smaller overall weight.

[0018] Furthermore, by considering the system damping and adopting the compensation principle that the upper and lower loads have the same moment of inertia and the upper and lower flexural joints have the same rotational stiffness, compared to the traditional reaction force compensation principle that does not consider system damping (the ratio of the upper load moment of inertia to the upper flexural joint stiffness is equal to the ratio of the lower load moment of inertia to the lower flexural joint stiffness), which would lead to a phase mismatch between the system reaction force and the compensation force, this scheme can theoretically completely eliminate the dynamic reaction force on the base.

[0019] Furthermore, by aligning the virtual rotation plane of the upper flexible joint with the center of mass of the upper load, the rotational inertia of the load on the system can be significantly reduced. Since the output force of the voice coil motor is positively correlated with its own mass, the reduction in driving force requirements allows for the selection of a motor with smaller output force, thereby reducing the mass of the motor itself and achieving overall lightweighting.

[0020] Furthermore, by adjusting the virtual rotation plane of the lower flexible joint to be farther away from the center of mass of the lower load in the mechanism design, the rotational inertia of the lower load can be increased, thereby achieving a considerable compensation effect with a small compensation mass and effectively reducing the overall mass of the machine. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a voice coil motor driven self-compensating fast reflector without a housing, according to an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of a voice coil motor driven reaction disturbance self-compensating fast reflector including a housing, according to an embodiment of the present invention.

[0024] Figure 3 This is a cross-sectional view of a voice coil motor driven self-compensating fast reflector for reaction disturbances, according to an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the distribution positions of the motor and eddy current sensor in the top view of an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the virtual rotation axis and virtual rotation plane of the flexible joint in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram showing the relationship between the load center of mass of the opposing motor on one side and the virtual rotation axis of the flexible joint, as described in an embodiment of the present invention.

[0028] Figure 7 This is a simplified physical model diagram of a voice coil motor driven self-compensating fast reflector for reaction disturbances, according to an embodiment of the present invention.

[0029] 1-Upper housing, 2-Reflector, 3-Mirror mount, 4-Upper flexible joint, 5-Voice coil motor, 5a-Coil, 5b-Magnetic base, 5-1-First voice coil motor, 5-2-Second voice coil motor, 5-3-Third voice coil motor, 5-4-Fourth voice coil motor, 6-Eddy current sensor, 6-1-First eddy current sensor, 6-2-Second eddy current sensor, 7-Base, 8-Lower flexible joint, 9-Compensation block, 10-Lower housing, 11-Reed assembly. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components.

[0034] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0035] like Figure 1As shown, the present invention provides a voice coil motor driven reaction disturbance self-compensating fast reflector, including a compensation block 9, a lower flexible joint 8 installed at the top center of the compensation block 9, a base 7 installed at the top of the lower flexible joint 8, an upper flexible joint 4 installed at the top center of the base 7, both the upper flexible joint 4 and the lower flexible joint 8 are hollow cylinders with connecting lugs at the bottom, and the upper flexible joint 4 and the lower flexible joint 8 are coaxial, a mirror mount 3 is installed at the top center of the upper flexible joint 4, a reflector 2 is installed on the mirror mount 3, four voice coil motors 5 are evenly arranged around the base 7, each voice coil motor 5 includes a coil 5a and a magnetic base 5b, the coil 5a is fixed to the mirror mount 3, the magnetic base 5b is fixed to the compensation block 9, an eddy current sensor 6 is also installed at the top of the base 7, four identical rectangular cutout windows are evenly opened along the circumferential direction at the axial center of the upper flexible joint 4 and the lower flexible joint 8, two opposite rectangular cutout windows are connected by a through cutout strip that extends continuously along the circumferential direction, and a reed group 11 is provided in each rectangular cutout window.

[0036] This invention allows for flexible adjustment of the virtual rotation axis position by adjusting the included angle between the reeds on the reed assembly 11. Compared to the traditional compliant mechanism where the rotation axis is limited by the internal structure, the virtual rotation axis of this invention's compliant mechanism can cover the theoretical working position and can be flexibly configured according to load characteristics, significantly improving design freedom. Through the interaction force between the coil 5a of the voice coil motor 5 and the magnetic base 5b, the reflector 2 is deflected while the compensation block 9 moves. The reverse dynamic compensation force generated by the deflection of the compensation block 9 compensates for the reaction force on the base 7, replacing the actuators arranged in a mirror configuration in the traditional solution. Compared to the traditional solution, this solution is more integrated, has a more direct response, lower control costs, and a smaller overall weight.

[0037] In one possible implementation, the reflector 2, the mirror mount 3, and the coil 5a constitute the upper load; the compensation block 9 and the magnetic base 5b together constitute the lower load; the voice coil motor 5 has four locations, namely the first voice coil motor 5-1, the second voice coil motor 5-2, the third voice coil motor 5-3, and the fourth voice coil motor 5-4; the eddy current sensor 6 has two locations, namely the first eddy current sensor 6-1 and the second eddy current sensor 6-2.

[0038] The upper flexible joint 4 is integrally formed using a slow wire EDM process, retaining only a solid connection in the symmetrical central region. It forms four spring groups 11 in both the X and Y directions, each with a consistent included angle. Each spring group 11 includes two springs, each with the same length, width, and thickness. The springs in the X direction are symmetrically distributed about the XOZ reference plane, and the springs in the Y direction are symmetrically distributed about the YOZ reference plane. The extensions of the springs along their lengths intersect at a single point, forming a virtual rotation axis in both the XOZ and YOZ planes. The two virtual axes remain orthogonal and lie on the same horizontal plane. Figure 5As shown, the upper surface of the upper flexible joint 4 rotates stably relative to the lower surface around two virtual rotation axes by bending and deforming the reed. The rotational stiffness can be changed by adjusting the length, width, and thickness of the reed, and the rotational stiffness in both directions should be equal. = This structure ensures rotational stiffness in the working direction. , The stiffness is significantly lower than that in the non-working direction. By adjusting the angle between the reeds, the position of the virtual rotation axis can be changed, thereby altering the magnitude of the moment of inertia under the load.

[0039] like Figure 3 As shown, in one possible embodiment, the upper flexible joint 4 has a threaded hole and a locating pin hole on its upper surface for positioning and connecting the upper flexible joint 4 and the mirror mount 3, wherein the locating pin hole passes through the upper flexible joint 4 at a position avoiding the spring assembly 11. The lower surface of the upper flexible joint 4 also has a mounting through hole for connecting the upper flexible joint 4 and the base 7.

[0040] In one possible implementation, the center of mass of the upper load is located on the virtual rotation plane formed by the two virtual rotation axes of the upper flexible joint 4, such as... Figure 6 As shown, this significantly reduces the rotational inertia of the load and greatly reduces the driving force requirement of the voice coil motor 5. The specific reasons are as follows:

[0041] The driving torque of voice coil motor 5 required to drive the load deflection It can be represented as:

[0042]

[0043] in, The moment of inertia of the upper load about the virtual rotation center of the upper flexible joint 4; The deflection angle of the upper load around the virtual rotation axis of the upper flexible joint 4; The deflection angular velocity of the upper load around the virtual rotation center of the upper flexible joint 4; The deflection angle acceleration of the upper load around the virtual rotation center of the upper flexible joint 4; This is the equivalent damping coefficient; Let 4 be the rotational stiffness of the upper flexible joint; as can be seen from the formula, as the rotational inertia of the upper load decreases, the driving torque of the voice coil motor 5 also decreases.

[0044] Since the output force of the voice coil motor 5 is positively correlated with its own mass, the reduction in driving force requirements allows for the selection of a motor with smaller output force, thereby reducing the mass of the motor itself and achieving overall lightweighting.

[0045] In one possible implementation, the lower flexible joint 8 is also integrally machined using a slow wire EDM process, and its shape is consistent with that of the upper flexible joint 4. It also provides a stable virtual rotation axis through the bending deformation of the springs. The rotational stiffness of the lower flexible joint 8 is the same as that of the upper flexible joint 4. However, the spring group 11 of the lower flexible joint 8 is arranged in the opposite direction to the spring group 11 of the upper flexible joint 4. The included angle between the two springs does not need to be consistent with that of the upper flexible joint 4, and can be appropriately adjusted according to the position of the center of mass of the lower load.

[0046] In one possible implementation, the upper surface of the lower flexible joint 8 has a threaded hole and a locating pin hole, wherein the locating pin hole passes through the lower flexible joint 8 at a position avoiding the spring assembly 11. The lower surface of the lower flexible joint 8 has a through hole for connection with the compensation block 9.

[0047] In one possible implementation, the moment of inertia of the lower load is equal to that of the upper load, for the following reasons: a simplified physical model of a voice coil motor driven reaction disturbance self-compensating fast reflector, where R is the distance from the center of the voice coil motor 5 to the center of the base 7. The driving torque required for the voice coil motor 5 to drive the lower load deflection; and These are a pair of interacting torques in a voice coil motor, equal in magnitude and opposite in direction; The damping coefficient; ;like Figure 7 As shown:

[0048] The reaction torque of the upper load sway on the base 7 It can be represented as:

[0049]

[0050] in

[0051]

[0052] In the formula: This represents the amplitude of the driving torque of the voice coil motor 5. This is the driving frequency of the voice coil motor 5; The moment of inertia of the upper load about the virtual rotation axis of the upper flexible joint 4; This is the equivalent damping coefficient; The rotational stiffness of the upper flexible joint 4; The phase angle of the load; It is a time variable.

[0053] Compensating torque of the lower load on base 7 It can be represented as:

[0054]

[0055] in

[0056]

[0057] In the formula: The moment of inertia of the lower load about the virtual rotation axis of the lower flexible joint 8; Let be the rotational stiffness of the lower flexible joint 8; The phase angle of the load; The deflection angle of the lower load around the virtual rotation axis of the lower flexible joint.

[0058] residual torque of the system It can be represented as:

[0059]

[0060] Therefore, to ensure that the residual torque is zero, the following must be satisfied: and .

[0061] However, the mass of the lower load should be as small as possible to ensure that the overall structural mass of the fast reflector is not too large. This is achieved by adjusting the actual mass of the compensation block 9 and the position of the virtual rotation axis of the lower flexible joint 8, so that the center of mass of the lower load is far away from the virtual rotation plane. Figure 6 As shown.

[0062] According to the formula for moment of inertia:

[0063] in, ; For the quality of the load; This is the distance from the lower load's center of mass to the virtual rotation axis of the lower flexible joint 8; as can be seen from the above formula, even if the lower load mass is small, by increasing... It is also possible to obtain a larger moment of inertia.

[0064] In one possible implementation, four voice coil motors 5 are evenly distributed on a circle. The line connecting the centers of the first voice coil motor 5-1, the third voice coil motor 5-3, the second voice coil motor 5-2, and the fourth voice coil motor 5-4, which are opposite each other in a top-view direction, coincides with the virtual rotation axis of the upper flexible joint 4 and the lower flexible joint 8. Figure 4 As shown, the first voice coil motor 5-1 and the third voice coil motor 5-3, the second voice coil motor 5-2 and the fourth voice coil motor 5-4 move in opposite directions.

[0065] In one possible implementation, the voice coil motor 5 consists of two parts: a coil 5a and a magnetic base 5b, wherein the coil 5a is fixedly connected to the mirror base 3, and the magnetic base 5b is fixedly connected to the compensation block 9.

[0066] In one possible implementation, the base 7 has countersunk holes, threaded holes, and positioning grooves for assembly with other structural components. It also has four large-diameter circular holes to ensure that the voice coil motor 5 passes smoothly through the base 7 during assembly, while preventing interference between the voice coil motor 5 and the base 7 during operation. The outermost part of the base 7 has four threaded mounting holes for connection to an external platform.

[0067] In one possible implementation, a countersunk hole is provided on the upper surface of the mirror base 3 to ensure that the installation of the reflector 2 will not interfere with the screws, and a boss is provided on the upper surface to directly bond with the reflector 2. The lower surface of the mirror base 3 is provided with a positioning groove for the coil 5a, a positioning groove for the upper flexible joint 4, and a positioning pin hole for the upper flexible joint 4, which are used for radial positioning of the coil 5a, radial positioning of the upper flexible joint 4, and circumferential positioning of the upper flexible joint 4, respectively.

[0068] In one possible implementation, there are two eddy current sensors 6, which are non-contact displacement measurement sensors based on the eddy current principle, used to accurately measure the displacement of conductive materials. The first eddy current sensor 6-1 and the second eddy current sensor 6-2 are located on the perpendicular bisectors of two adjacent voice coil motors 5, respectively. The first eddy current sensor 6-1 and the second eddy current sensor 6-2 are positioned on opposite sides of the same voice coil motor 5 and distributed on the same circumference. The real-time deflection angle of the reflector 2 can be obtained by calculating the values ​​fed back from the eddy current sensors 6. Sending the obtained data back to the controller enables closed-loop control. The surface of the eddy current sensor 6 has external threads that can be directly connected to the internal threads left on the base 7.

[0069] like Figure 2 As shown, in one possible implementation, the compensation block 9 has a positioning groove on its upper surface and a countersunk hole on its lower surface for positioning and connecting the magnetic base 5b. It also has threaded holes and positioning pin holes for fixing to the lower surface of the lower flexible joint 8. The upper outer shell 1 is a square shell with four evenly distributed threaded holes on its inner side for fixing to the base 7. A round hole is provided on its upper surface to expose the reflector 2 to the outside. The lower outer shell 10 is a square shell with four through holes evenly distributed around its perimeter for connecting to the base 7.

[0070] Assembly and adjustment steps:

[0071] 1. Assembly of eddy current sensor 6: The first eddy current sensor 6-1 and the second eddy current sensor 6-2 are threadedly connected to the base 7.

[0072] 2. Assembly of lower flexible joint 8: The lower surface of lower flexible joint 8 and compensation block 9 are first positioned by locating pins and then fixed by bolts. The upper surface of lower flexible joint 8 and base 7 are first radially and circumferentially positioned by locating grooves and locating pins, and then fixed by bolts through the countersunk bolt holes reserved in base 7.

[0073] 3. Load assembly: First, pass the four magnetic bases 5b through the large-diameter round holes reserved in the base 7, then position them through the reserved grooves on the compensation block 9, and finally fix them with bolts.

[0074] 4. Assembly of upper flexible joint 4 and base 7: The lower surface of upper flexible joint 4 is positioned with base 7 by locating pins and then fixed by bolts.

[0075] 5. Coil 5a Assembly: The four coils 5a are first positioned using the pre-reserved grooves in the mirror mount 3, and then the two are fixed together with bolts. Insert the four coils 5a into the pre-reserved positions in the magnetic base 5b.

[0076] 6. Assembly of upper flexible joint 4 and mirror base 3: upper flexible joint 4 is positioned by the pre-reserved groove and positioning pin on the back of mirror base 3 and then fixed by bolts.

[0077] 7. Assembly of reflector 2: Apply epoxy adhesive to the boss of the mirror base 3, and use a coaxial tool to fix the reflector 2 and the mirror base 3 together.

[0078] Working principle:

[0079] The host computer sends a target deflection command to the reflector 2. Upon receiving the command, the controller drives the corresponding voice coil motor 5 to perform the corresponding movement. The voice coil motor 5 drives the upper load to precisely deflect around the virtual rotation axis of the upper flexible joint 4, thus adjusting the beam direction. During this process, the deflection movement of the upper load generates a dynamic reaction force on the base 7. Simultaneously, the magnetic base 5b is subjected to an interaction force that drives the compensation block 9 to deflect around the virtual rotation axis of the lower flexible joint 8 in the opposite direction to the upper load. The dynamic compensation force generated by the deflection of the compensation block 9 is equal to and opposite in direction to the dynamic reaction force generated by the deflection of the upper load; therefore, no additional force is transmitted to the external optical platform. The system monitors the actual deflection position of the reflector 2 in real time through the eddy current sensor 6 and feeds the position signal back to the controller, forming a closed-loop control circuit. The controller adjusts in real time based on the deviation between the target position and the feedback position, ensuring that the reflector 2 quickly and accurately reaches the preset position, achieving high-bandwidth, high-precision dynamic deflection.

[0080] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0081] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A voice coil motor-driven reaction disturbance self-compensating fast reflector, characterized in that, The system includes a compensation block (9), a lower flexible joint (8) installed at the top center of the compensation block (9), a base (7) installed at the top of the lower flexible joint (8), an upper flexible joint (4) installed at the top center of the base (7), both the upper flexible joint (4) and the lower flexible joint (8) are hollow cylinders with connecting lugs at the bottom, and the upper flexible joint (4) and the lower flexible joint (8) are coaxial. A mirror mount (3) is installed at the top center of the upper flexible joint (4), and a reflector (2) is installed on the mirror mount (3). Four voice coil motors are evenly arranged around the base (7). (5) The voice coil motor (5) includes a coil (5a) and a magnetic base (5b). The coil (5a) is fixed to the mirror base (3), and the magnetic base (5b) is fixed to the compensation block (9). An eddy current sensor (6) is also installed on the top of the base (7). Four identical rectangular cutout windows are evenly opened along the circumferential direction at the axial center position of the upper flexible joint (4) and the lower flexible joint (8). Two opposite rectangular cutout windows are connected by a through cutout strip that extends continuously along the circumferential direction. A spring group (11) is provided in each rectangular cutout window. Each reed assembly (11) includes two radially extending inclined reeds. The two reeds are symmetrical about the plane formed by the center of the rectangular cutout window and the cylindrical axis of the upper flexible joint (4). The radial inner end face and outer end face of the reeds are integrally connected to the inner surface and outer surface of the upper flexible joint (4), respectively. The two sides of the reeds are separated from the sidewall of the rectangular cutout window. The thickness, length and width of the reeds are the same. The reflector (2), the mirror base (3), and the coil (5a) constitute the upper load. The reeds on the two opposite reed groups (11) on the upper flexible joint (4) intersect at a point on their extensions in the length direction. The line connecting the two points is a virtual rotation axis of the upper flexible joint (4). The two virtual axes formed are mutually orthogonal and coplanar. The virtual rotation plane is determined by the two virtual rotation axes. The center of mass of the upper load is located in the virtual rotation plane.

2. The voice coil motor driven reaction disturbance self-compensating fast reflector according to claim 1, characterized in that, The compensation block (9) and the magnetic base (5b) form the lower load. The rotational inertia of the lower load is equal to that of the upper load. The lower flexible joint (8) has the same configuration as the upper flexible joint (4). The reed group (11) of the lower flexible joint (8) and the reed group (11) of the upper flexible joint (4) are arranged in opposite directions. The reeds on the two opposite reed groups (11) on the lower flexible joint (8) intersect at a point on their extensions in the length direction. The line connecting the two points is a virtual rotation axis of the lower flexible joint (8). The two virtual axes formed are orthogonal to each other and coplanar. The virtual rotation plane is determined by the two virtual rotation axes. The virtual rotation plane formed by the two virtual rotation axes of the lower flexible joint (8) is far away from the center of mass of the lower load. In the top view direction, the two virtual rotation axes of the upper flexible joint (4) and the two virtual rotation axes of the lower flexible joint (8) are completely coincident.

3. The voice coil motor driven reaction disturbance self-compensating fast reflector according to claim 1, characterized in that, In a top-down view, the center line connecting the opposing voice coil motors (5) coincides with the virtual rotation axis.

4. A voice coil motor-driven reaction disturbance self-compensating fast reflector according to claim 3, characterized in that, The voice coil motors (5) are set in opposite directions and move in opposite directions.

5. A voice coil motor-driven reaction disturbance self-compensating fast reflector according to claim 1, characterized in that, The rotational stiffness of the lower flexible joint (8) is the same as that of the upper flexible joint (4).

6. A voice coil motor-driven reaction disturbance self-compensating fast reflector according to claim 1, characterized in that, The upper surface of the mirror base (3) is provided with a boss to bond with the reflector (2). The lower surface of the mirror base (3) is provided with a coil positioning groove, an upper flexible joint (4) positioning groove and an upper flexible joint (4) positioning pin hole, which are respectively used for the radial positioning of the coil (5a), the radial positioning of the upper flexible joint (4) and the circumferential positioning of the upper flexible joint (4).

7. A voice coil motor-driven reaction disturbance self-compensating fast reflector according to claim 1, characterized in that, The eddy current sensor (6) includes a first eddy current sensor (6-1) and a second eddy current sensor (6-2). The first eddy current sensor (6-1) and the second eddy current sensor (6-2) are respectively located on the vertical line of two adjacent voice coil motors (5) in the top view direction. The first eddy current sensor (6-1) and the second eddy current sensor (6-2) are arranged on both sides of the same voice coil motor (5).

8. A voice coil motor driven reaction disturbance self-compensating fast reflector according to claim 1, characterized in that, The base (7) is fixedly mounted with an upper outer shell (1), which covers the top part of the base (7). The upper outer shell (1) has a round hole at the top, which exposes the reflector (2). The base (7) is fixedly mounted with a lower outer shell (10), which covers the bottom part of the base (7).

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