Frequency modulated continuous wave radar system and method based on magnetic levitation phase compensation

Abstract

The application discloses a frequency-modulated continuous wave radar system based on magnetic suspension phase compensation and a method thereof, which comprises a magnetic suspension radar system and a phase compensation system. The magnetic suspension radar system comprises a stator assembly and a contactless relatively arranged rotor assembly, the stator assembly is provided with an electromagnetic coil array and a Hall displacement sensor array, and the rotor assembly is integrated with an antenna. The phase compensation system comprises a control module and a direct digital frequency synthesizer. The control module drives the electromagnetic coil array by executing a PID control algorithm, so that the rotor assembly is kept in suspension; an embedded displacement detection unit and a compensation calculation engine acquire a rotor displacement change amount in real time and calculate a phase compensation amount; and the direct digital frequency synthesizer generates a phase pre-corrected linear frequency modulation signal according to the compensation amount and outputs the signal to the antenna for emission. The system isolates mechanical vibration from a physical layer, effectively suppresses phase distortion caused by vibration through real-time phase compensation, and improves the measurement precision and stability of the radar in a dynamic environment.

Description

Technical Field

[0001] This application belongs to the field of radar technology, specifically relating to a high-precision frequency-modulated continuous wave radar system, and more particularly to a radar system and method that combines magnetic levitation technology with a real-time phase compensation algorithm to suppress mechanical vibration from a physical level and improve dynamic measurement accuracy and long-term stability. Background Technology

[0002] Vibration-induced phase errors, response delays, and accuracy degradation collectively constrain the measurement accuracy and long-term reliability of radar systems in dynamic environments. First, mechanical vibration causes significant phase distortion, particularly the 5-20 μm micro-amplitude vibrations generated by traditional support bearings, which introduce approximately ±8° echo phase shifts, resulting in velocity measurement errors of up to 12% (according to IEEE Transactions on Vehicular Technology Vol. 71). Second, the system exhibits dynamic response hysteresis; delays exceeding 100 μs due to mechanical inertia lead to a 40% increase in target loss rate in high-speed target tracking scenarios. Third, the system faces a long-term trade-off between lifespan and performance; bearings and other mechanical components wear significantly under continuous vibration, with annual measurement accuracy degradation reaching up to 18% as shown by ISO 16750-3 vibration testing.

[0003] To address the aforementioned vibration-related issues, existing technologies typically employ two approaches, both of which have significant drawbacks. First, signal compensation relying on pure algorithms (such as Kalman filtering) essentially involves post-hoc estimation and correction of vibration effects at the data processing layer. This approach cannot eliminate mechanical vibration noise originating at the physical layer, thus offering limited and unstable compensation for source phase distortion. Second, while mechanically reinforcing structures to suppress vibration can improve physical stability, it significantly increases the overall radar weight (typically exceeding 30%), and the increased structural rigidity and mass drastically sacrifice system power efficiency and mobility. Therefore, existing solutions either have fundamental performance limitations or require sacrificing key system indicators, making it difficult to simultaneously guarantee long-term measurement accuracy while meeting the requirements for lightweight and low-power equipment. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a frequency-modulated continuous wave radar system and method based on magnetic levitation phase compensation to solve at least one of the above-mentioned technical problems.

[0005] To achieve the above objectives, in a first aspect, a frequency-modulated continuous wave radar system based on magnetic levitation phase compensation is provided, which includes: a magnetic levitation radar system and a phase compensation system; The magnetic levitation radar system includes: a stator assembly and a rotor assembly disposed opposite to the stator assembly without contact; an electromagnetic coil array and a Hall displacement sensor array are disposed on the stator assembly; the Hall displacement sensor array is used to monitor the displacement change of the rotor assembly relative to the stator assembly; the rotor assembly integrates an antenna; The phase compensation system includes a control module and a direct digital frequency synthesizer; the control module is used to execute a PID control algorithm to drive the electromagnetic coil array to maintain the rotor assembly in a suspended support state. The control module includes: a displacement detection unit for acquiring a representative displacement change; and a compensation calculation engine for calculating a phase compensation amount based on the displacement change. The direct digital frequency synthesizer is used to generate a phase-precorrected linear frequency modulated signal based on the phase compensation amount, and output the linear frequency modulated signal to the antenna of the magnetic levitation radar system.

[0006] Furthermore, the control module is an FPGA control module with a main operating frequency of 200MHz and a control bandwidth of 12kHz for the PID control algorithm it executes. The FPGA control module is also used to synchronize the radar sampling clock and configure system parameters. Driven by the FPGA control module, the electromagnetic coil array creates a levitation gap of 0.05±0.01mm between the rotor assembly and the stator assembly. The compensation calculation engine calculates the compensation based on the formula Δ... The phase compensation amount Δ is calculated as (4π·Δd) / λ. , where λ is the radar operating wavelength; the direct digital frequency synthesizer updates and outputs the pre-corrected linear frequency modulated signal at a frequency of 10ns.

[0007] Furthermore, the phase compensation system also includes a power management module, and the FPGA control module, the direct digital frequency synthesizer, and the power management module are integrated on the same printed circuit board.

[0008] Furthermore, the stator assembly includes: Aluminum nitride ceramic substrate; A four-quadrant electromagnetic coil array is disposed on the aluminum nitride ceramic substrate. The four-quadrant electromagnetic coils are configured to generate an electromagnetic levitation force that levitates the rotor assembly after being energized. The four-quadrant electromagnetic coil array has an asymmetrical layout, with a spacing of 0.5 ± 0.05 mm between the center lines of adjacent coils. The Hall sensor array is a triple-redundant Hall sensor array with a sampling rate of 200 kHz and a displacement detection accuracy of 0.001 mm. In addition, a Hall displacement sensor array integrated on the aluminum nitride ceramic substrate, the Hall displacement sensor array being configured to detect the gap between the rotor assembly and the stator assembly.

[0009] Furthermore, the rotor assembly includes: Carbon fiber matrix; An embedded antenna array is embedded in the carbon fiber matrix, which constitutes an integrated antenna rotor structure and is used to transmit and receive radio frequency signals.

[0010] Furthermore, the rotor assembly may also include a microgroove heat dissipation structure formed on the surface of the carbon fiber matrix, the microgroove heat dissipation structure being configured to dissipate heat through a micro-hot airflow formed inside.

[0011] Furthermore, the topology of the four-quadrant electromagnetic coil is a four-quadrant independent control topology that is symmetrically distributed about the center of the rotor assembly; the Hall displacement sensor array includes three independently set Hall displacement sensors, forming a triple redundant sensor layout; the aluminum nitride ceramic substrate and the carbon fiber matrix exchange heat through a thermal conduction path. The input terminal of the control module is communicatively connected to the Hall displacement sensor array to obtain a detection signal characterizing the gap; the output terminal of the control module is electrically connected to the four-quadrant electromagnetic coil to output the control signal to the four-quadrant electromagnetic coil; the control module is configured to: calculate and generate the control signal in real time based on the detection signal using a predetermined control algorithm, so as to drive the four-quadrant electromagnetic coil to generate a corresponding electromagnetic levitation force, thereby dynamically maintaining the rotor assembly at the target levitation position.

[0012] Furthermore, the control module is configured to: after the system is powered on and initialized, first determine whether the magnetic levitation radar system is in a levitation-ready state; if yes, then activate the electromagnetic coil array; if no, then execute the fault diagnosis process. The control module drives the electromagnetic coil array to dynamically maintain the suspension gap between the rotor assembly and the stator assembly within the range of 0.03 mm to 0.07 mm. The displacement detection unit is configured to: continuously acquire sampling signals from the Hall displacement sensor array during the working cycle of the radar transmitting the linear frequency modulated signal, and detect the displacement change Δd of the rotor assembly; determine whether the absolute value of the displacement change Δd is greater than a preset threshold of 0.01 mm; if so, trigger the compensation calculation engine to perform phase compensation calculation; the compensation calculation engine calculates the phase compensation according to the formula Δd. =(4π·Δd) / λ to calculate the phase compensation amount Δφ, where λ is the radar operating wavelength, and the total response delay from detecting displacement change to calculating the phase compensation amount is less than 500ns; the direct digital frequency synthesizer is configured to: receive the phase compensation amount Δφ, and generate a pre-corrected linear frequency modulated signal based on the phase compensation amount Δφ, as a pre-compensation signal to be transmitted in the next signal cycle; The control module continuously judges the system's operating status during system operation, and controls the electromagnetic coil array to shut down the electromagnetic field when it receives a shutdown command or detects an unrecoverable fault.

[0013] Furthermore, the system is provided with a housing assembly, which includes a top cover, side walls, and an interface panel. The top cover is used to cover and provide top protection, the side walls are used to provide lateral support and circumferential sealing, and the interface panel is used to provide external electrical and signal interfaces. The top cover and the side walls together form a sealed cavity, and the magnetic levitation radar system and the phase compensation system are encapsulated in the sealed cavity.

[0014] Furthermore, the system is assembled in the following assembly sequence: First, the electromagnetic coil array and the Hall displacement sensor array are sequentially assembled on the ceramic substrate to form the stator assembly; Secondly, the microgroove heat dissipation structure is processed on the carbon fiber matrix and the millimeter-wave antenna is integrated to form the rotor assembly; Next, the control module, which integrates the FPGA control module and the direct digital frequency synthesizer, is installed in the preset mounting position of the housing assembly; Finally, the stator assembly and the rotor assembly are encapsulated within a sealed cavity formed by the housing assembly.

[0015] Furthermore, 8. The frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to claim 5, characterized in that the embedded antenna array adopts a millimeter-wave antenna, the operating frequency band of the millimeter-wave antenna is 76GHz to 81GHz; the Hall sensor array is a triple-redundant Hall sensor array with a sampling rate of 200kHz and a displacement detection accuracy of 0.001mm; the Hall displacement sensors are symmetrically distributed at 120° on the plane, forming a triple-redundant displacement monitoring array; the triple-redundant displacement monitoring array is configured to process its three output displacement signals using a majority voting mechanism to output the final displacement amount.

[0016] Further, the electromagnetic coil array is specifically a four-quadrant electromagnetic coil array arranged on the stator assembly, comprising a first coil, a second coil, a third coil, and a fourth coil; the first coil, the second coil, the third coil, and the fourth coil are arranged around a rotation center, and the center distance between any two adjacent coils is 0.5 ± 0.05 mm; the diameters of the first coil, the second coil, the third coil, and the fourth coil are different, forming an asymmetrical diameter distribution; the diameter of the first coil is 12.5 mm, the diameter of the second coil is 11.8 mm, the diameter of the third coil is 13.2 mm, and the diameter of the fourth coil is 12.0 mm; the centers of the first coil, the second coil, the third coil, and the fourth coil are located at angles of 52°, 128°, 232°, and 308° with respect to the reference direction, respectively; the first coil, the second coil, the third coil, and the fourth coil are configured such that by independently adjusting the phase of the driving current input to each coil, a net electromagnetic resultant force with continuously adjustable direction can be generated.

[0017] Secondly, a method for operating a frequency-modulated continuous wave radar system based on magnetic levitation phase compensation is provided. The method is based on any of the systems described in the first aspect and includes the following steps: A magnetic levitation radar system is provided, comprising a stator assembly and a rotor assembly disposed opposite to the stator assembly without contact, wherein the stator assembly is provided with an electromagnetic coil array and a Hall displacement sensor array, and the rotor assembly integrates an antenna; A phase compensation system is provided, which includes a control module and a direct digital frequency synthesizer; The control module executes a PID control algorithm to drive the electromagnetic coil array, thereby maintaining the rotor assembly in a suspended support state relative to the stator assembly. The displacement change of the rotor assembly relative to the stator assembly is monitored in real time by the Hall displacement sensor array. The displacement detection unit in the control module acquires a digital signal representing the displacement change. The phase compensation amount is calculated based on the displacement change by the compensation calculation engine in the control module. The direct digital frequency synthesizer generates a phase-precorrected linear frequency modulated signal based on the phase compensation amount. The linear frequency modulated signal is output to the antenna of the rotor assembly for transmission.

[0018] Thirdly, an electronic device is provided, comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the operating method of the frequency-modulated continuous wave radar system based on magnetic levitation phase compensation as described in any of the second aspects.

[0019] Fourthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the operating method of the frequency-modulated continuous wave radar system based on magnetic levitation phase compensation as described in any of the second aspects.

[0020] Fifthly, a computer program product is provided, comprising a computer-readable storage medium storing a computer program, wherein when the computer program is executed, the operating method of the frequency-modulated continuous wave radar system based on magnetic levitation phase compensation as described in any of the second aspects is performed.

[0021] The above technical solution has the following beneficial technical effects: This invention provides a physically isolated mechanical vibration bearing platform for radar antennas using magnetic levitation technology, eliminating phase distortion caused by the micro-vibration of traditional mechanical bearings at its physical source. Simultaneously, the system uses a high-precision displacement sensor to monitor the displacement changes of the suspended rotor in real time and employs a displacement-phase mapping algorithm to calculate phase compensation in real time. A direct digital frequency synthesizer then performs phase pre-correction on the transmitted linear frequency modulated signal. This collaborative mechanism actively suppresses vibration at the physical layer, significantly improving velocity measurement accuracy; achieves rapid dynamic response, effectively improving high-speed target tracking performance; and fundamentally avoids accuracy degradation caused by mechanical wear through a non-contact levitation design. Thus, it simultaneously achieves excellent performance in dynamic high-speed measurement scenarios, combining high precision, fast response, and long lifespan. Attached Figure Description

[0022] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein: Figure 1 This is a schematic diagram illustrating the working principle of a frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the logical structure of a magnetic levitation radar system according to an embodiment of the present invention; Figure 3 This is a flowchart illustrating the operation of the magnetic levitation FMCW radar according to an embodiment of the present invention. Figure 4 This is an overall architecture diagram of a frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to an embodiment of the present invention; Figure 5 This is a top view of a four-quadrant coil diagram according to an embodiment of the present invention; Figure 6This is a schematic diagram of a triple redundant Hall sensor array performing majority voting according to an embodiment of the present invention; Figure 7 This is a block diagram of the suspension control and radio frequency signal channel interference suppression system according to an embodiment of the present invention; Figure 8 This is a flowchart illustrating the working method of a frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to an embodiment of the present invention. Figure 9 This is a schematic diagram of the structure of a computer system according to an embodiment of the present invention. Detailed Implementation

[0023] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0024] The purpose of this invention is to address at least one of the three inherent technical defects of traditional frequency-modulated continuous wave (FMCW) radar due to its reliance on mechanical bearings: phase distortion introduced by bearing micro-vibrations, resulting in radar echo phase shifts that cause velocity measurement errors as high as ±12%; dynamic response hysteresis caused by mechanical system inertia, with delays exceeding 100 microseconds, significantly deteriorating the tracking capability of high-speed moving targets; and systemic lifespan degradation due to bearing wear, causing radar velocity and ranging accuracy to decline at an average annual rate of approximately 18%. These problems collectively restrict the radar's measurement accuracy, dynamic response speed, and long-term operational stability under complex vibration environments.

[0025] like Figure 1 As shown, this embodiment of the invention provides a frequency-modulated continuous wave radar system based on magnetic levitation phase compensation, which includes: Magnetic levitation radar system and phase compensation system; The magnetic levitation radar system includes: a stator assembly and a rotor assembly disposed opposite to the stator assembly without contact; an electromagnetic coil array and a Hall displacement sensor array are disposed on the stator assembly; the Hall displacement sensor array is configured to monitor the displacement change of the rotor assembly relative to the stator assembly; the rotor assembly integrates a transmitting / receiving antenna; The phase compensation system includes a control module and a direct digital frequency synthesizer; the electromagnetic coil array and the Hall displacement sensor array are both electrically connected to the control module, and the control module is configured to execute a PID control algorithm to drive the electromagnetic coil array to maintain the rotor assembly in a suspended support state; The control module includes a displacement detection unit and a compensation calculation engine. The input of the displacement detection unit is connected to the Hall displacement sensor array to acquire a digital signal representing the displacement change. The output of the displacement detection unit is connected to the compensation calculation engine, which is configured to calculate a phase compensation amount based on the displacement change. The output of the compensation calculation engine is connected to the direct digital frequency synthesizer, which is configured to generate a phase-precorrected linear frequency modulated signal based on the phase compensation amount and output the linear frequency modulated signal to the transmitting antenna of the magnetic levitation radar system.

[0026] In some embodiments, the control module employs an FPGA control module with a main operating frequency of 200MHz and a control bandwidth of 12kHz for the PID control algorithm it executes. The FPGA control module also functions to synchronize the radar sampling clock and configure system parameters. Driven by the FPGA control module, the electromagnetic coil array creates a levitation gap of 0.05±0.01mm between the rotor assembly and the stator assembly. The displacement change Δd represented by the digital signal output by the displacement detection unit has a detection accuracy of 0.001mm, and the output frequency of the digital signal is 200kHz. The compensation calculation engine calculates the displacement according to the formula Δ... The phase compensation amount Δφ is calculated as (4π·Δd) / λ, where λ is the radar operating wavelength. The direct digital frequency synthesizer updates and outputs the pre-corrected linear frequency modulated signal at a frequency of 10ns. The phase compensation system also includes a power management module, and the FPGA control module, the direct digital frequency synthesizer, and the power management module are integrated on the same printed circuit board.

[0027] like Figure 2As shown, in some embodiments, the stator assembly includes: an aluminum nitride ceramic substrate; a four-quadrant electromagnetic coil array disposed on the aluminum nitride ceramic substrate, the four-quadrant electromagnetic coils being configured to generate an electromagnetic levitation force that levitates the rotor assembly upon energization; the four-quadrant electromagnetic coil array having an asymmetrical layout, with a spacing of 0.5 ± 0.05 mm between the center lines of adjacent coils; a Hall sensor array being a triple-redundant Hall sensor array with a sampling rate of 200 kHz and a displacement detection accuracy of 0.001 mm; and a Hall displacement sensor integrated on the aluminum nitride ceramic substrate. The sensor array, wherein the Hall displacement sensor array is configured to detect the gap between the rotor assembly and the stator assembly; the rotor assembly includes: a carbon fiber matrix; an embedded antenna array embedded in the carbon fiber matrix, the embedded antenna array forming an integrated antenna-rotor structure for transmitting and receiving radio frequency signals; the embedded antenna array employs a millimeter-wave antenna, the millimeter-wave antenna operating in the frequency band of 76 GHz to 81 GHz; and a microgroove heat dissipation structure formed on the surface of the carbon fiber matrix, the microgroove heat dissipation structure being configured to dissipate heat through a micro-hot airflow formed internally.

[0028] In some embodiments, the microslot depth of the microslot heat dissipation structure is 0.3 mm. This specific dimension was determined through comprehensive optimization of heat transfer and fluid dynamics: on the one hand, the 0.3 mm slot depth forms the optimal heat dissipation area and volume ratio on the limited rotor surface area, enabling efficient capture and driving of the surrounding air by utilizing the tangential motion of its surface when the rotor rotates at high speed, forming a stable, directional micro-heat airflow within the microslot, thereby continuously removing the Joule heat generated during the operation of the embedded antenna array through forced convection; on the other hand, this depth has been verified by finite element analysis, ensuring excellent heat dissipation performance (actual measurements show that it can reduce the temperature rise in the core area of ​​the antenna array by more than 40%) while maximizing the overall mechanical integrity of the carbon fiber matrix as a load-bearing structure, avoiding local stiffness reduction or dynamic imbalance caused by excessive slot depth.

[0029] In some embodiments, the topology of the four-quadrant electromagnetic coils is a four-quadrant independent control topology symmetrically distributed about the center of the rotor assembly. The Hall displacement sensor array includes three independently arranged Hall displacement sensors, forming a triple-redundant sensor layout. The aluminum nitride ceramic substrate and the carbon fiber matrix exchange heat through a thermal conduction path. The Hall displacement sensors are symmetrically distributed at 120° on the plane, forming a triple-redundant displacement monitoring array; the triple-redundant displacement monitoring array is configured to process its three output displacement signals using a majority voting mechanism to output the final displacement amount.

[0030] In a specific embodiment, the heat conduction path between the aluminum nitride ceramic substrate and the carbon fiber matrix is ​​implemented and functions in the following way: First, in terms of structural assembly, the aluminum nitride ceramic substrate and the carbon fiber matrix are precisely positioned relative to each other in the axial direction with a preset spacing (e.g., a suspension gap corresponding to 0.05 mm). Although there is a physical gap between them, this gap is located within a high vacuum or a sealed cavity filled with a specific thermally conductive medium (e.g., helium). This design essentially establishes a highly efficient convection and radiation composite heat transfer channel using gas or quasi-vacuum as the medium. The technical principle is that the Joule heat generated when the embedded antenna array is working is first conducted through its own matrix to the interior of the carbon fiber matrix in direct contact with it. The carbon fiber matrix has high thermal conductivity along the fiber direction, and the heat is rapidly distributed inside the rotor. At the same time, heat is exchanged through the extremely narrow space between the surface of the rotor (carbon fiber matrix) and the surface of the stator (aluminum nitride ceramic substrate) primarily through gas molecule thermal motion (convection) and thermal radiation. Aluminum nitride ceramic is an electronic substrate material with high thermal conductivity (theoretically reaching 150-200 W / (m·K)). It can efficiently diffuse heat received from the rotor laterally across the entire substrate area and transfer it to the system housing or external heat sink through pre-placed thermal pads or metallized vias on the back of the substrate. This heat conduction path creates a passive heat dissipation main channel from the internal heat source (embedded antenna) to the external environment without any moving mechanical contact. This heat conduction path not only effectively avoids the friction, wear, and vibration caused by traditional bearings or contact-type heat dissipation structures, but also utilizes the excellent insulation and thermal conductivity of aluminum nitride ceramic to achieve electrical isolation while reducing the junction temperature of the RF front end by more than 25%, thereby ensuring the thermal stability and signal consistency of the system under long-term high-load operation.

[0031] In some embodiments, the input terminal of the control module is communicatively connected to the Hall displacement sensor array to obtain a detection signal characterizing the gap; the output terminal of the control module is electrically connected to the four-quadrant electromagnetic coil to output the control signal to the four-quadrant electromagnetic coil; the control module is configured to: calculate and generate the control signal in real time based on the detection signal using a predetermined control algorithm to drive the four-quadrant electromagnetic coil to generate a corresponding electromagnetic levitation force, thereby dynamically maintaining the rotor assembly at the target levitation position.

[0032] like Figure 3As shown, the control module is configured to: after system power-on initialization, first determine whether the magnetic levitation radar system is in a levitation-ready state; if yes, activate the electromagnetic coil array; if not, execute the fault diagnosis process. The control module drives the electromagnetic coil array to dynamically maintain the levitation gap between the rotor assembly and the stator assembly within the range of 0.03mm to 0.07mm. The closed-loop control bandwidth of the control module for the electromagnetic coil array is greater than 8kHz. The Hall displacement sensor array consists of three independently configured sensors, forming a triple-redundant displacement monitoring array with a sampling rate of 200kHz and a detection accuracy of 0.001mm. The control module is configured to execute a dual-channel verification fault-tolerant algorithm on the output signal of the triple-redundant displacement monitoring array. The displacement detection unit is configured to: continuously acquire sampling signals from the Hall displacement sensor array during the working cycle of the radar transmitting a linear frequency modulated signal, and detect the displacement change Δd of the rotor assembly. The displacement detection unit is further configured to: determine whether the absolute value of the displacement change Δd is greater than a preset threshold of 0.01mm; if so, trigger the compensation calculation engine to perform phase compensation calculation. The compensation calculation engine calculates the phase compensation based on the formula Δd. The phase compensation amount Δφ is calculated as (4π·Δd) / λ, where λ is the radar operating wavelength, and the total response delay from detecting the displacement change to calculating the phase compensation amount is less than 500 ns. The direct digital frequency synthesizer is configured to receive the phase compensation amount Δφ and generate a pre-corrected linear frequency modulated signal based on the phase compensation amount Δφ, which serves as the pre-compensation signal for transmission in the next signal cycle.

[0033] The system comprises two independent control channels: a first control channel is a levitation control channel, which includes the control module, an electromagnetic coil array, and a Hall displacement sensor, used to maintain the stable levitation of the rotor assembly; the second control channel is a radio frequency signal channel, which includes the direct digital frequency synthesizer, a transmitting antenna, and a receiving and processing link; the levitation control channel and the radio frequency signal channel are physically isolated from each other. The receiving and processing link is used to down-convert, filter, amplify, and perform analog-to-digital conversion on the echo signal radiated by the transmitting antenna and reflected by the target, outputting a digitized intermediate frequency signal for the back-end processing unit to perform target information calculation.

[0034] With the coordinated operation of the two independent control channels, the system can support dynamic target measurement scenarios with a relative speed of 120 km / h. During system operation, the control module continuously assesses the system's operating status and, upon receiving a shutdown command or detecting an unrecoverable fault, controls the electromagnetic coil array to shut down the electromagnetic field.

[0035] like Figure 4As shown, the system is provided with a housing assembly, which includes a top cover, side walls, and an interface panel. The top cover is used to cover and provide top protection, the side walls are used to provide lateral support and circumferential sealing, and the interface panel is used to provide external electrical and signal interfaces. The top cover and the side walls together form a sealed cavity, in which the magnetic levitation radar system and the phase compensation system are encapsulated.

[0036] In some embodiments, the stator assembly includes: a ceramic substrate; a four-quadrant electromagnetic coil array disposed on the ceramic substrate; and a Hall displacement sensor array disposed on the ceramic substrate. The four-quadrant electromagnetic coil array has an asymmetrical layout, with a spacing of 0.5 ± 0.05 mm between the center lines of adjacent coils. The Hall sensor array is a triple-redundant Hall sensor array with a sampling rate of 200 kHz and a displacement detection accuracy of 0.001 mm. The rotor assembly includes: a carbon fiber matrix; a millimeter-wave antenna integrated within the carbon fiber matrix, the millimeter-wave antenna operating in the 76 GHz to 81 GHz frequency band, forming an integrated antenna-rotor structure; and a microgroove heat dissipation structure formed on the surface of the carbon fiber matrix.

[0037] In some embodiments, the system is assembled in the following order: First, the electromagnetic coil array and the Hall displacement sensor array are sequentially assembled on the ceramic substrate to form the stator assembly; second, the microgroove heat dissipation structure is processed on the carbon fiber matrix and the millimeter-wave antenna is integrated to form the rotor assembly; third, the control module, which integrates the FPGA control module and the direct digital frequency synthesizer, is installed on a preset mounting position of the housing assembly; finally, the stator assembly and the rotor assembly are encapsulated in a sealed cavity formed by the housing assembly.

[0038] like Figure 5 As shown, the electromagnetic coil array is specifically a four-quadrant electromagnetic coil array arranged on the stator assembly, comprising a first coil, a second coil, a third coil, and a fourth coil. The first, second, third, and fourth coils are arranged around a rotation center, with the center distance between any two adjacent coils being 0.5 ± 0.05 mm. The diameters of the first, second, third, and fourth coils are different, forming an asymmetrical diameter distribution. The diameter of the first coil is 12.5 mm, the diameter of the second coil is 11.8 mm, the diameter of the third coil is 13.2 mm, and the diameter of the fourth coil is 12.0 mm. The centers of the first, second, third, and fourth coils are located at angles of 52°, 128°, 232°, and 308° to the reference direction, respectively.

[0039] In some embodiments, the electromagnetic coil array is a four-quadrant asymmetric topology, comprising a first coil, a second coil, a third coil, and a fourth coil arranged around a rotation center and independently controllable; wherein the diameters of the first coil, the second coil, the third coil, and the fourth coil are different, forming an asymmetric diameter distribution, and the center distance between two adjacent coils is 0.5±0.05mm; the first coil, the second coil, the third coil, and the fourth coil are configured to generate a net electromagnetic resultant force with continuously adjustable direction by independently adjusting the phase of the driving current input to each coil, and the direction control accuracy of the net electromagnetic resultant force is ±0.1°.

[0040] Specifically, this embodiment employs a four-quadrant asymmetric magnetic levitation structure. The electromagnetic coils adopt a four-quadrant asymmetric topology, with the center distance between adjacent coils being 0.5 ± 0.05 mm. By independently controlling the electromagnetic coils in the four quadrants (coil 1 to coil 4), a resultant electromagnetic force with adjustable direction is generated. Each coil generates an electromagnetic force F_i in a specific direction. By adjusting the phase angle θ_i of the current in each coil, the vector direction of F_i is changed. The vector superposition of the four sets of electromagnetic forces forms a net resultant force F_net, the direction of which is dynamically controllable (control accuracy ±0.1°). Its advantage lies in the fact that the asymmetric electromagnetic field cancels out eddy current interference, eliminates the magnetic field coupling effect of the traditional ring layout, and improves levitation stability (vibration suppression > 35 dB).

[0041] In some embodiments, the displacement-phase real-time mapping algorithm includes the following steps: obtaining the displacement change Δd of the suspended rotor monitored in real time by the Hall displacement sensor; according to the formula =(4π·Δd) / λ Real-time calculation of the corresponding phase compensation amount Δ Where λ is the radar operating wavelength; and from acquiring the displacement change Δd to calculating the phase compensation amount Δ The total response delay is less than 500ns.

[0042] Specifically, the execution process of the displacement-phase real-time mapping algorithm is as follows: First, the Hall displacement sensor integrated into the magnetic levitation radar system monitors the instantaneous displacement change Δd of the carbon fiber rotor relative to the ideal suspension position caused by mechanical vibration in real time at a sampling rate of 200kHz, with a detection accuracy of 0.001mm. This displacement Δd is transmitted to the displacement detection unit in the phase compensation system in the form of a digital signal. Subsequently, the compensation calculation engine, based on the strict physical principles of electromagnetic wave propagation, calculates the displacement according to the formula Δd. = (4π·Δd) / λ The compensation amount Δ required to eliminate the phase error introduced by this displacement is calculated in real time. Where λ is the operating wavelength of the radar system. This calculation process fully utilizes the definite proportional relationship between the radio frequency wavelength λ and the mechanical displacement Δd, achieving a direct and accurate mapping from physical layer vibration information to electrical signal phase parameters. The calculated phase compensation amount Δd The signal is immediately sent to a direct digital frequency synthesizer (DDS), which updates its output in less than 10 ns to generate and output a pre-corrected linear frequency modulated signal (pre-corrected chirp signal) for transmission in the next signal cycle. From the detection of displacement change Δd to the output of the corresponding pre-corrected chirp signal, the response delay of the entire sensing, calculation, and correction link is strictly controlled within 500 ns. This allows for feedforward compensation of vibration-induced phase distortion at the physical layer before RF signal transmission. Through the collaboration of this algorithm and a high-speed hardware system, high-precision compensation for vibration phase errors is achieved, controlling the residual phase error within ±0.5°, fundamentally solving the phase distortion problem caused by mechanical vibration in traditional systems.

[0043] like Figure 6 As shown, in some embodiments, the Hall displacement sensor consists of three independent sensors symmetrically distributed at 120° on a plane, forming a triple-redundant displacement monitoring array. The sampling rate of the triple-redundant displacement monitoring array is not less than 200kHz, and it is configured to process the three output displacement signals using a majority voting mechanism to output the final displacement. Furthermore, the triple-redundant displacement monitoring array can maintain a displacement detection accuracy of 0.001mm even in the event of a single sensor failure. Its advantage lies in maintaining a detection accuracy of 0.001mm even in the event of a single-point failure, based on fault-tolerant control theory, resulting in a 300% improvement in reliability compared to a dual-sensor scheme.

[0044] Specifically, in one embodiment of the present invention, the specific workflow of the triple-redundant displacement monitoring architecture is as follows: Three Hall sensors (sensor 1, sensor 2, and sensor 3) are spatially symmetrically distributed at 120°, synchronously monitoring the instantaneous displacement of the carbon fiber rotor in real time at a sampling rate of not less than 200kHz. Each sensor independently generates a raw displacement data signal and transmits it to the data fusion processing unit. The majority voting module built into the data fusion processing unit performs synchronous comparison and logical decision-making on the real-time displacement data from the three sensors. The specific decision-making mechanism is as follows: at any sampling time, the three data streams are compared pairwise and their consistency is checked, and the values ​​of at least two consistent data streams are determined as valid values; if all three data streams differ but two of them are within a preset reasonable error range, the average of the two data streams is taken as the valid output. After processing by the majority voting module, the system finally outputs a unique and reliable displacement change, namely "valid Δd". This "valid Δd" will serve as the unique and reliable data source and will be used by the subsequent displacement-phase real-time mapping algorithm to calculate the phase compensation amount. This triple-redundancy architecture, combined with a majority voting mechanism and based on fault-tolerant control theory, ensures that even if a single sensor fails, the system can still continuously output high-precision data relying on the other two normally functioning sensors, thereby maintaining a displacement detection accuracy of 0.001mm. Testing shows that this architecture improves system reliability by 300% compared to a dual-sensor solution, providing a reliable and robust data foundation for the entire phase compensation loop.

[0045] like Figure 7 As shown, in some embodiments, the system includes a radio frequency-levitation dual-channel isolation architecture, specifically comprising a physically isolated levitation control channel and a radio frequency signal channel with different frequencies. The levitation control channel is a low-frequency channel with an operating frequency below 10kHz, used to drive the electromagnetic coil array to maintain the stable levitation of the carbon fiber rotor. The radio frequency signal channel is a high-frequency channel with an operating frequency above 76GHz, used to generate, transmit, and receive the linear frequency modulated signal. Common-mode interference is suppressed between the levitation control channel and the radio frequency signal channel through a ferrite magnetic ring, resulting in an electromagnetic compatibility isolation greater than 80dB for the radio frequency-levitation dual-channel isolation architecture. Through frequency domain separation and magnetic ring filtering, the electromagnetic interference conduction path is blocked (noise reduction of 40dB).

[0046] like Figure 8 As shown, in some embodiments, a method for operating a frequency-modulated continuous wave radar based on magnetic levitation phase compensation includes the following steps: A magnetic levitation radar system is provided, comprising a stator assembly and a rotor assembly disposed opposite to the stator assembly without contact, wherein the stator assembly is provided with an electromagnetic coil array and a Hall displacement sensor array, and the rotor assembly integrates a transmitting / receiving antenna; A phase compensation system is provided, which includes a control module and a direct digital frequency synthesizer; The control module executes a PID control algorithm to drive the electromagnetic coil array, thereby maintaining the rotor assembly in a suspended support state relative to the stator assembly. The displacement change of the rotor assembly relative to the stator assembly is monitored in real time by the Hall displacement sensor array. The displacement detection unit in the control module acquires a digital signal representing the displacement change. The phase compensation amount is calculated based on the displacement change by the compensation calculation engine in the control module. The direct digital frequency synthesizer generates a phase-precorrected linear frequency modulated signal based on the phase compensation amount. The linear frequency modulated signal is output to the transmitting antenna of the rotor assembly for transmission.

[0047] In a further embodiment, the method may include the following steps: Power-on initialization of a frequency-modulated continuous wave radar system based on magnetic levitation phase compensation; Determine whether the magnetic levitation system is in a levitation-ready state; If so, the electromagnetic coil array is activated to allow the rotor assembly to enter and maintain a levitated state, and the levitation gap between the rotor assembly and the stator assembly is monitored in real time. While maintaining the levitation state, the magnetic levitation system controls the radar to emit linear frequency modulated signals; The displacement change Δd of the rotor assembly is obtained by continuous sampling using a Hall displacement sensor. Determine whether the absolute value of the displacement change, |Δd|, is greater than a preset threshold; If so, then according to the formula Δ =(4π·Δd) / λ to calculate the phase compensation amount Δφ in real time, where λ is the radar operating wavelength; Based on the calculated phase compensation amount Δφ, the linear frequency modulated signal to be transmitted in the next signal cycle is pre-corrected in phase, and a pre-compensated signal is generated and transmitted. Continuously determine whether the frequency modulated continuous wave radar system based on magnetic levitation phase compensation is in operation; If not, then the electromagnetic field of the electromagnetic coil array is turned off.

[0048] In some embodiments, during the step of activating the electromagnetic coil array, the levitation gap is dynamically maintained within the range of 0.03 mm to 0.07 mm. Specifically, the step of activating the electromagnetic coil array includes driving the electromagnetic coil array using a four-quadrant electromagnetic control method with a control bandwidth greater than 8 kHz.

[0049] In some embodiments, the step of continuous sampling by displacement sensors adopts a triple-redundant displacement monitoring architecture, that is, synchronous sampling by three spatially symmetrical Hall sensors with a sampling rate of 200kHz and an accuracy of 0.001mm.

[0050] In some embodiments, in the step of obtaining the displacement change Δd, the sampling signals of the three Hall sensors are processed using a dual-channel verification and fault-tolerant mechanism.

[0051] In some embodiments, the total response delay from acquiring the displacement change Δd to calculating the phase compensation Δφ is less than 500 ns. The method operates based on a radio frequency-levitation dual-channel isolation architecture, wherein the low-frequency channel for levitation control and the high-frequency channel for radio frequency signal processing are physically isolated from each other. This dual-channel isolation architecture supports dynamic target measurement scenarios with relative speeds up to 120 km / h.

[0052] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments 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. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0053] This invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements any of the methods described above.

[0054] If the integrated module / 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, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. Of course, there are other types of readable storage media, such as quantum memories, graphene memories, etc.

[0055] The present invention also provides an electronic device. The electronic device of this invention includes: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the operating method of the frequency-modulated continuous wave radar system based on magnetic levitation phase compensation provided by the present invention.

[0056] The following is for reference. Figure 8 It shows a schematic diagram of the structure of a computer system 800 suitable for implementing an electronic device according to embodiments of the present invention. Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0057] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 802 or programs loaded from storage section 808 into random access memory (RAM) 803. The RAM 803 also stores various programs and data required for the operation of the computer system 800. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0058] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.

[0059] In particular, according to the embodiments disclosed in this invention, the processes described in the above main step diagrams can be implemented as computer software programs. For example, embodiments of this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the main step diagrams. In the above embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by central processing unit 801, it performs the functions defined in the system of this invention.

[0060] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0061] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0062] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A frequency-modulated continuous wave radar system based on magnetic levitation phase compensation, characterized in that, include: Magnetic levitation radar system and phase compensation system; The magnetic levitation radar system includes: a stator assembly and a rotor assembly disposed opposite to the stator assembly without contact; an electromagnetic coil array and a Hall displacement sensor array are disposed on the stator assembly; the Hall displacement sensor array is used to monitor the displacement change of the rotor assembly relative to the stator assembly; the rotor assembly integrates an antenna; The phase compensation system includes a control module and a direct digital frequency synthesizer; the control module is used to execute a PID control algorithm to drive the electromagnetic coil array to maintain the rotor assembly in a suspended support state. The control module includes: a displacement detection unit for acquiring a representative displacement change; and a compensation calculation engine for calculating a phase compensation amount based on the displacement change. The direct digital frequency synthesizer is used to generate a phase-precorrected linear frequency modulated signal based on the phase compensation amount, and output the linear frequency modulated signal to the antenna of the magnetic levitation radar system.

2. The frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to claim 1, characterized in that, The control module is an FPGA control module; the electromagnetic coil array, driven by the FPGA control module, creates a levitation gap between the rotor assembly and the stator assembly; the compensation calculation engine calculates the compensation based on the formula Δ. The phase compensation amount Δ is calculated as (4π·Δd) / λ. , where λ is the radar operating wavelength; the direct digital frequency synthesizer updates and outputs the pre-corrected linear frequency modulated signal at a frequency of 10ns.

3. The frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to claim 1 or 2, characterized in that, The stator assembly includes: Aluminum nitride ceramic substrate; A four-quadrant electromagnetic coil array is disposed on the aluminum nitride ceramic substrate. The four-quadrant electromagnetic coils are used to generate an electromagnetic levitation force that levitates the rotor assembly after being energized. The four-quadrant electromagnetic coil array is in an asymmetrical layout. Additionally, a Hall displacement sensor array integrated on the aluminum nitride ceramic substrate, the Hall displacement sensor array being used to detect the gap between the rotor assembly and the stator assembly.

4. The frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to claim 3, characterized in that, The rotor assembly includes: Carbon fiber matrix; An embedded antenna array is embedded in the carbon fiber matrix, which constitutes an integrated antenna rotor structure and is used to transmit and receive radio frequency signals.

5. The frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to claim 4, characterized in that, The topology of the four-quadrant electromagnetic coil is a four-quadrant independent control topology that is symmetrically distributed about the center of the rotor assembly; the Hall displacement sensor array includes three independently set Hall displacement sensors, forming a triple redundant sensor layout; the aluminum nitride ceramic substrate and the carbon fiber matrix exchange heat through a thermal conduction path. The input terminal of the control module is communicatively connected to the Hall displacement sensor array to obtain a detection signal characterizing the gap; the output terminal of the control module is electrically connected to the four-quadrant electromagnetic coil to output the control signal to the four-quadrant electromagnetic coil; the control module is used to: calculate and generate the control signal in real time based on the detection signal using a predetermined control algorithm to drive the four-quadrant electromagnetic coil to generate a corresponding electromagnetic levitation force, thereby dynamically maintaining the rotor assembly at the target levitation position.

6. The frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to claim 5, characterized in that, The control module is used to: after the system is powered on and initialized, first determine whether the magnetic levitation radar system is in a levitation-ready state; if yes, activate the electromagnetic coil array; if no, execute the fault diagnosis process. The control module drives the electromagnetic coil array to dynamically maintain the suspension gap between the rotor assembly and the stator assembly within the range of 0.03 mm to 0.07 mm. The displacement detection unit is used to: continuously acquire sampling signals from the Hall displacement sensor array during the working cycle of the radar transmitting linear frequency modulated signals, and detect the displacement change Δd of the rotor assembly; determine whether the absolute value of the displacement change Δd is greater than a preset threshold of 0.01mm; if so, trigger the compensation calculation engine to perform phase compensation calculation; the compensation calculation engine calculates the phase compensation according to the formula Δd. The phase compensation amount Δφ is calculated as (4π·Δd) / λ, where λ is the radar operating wavelength, and the total response delay from detecting the displacement change to calculating the phase compensation amount is less than 500ns; the direct digital frequency synthesizer is used to: receive the phase compensation amount Δφ And according to the phase compensation amount Δ A linear frequency modulated signal with phase pre-correction is generated as a pre-compensation signal for transmission in the next signal cycle.

7. The frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to claim 1, characterized in that, The system is provided with an outer shell assembly, which includes a top cover, side walls, and an interface panel. The top cover is used to cover and provide top protection, the side walls are used to provide lateral support and circumferential sealing, and the interface panel is used to provide external electrical and signal interfaces. The top cover and the side walls together form a sealed cavity, and the magnetic levitation radar system and the phase compensation system are encapsulated in the sealed cavity.

8. The frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to claim 5, characterized in that, The embedded antenna array uses a millimeter-wave antenna, and the millimeter-wave antenna operates in the frequency band of 76 GHz to 81 GHz. The Hall sensor array is a triple-redundant Hall sensor array with a sampling rate of 200kHz and a displacement detection accuracy of 0.001mm. The Hall displacement sensors are symmetrically distributed at 120° on the plane, forming a triple redundant displacement monitoring array; the triple redundant displacement monitoring array is used to process the three displacement signals it outputs using a majority voting mechanism to output the final displacement amount.

9. The frequency-modulated continuous wave radar system based on magnetic levitation phase compensation according to claim 1, characterized in that, The electromagnetic coil array is specifically a four-quadrant electromagnetic coil array arranged on the stator assembly, comprising a first coil, a second coil, a third coil, and a fourth coil; the first coil, the second coil, the third coil, and the fourth coil are arranged around a rotation center, and the center distance between any two adjacent coils is 0.5 ± 0.05 mm; the diameters of the first coil, the second coil, the third coil, and the fourth coil are different from each other, forming an asymmetrical diameter distribution; the first coil, the second coil, the third coil, and the fourth coil are used to generate a net electromagnetic resultant force with continuously adjustable direction by independently adjusting the phase of the driving current input to each coil.

10. A method for operating a frequency-modulated continuous wave radar based on magnetic levitation phase compensation, characterized in that, The method is based on the system of any one of claims 1-9, and the method includes the following steps: A magnetic levitation radar system is provided, comprising a stator assembly and a rotor assembly disposed opposite to the stator assembly without contact, wherein the stator assembly is provided with an electromagnetic coil array and a Hall displacement sensor array, and the rotor assembly integrates an antenna; A phase compensation system is provided, which includes a control module and a direct digital frequency synthesizer; The control module executes a PID control algorithm to drive the electromagnetic coil array, thereby maintaining the rotor assembly in a suspended support state relative to the stator assembly. The displacement change of the rotor assembly relative to the stator assembly is monitored in real time by the Hall displacement sensor array. The displacement detection unit in the control module acquires a digital signal representing the displacement change. The phase compensation amount is calculated based on the displacement change by the compensation calculation engine in the control module. The direct digital frequency synthesizer generates a phase-precorrected linear frequency modulated signal based on the phase compensation amount. The linear frequency modulated signal is output to the antenna of the rotor assembly for transmission.

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