An adaptive switching fast mirror cross-backup system and method

Abstract

The application discloses a self-adaptive switching fast mirror cross backup system and method, and belongs to the technical field of precise light beam control and fast mirror fault-tolerant redundancy. The system mainly comprises a main fast mirror body, a backup fast mirror body, a main fast mirror control board, a backup fast mirror control board, a bottom plate and an external main control board. The bottom plate collects mirror body deflection angle and driving output current data in real time at a high frequency, accurately identifies and distinguishes sensing faults, driving faults and whole machine faults according to preset continuous judgment thresholds and multi-dimensional criteria. According to the fault type, a hierarchical self-adaptive switching strategy is executed, the system is switched to corresponding channel operation, and after the channel switching is completed, a data processing module and a closed-loop compensation module provide calibration data corresponding to the channel, so that the switching of data and parameters is realized. The technical defects of the traditional fast mirror mechanical switching, such as error introduction, large hard switching light beam jitter, fault-tolerant working condition control performance degradation and inability of autonomous return switching, are solved.

Description

Technical Field

[0001] This invention relates to the field of precision beam control and fast mirror fault-tolerant redundancy technology, specifically to an adaptive switching fast mirror cross-backup system and method, applicable to high-cost beam control technology scenarios with extremely high requirements for equipment reliability, stability, and continuity, such as inter-satellite laser communication, space optical detection, and precision beam control. Background Technology

[0002] Fast mirrors (FSMs), as core precision actuators for precise beam control, can achieve rapid and precise beam tracking, disturbance suppression, and pointing calibration through micro-radius angle deflection. They are indispensable core components of modern high-precision optoelectronic systems. In special applications such as aerospace and aviation, equipment is exposed to harsh environments such as space radiation, alternating high and low temperatures, and random vibrations for extended periods. Furthermore, once installed in orbit, the equipment cannot be manually inspected or maintained. Therefore, stringent requirements are placed on the on-orbit fault tolerance, operational stability, and service life of fast mirror systems.

[0003] Existing high-reliability redundancy solutions for fast reflectors are mainly divided into single-mirror internal redundancy and whole-system cold backup solutions. Among them, the single-mirror internal redundancy method only performs simple parallel redundancy on the drive or sensor. The drive and sensor adopt a fixed pairing method, and there is no cross-redundancy topology. The fault isolation capability is poor, and a single point of failure can easily cause the closed-loop system to fail. The whole-system cold backup requires two complete sets of fast reflector hardware and a matching mechanical optical path switching mechanism. The equipment is large in size, weight and power consumption. The mechanical switching structure is susceptible to wear and jamming, and the mechanical movement can easily introduce optical path offset errors, which seriously affect the beam pointing accuracy. At the same time, traditional redundancy switching methods are mostly hard switching, and the sudden change in control quantity will cause the beam to jitter violently and the pointing jump to be large. Moreover, the control parameters are fixed after switching, which cannot adapt to the changes in the system model after the failure. The nonlinear error cannot be compensated, resulting in a significant degradation of the system's dynamic performance and steady-state accuracy under fault-tolerant conditions, which cannot meet the long-term stable operation requirements of high-end precision optoelectronic payloads.

[0004] In summary, existing fast reflector redundancy backup technology has technical shortcomings such as bloated structure, low reliability, large switching disturbances, severely degraded fault tolerance performance, and inability to recover autonomously.

[0005] It is evident that there is an urgent need in the existing technology for a fast mirror cross-backup system and method that is compact in structure, has no mechanical optical path switching, can adaptively switch, and has online fault tolerance compensation and automatic back-switching capabilities. Summary of the Invention

[0006] The purpose of this invention is to provide an adaptive switching fast reflector cross-backup system and method, which overcomes the shortcomings of existing fast reflector redundancy backup structures such as complex structures, large switching disturbances, incomplete fault coverage, accuracy degradation after fault tolerance, and inability to autonomously switch back. This invention comprehensively improves the fault tolerance capability of fast reflector systems and meets the requirements of high reliability, long lifespan, and unmanned autonomous operation for space optoelectronic payloads.

[0007] An adaptive switching fast reflector cross-backup system includes a main fast reflector body, a backup fast reflector body, a main fast reflector control board, a backup fast reflector control board, a base plate, and an external main control board. The main fast reflector body and the backup fast reflector body are arranged in parallel and installed on the same base, forming a dual-mirror redundant integrated layout. The main fast reflector control board is communicatively connected to the main fast reflector body, and the backup fast reflector control board is communicatively connected to the backup fast reflector body; both the main fast reflector control board and the backup fast reflector control board are communicatively connected to the base plate. The external main control board is communicatively connected to the main fast reflector control board and the backup fast reflector control board, respectively. The main fast reflector body and the backup fast reflector control board, and the backup fast reflector body and the main fast reflector control board, form a cross-redundant channel through the base plate. Under normal circumstances, the system operates in a closed loop on the main channel consisting of the main fast reflector body and the main fast reflector control board; the backup channel consisting of the backup fast reflector body and the backup fast reflector control board is monitored synchronously in hot standby mode. The base plate monitors the system's operating status in real time and adaptively switches the system's working channels based on the detected fault type to ensure stable system operation.

[0008] Furthermore, the base plate includes an adaptive switching control module and a data fusion and fault tolerance compensation module. The adaptive switching control module collects drive current and sensing angle data in real time, compares them with its own stored fault database, accurately distinguishes between sensing faults, drive faults, and overall machine faults, and matches and switches the corresponding working channel. The data fusion and fault tolerance compensation module integrates the calibration data of the main fast reflector body and the main fast reflector control board self-closed loop, the calibration data of the main fast reflector body and the backup fast reflector control board self-closed loop, the calibration data of the backup fast reflector body and the backup fast reflector control board self-closed loop, and the calibration data of the backup fast reflector body and the main fast reflector control board self-closed loop. According to different working channels, the adaptive switching control module retrieves the corresponding data according to the working channel.

[0009] Furthermore, the adaptive switching control module incorporates a fault detection subunit, a mode decision subunit, and an algorithm switching subunit. The fault detection subunit performs multi-dimensional joint fault identification based on sensor data consistency deviation threshold, drive current and voltage over-limit judgment, and mirror position fluctuation threshold. The mode decision subunit is configured with normal working mode, single-point switching working mode, and whole-machine backup switching mode; The algorithm switching subunit obtains relevant data from the data fusion and fault tolerance compensation module according to the current working mode, switches the closed-loop control parameters, and realizes continuous transition of closed-loop control quantity.

[0010] An adaptive switching fast mirror cross-backup method, applied to the aforementioned adaptive switching fast mirror cross-backup system, the method comprising: S1. The system completes initialization and self-calibration upon power-up. The system operates in a closed loop on the main channel formed by the main fast reflector body and the main fast reflector control board, while the backup channel formed by the backup fast reflector body and the backup fast reflector control board performs synchronous hot standby monitoring. S2. The base plate collects the mirror deflection angle and drive output current data in real time at high frequency. Based on the preset continuous judgment threshold and multi-dimensional criteria, it accurately identifies and distinguishes sensor faults, drive faults and whole machine faults. S3. Execute an adaptive switching strategy based on the fault type. If a single-point fault of the sensor and / or motor is detected, switch to the cross-redundant channel formed by the backup fast reflector body and the main fast reflector control board to complete the closed loop. If a fault of the main fast reflector control board is detected, switch to the cross-redundant channel formed by the backup fast reflector control board and the main fast reflector body to complete the closed loop. If a serious abnormality of the main mirror is detected, switch to the backup channel formed by the backup fast reflector body and the backup fast reflector control board to complete the closed loop. S4. After the channel switching is completed, the data processing module and the closed-loop compensation module provide calibration data corresponding to the channel to realize the switching of data and parameters. S5. Continuously monitor the operating status of the fault location. When the fault is eliminated and the operating threshold is continuously and stably met, the system smoothly switches back to the main channel and restores the rated operating performance of the system.

[0011] Furthermore, the mirror deflection angle and drive output current data collected in step S2 need to be weighted and filtered to remove abnormal fault data before proceeding to the next step.

[0012] The beneficial effects of the present invention using the above technical solution are as follows: 1. This invention adopts a cross-redundant topology structure to construct a double cross-loop backup, which breaks through the limitations of traditional fixed pairing redundancy. It can isolate drive faults or sensor faults separately, with a wider fault coverage and higher redundancy utilization, greatly improving the on-orbit reliability of the system. 2. This invention adopts a dual-mirror common base integrated design, which eliminates the need for a mechanical optical path switching mechanism. It achieves redundancy backup by relying on closed-loop switching of the system program, avoiding mechanical structure wear, jamming and optical path offset errors. At the same time, it significantly reduces the system size, weight and power consumption, and is suitable for the lightweight installation requirements of aerospace platforms. 3. The present invention adopts an adaptive switching strategy, matching the corresponding fault-tolerant mode according to the fault type. The switching process control quantity is continuous and smooth, effectively suppressing beam jitter and ensuring continuous and stable operation of the photoelectric system without any interruption in operation. 4. The present invention configures a joint compensation mechanism of data processing module and closed-loop compensation module, and updates control parameters in real time according to specific working mode, so as to ensure that the system can maintain high pointing accuracy and high control bandwidth under various fault-tolerant conditions, and solves the problem of significant performance degradation after fault tolerance of traditional redundancy schemes. 5. This invention has the capability of fully autonomous control of the entire process, including automatic fault detection, adaptive switching, and automatic fault recovery switching, without the need for ground command intervention, and is suitable for long-term unattended and unmaintainable working scenarios of space payloads. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the system structure of the present invention;

[0014] Figure 2 This is a system schematic diagram of the present invention;

[0015] Figure 3 This is a flowchart of the method of the present invention.

[0016] In the diagram, 1-Main fast reflector body, 2-Backup fast reflector body, 3-Main fast reflector control board, 4-Backup fast reflector control board, 5-Base plate, 6-Electrical box, 7-External main control board. Detailed Implementation

[0017] like Figure 1 and Figure 2 As shown, an adaptive switching fast reflector cross-backup system includes a main fast reflector body 1, a backup fast reflector body 2, a main fast reflector control board 3, a backup fast reflector control board 4, a base plate 5, and an external main control board 7. The main fast reflector body 1 and the backup fast reflector body 2 have the same specifications, with a mirror diameter of 50mm and are made of fused silica material. They both have sensors that sense the deflection angle, such as eddy current sensors, optical sensors, or capacitive sensors; and actuators that drive the mirror deflection, such as voice coil motors or piezoelectric ceramics. The main fast reflector control board 3 and the backup fast reflector control board 4 both include signal acquisition circuits, drive circuits, and communication circuits. The main fast reflector body 1, the backup fast reflector body 2, the main fast reflector control board 3, the backup fast reflector control board 4, and the external main control board 7 are all existing technologies. The miss distance information given by the external main control board 7 drives the actuator to deflect the mirror body through the drive circuit. The signal acquisition circuit collects the mirror body deflection angle feedback monitored by the sensors in real time to realize closed-loop control until the required deflection angle position is achieved. In this embodiment, the main fast reflector body 1 and the backup fast reflector body 2 are arranged in parallel and mounted on a common base, forming a dual-mirror redundant integrated layout; the main fast reflector body 1 and the backup fast reflector body 2, the main fast reflector control board 3 and the backup fast reflector control board 4, and the base plate 5 are all placed in the electrical box 6; the drive circuits, signal acquisition circuits, and communication circuits of the main fast reflector control board 3 and the backup fast reflector control board 4 are all connected to the base plate 5; the components with communication connections described below are all connected through connectors. The main fast reflector control board 3 is communicatively connected to the main fast reflector body 1, and the backup fast reflector control board 4 is communicatively connected to the backup fast reflector body 2; both the main fast reflector control board 3 and the backup fast reflector control board 4 are communicatively connected to the base plate 5. The external main control board 7 is communicatively connected to the main fast reflector control board 3 and the backup fast reflector control board 4, respectively. The main fast reflector body 1 and the backup fast reflector control board 4, and the backup fast reflector body 2 and the main fast reflector control board 3, form a cross-redundant channel through the base plate 5. Under normal conditions, the system operates in a closed loop on the main channel formed by the main fast reflector body 1 and the main fast reflector control board 3; the backup channel formed by the backup fast reflector body 2 and the backup fast reflector control board 4 is monitored synchronously in hot standby mode; for system performance considerations, the main channel has the highest priority, the backup channel is second, and the cross-redundant channel has the lowest priority. The system continuously performs cyclic detection, and the channel with the highest priority is preferred.

[0018] The base plate 5 monitors the system's operating status in real time and adaptively switches the system's working channels according to the detected fault type to ensure stable system operation. The control hardware of the base plate 5 adopts an FPGA or DSP architecture with a data sampling frequency of 10kHz, enabling microsecond-level fault identification and millisecond-level closed-loop switching. Specifically, it includes an adaptive switching control module and a data fusion and fault tolerance compensation module. The adaptive switching control module collects drive current and sensing angle data in real time, compares them with its own stored fault database, accurately distinguishes between sensing faults, drive faults, and overall machine faults, and matches and switches the corresponding working channel. The data fusion and fault tolerance compensation module integrates the self-closed-loop calibration data of the main fast reflector body 1 and the main fast reflector control board 3, the self-closed-loop calibration data of the main fast reflector body 1 and the backup fast reflector control board 4, the self-closed-loop calibration data of the backup fast reflector body 2 and the backup fast reflector control board 4, and the self-closed-loop calibration data of the backup fast reflector body 2 and the main fast reflector control board 3. According to different working channels, the adaptive switching control module retrieves the corresponding data according to the working channel. The adaptive switching control module further includes a fault detection subunit, a mode decision subunit, and an algorithm switching subunit; the fault detection subunit performs multi-dimensional joint fault identification and judgment based on the sensor data consistency deviation threshold, the driving current and voltage over-limit judgment, and the mirror position fluctuation threshold. The mode decision subunit is configured with normal working mode, single-point switching working mode, and whole-machine backup switching mode, which respectively correspond to the system operation consisting of the main fast reflector and the main fast reflector control board, the system operation consisting of the main fast reflector body and the backup fast reflector control board or the main fast reflector control board and the backup fast reflector body, and the system operation consisting of the backup fast reflector body 2 and the backup fast reflector control board 4.

[0019] The algorithm switching subunit obtains relevant data from the data fusion and fault tolerance compensation module according to the current working mode, switches the closed-loop control parameters, and realizes continuous transition of the closed-loop control quantity.

[0020] like Figure 3 As shown, an adaptive switching fast mirror cross-backup method is applied to the aforementioned adaptive switching fast mirror cross-backup system. The method includes: S1. The system is powered on and completes initialization and self-calibration. The system operates in a closed loop in the main channel formed by the main fast reflector body 1 and the main fast reflector control board 3. The backup channel formed by the backup fast reflector body 2 and the backup fast reflector control board 4 is synchronously hot-standby monitored. S2, the base plate 5 collects mirror body deflection angle and drive output current data in real time at high frequency. Based on the preset continuous judgment threshold and multi-dimensional criteria, it accurately identifies and distinguishes sensor faults, drive faults and whole machine faults. S3. Execute an adaptive switching strategy based on the fault type. If a single-point fault of the sensor and / or motor is detected, switch to the cross-redundant channel formed by the backup fast reflector body 2 and the main fast reflector control board 3 to complete the closed loop. If a fault of the main fast reflector control board 3 is detected, switch to the cross-redundant channel formed by the backup fast reflector control board 4 and the main fast reflector body 1 to complete the closed loop. If a serious abnormality of the main mirror is detected, switch to the backup channel formed by the backup fast reflector body 2 and the backup fast reflector control board 4 to complete the closed loop. Specifically, when the main fast reflector body 1 experiences sensor acquisition abnormalities (such as increased noise or data offset), or when the sensor shows a continuous deviation exceeding 100ms; or when the control body movement becomes stuck and the main fast reflector cannot be stabilized, the main fast reflector body 1 is determined to be faulty. The adaptive switching control module of the base plate 5 cuts off the faulty main channel and switches to the backup fast reflector body 2. The system can operate in the cross-redundant channel formed by the backup fast reflector body 2 and the main fast reflector control board 3, responding to the optical closed-loop control command sent by the external main control board 7 to realize the optical closed-loop function, but it is not limited to this.

[0021] When the main drive motor feedback current is abnormal, the open-loop test output is weak, the response is lagging, and the current threshold is exceeded, the main fast reflector control board 3 is determined to be faulty. The adaptive switching control module of the base plate 5 cuts off the faulty main channel, and the system can work in the cross-redundant channel formed by the main fast reflector and the fast reflector control board 4, responding to the optical closed-loop control command sent by the external main control board 7 to realize the optical closed-loop function, but it is not limited to this.

[0022] When both the main fast reflector body 1 and the main fast reflector control board 3 malfunction, the main system is determined to be faulty. The adaptive switching control module of the base plate 5 cuts off the faulty main channel, and the system switches to the backup channel formed by the backup fast reflector body 2 and the backup fast reflector control board 4. It responds to the optical closed-loop control command sent by the external main control board 7 to realize the optical closed-loop function.

[0023] S4. After the channel switching is completed, the data processing module and the closed-loop compensation module provide calibration data corresponding to the channel to realize the switching of data and parameters. Specifically, the data fusion and fault tolerance compensation module integrates the calibration data of the main fast reflector body 1 and the main fast reflector control board 3 in a self-closed loop, the calibration data of the main fast reflector body 1 and the backup fast reflector control board 4 in a self-closed loop, the calibration data of the backup fast reflector body 2 and the backup fast reflector control board 4 in a self-closed loop, and the calibration data of the backup fast reflector body 2 and the main fast reflector control board 3 in a self-closed loop. According to different working channels, the algorithm switching subunit of the adaptive switching control module uses the corresponding calibration data according to the working channel. S5. Continuously monitor the operating status of the fault location. When the fault is eliminated and the operating threshold is continuously and stably met, the system smoothly switches back to the main channel and restores the rated operating performance of the system.

[0024] Furthermore, the mirror deflection angle and drive output current data collected in S2 need to be weighted and filtered by the data fusion and fault tolerance compensation module to remove abnormal fault data before subsequent processing.

[0025] In special circumstances, when the main channel, backup channel, and two cross-redundant channels are all abnormal, the system determines that the main fast reflector body 1 and the backup fast reflector body 2, as well as the main fast reflector control board 3 and the backup fast reflector control board 4, have all failed. The adaptive switching control module of the base plate 5 cuts off all working channels, and the main fast reflector body 1 and the backup fast reflector body 2 enter the braking state, stop closed-loop control, and report the fault status to the external main control board 7.

[0026] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent substitutions and modifications made by those skilled in the art without departing from the guidance of the present invention shall be deemed to fall within the protection scope of the present invention.

Claims

1. A self-adapting switching fast mirror cross-backup system, characterized in that, It includes the main fast reflector body, the backup fast reflector body, the main fast reflector control board, the backup fast reflector control board, the base plate, and the external main control board. The main fast reflector body and the backup fast reflector body are arranged in parallel and installed on the same base, forming a dual-mirror redundant integrated layout. The main fast reflector control board is communicatively connected to the main fast reflector body, and the backup fast reflector control board is communicatively connected to the backup fast reflector body; both the main fast reflector control board and the backup fast reflector control board are communicatively connected to the base plate. The external main control board is communicatively connected to the main fast reflector control board and the backup fast reflector control board, respectively. The main fast reflector body and the backup fast reflector control board, and the backup fast reflector body and the main fast reflector control board, form a cross-redundant channel through the base plate. Under normal circumstances, the system operates in a closed loop on the main channel consisting of the main fast reflector body and the main fast reflector control board; the backup channel consisting of the backup fast reflector body and the backup fast reflector control board is monitored synchronously in hot standby mode. The base plate monitors the system's operating status in real time and adaptively switches the system's working channels based on the detected fault type to ensure stable system operation.

2. The adaptive switching fast mirror cross-backup system of claim 1, wherein The base plate includes an adaptive switching control module and a data fusion and fault tolerance compensation module. The adaptive switching control module collects drive current and sensing angle data in real time, compares them with its own stored fault database, accurately distinguishes between sensing faults, drive faults and whole machine faults, and matches and switches the corresponding working channels. The data fusion and fault-tolerant compensation module integrates the calibration data of the main fast reflector body and the self-closed loop of the main fast reflector control board, the calibration data of the main fast reflector body and the self-closed loop of the backup fast reflector control board, the calibration data of the backup fast reflector body and the backup fast reflector control board, and the calibration data of the backup fast reflector body and the main fast reflector control board. According to different working channels, the adaptive switching control module uses the corresponding data based on the working channel.

3. The self-adapting switching fast mirror cross-backup system of claim 2, wherein The adaptive switching control module incorporates a fault detection subunit, a mode decision subunit, and an algorithm switching subunit. The fault detection subunit performs multi-dimensional joint fault identification based on sensor data consistency deviation threshold, drive current and voltage over-limit judgment, and mirror position fluctuation threshold. The mode decision subunit is configured with normal working mode, single-point switching working mode, and whole-machine backup switching mode; The algorithm switching subunit obtains relevant data from the data fusion and fault tolerance compensation module according to the current working mode, switches the closed-loop control parameters, and realizes continuous transition of closed-loop control quantity.

4. A method for cross-backup of adaptive switching fast steering mirror, applied to the cross-backup system of adaptive switching fast steering mirror according to any one of claims 1-3, characterized in that: The method includes: S1. The system completes initialization and self-calibration upon power-up. The system operates in a closed loop on the main channel formed by the main fast reflector body and the main fast reflector control board, while the backup channel formed by the backup fast reflector body and the backup fast reflector control board performs synchronous hot standby monitoring. S2. The base plate collects the mirror deflection angle and drive output current data in real time at high frequency. Based on the preset continuous judgment threshold and multi-dimensional criteria, it accurately identifies and distinguishes sensor faults, drive faults and whole machine faults. S3. Execute an adaptive switching strategy based on the fault type. If a single-point fault of the sensor and / or motor is detected, switch to the cross-redundant channel formed by the backup fast reflector body and the main fast reflector control board to complete the closed loop. If a fault of the main fast reflector control board is detected, switch to the cross-redundant channel formed by the backup fast reflector control board and the main fast reflector body to complete the closed loop. If a serious abnormality of the main mirror is detected, switch to the backup channel formed by the backup fast reflector body and the backup fast reflector control board to complete the closed loop. S4. After the channel switching is completed, the data processing module and the closed-loop compensation module provide calibration data corresponding to the channel to realize the switching of data and parameters. S5. Continuously monitor the operating status of the fault location. When the fault is eliminated and the operating threshold is continuously and stably met, the system smoothly switches back to the main channel and restores the rated operating performance of the system.

5. The adaptive handoff fast mirror cross-backup method of claim 4, wherein: The mirror deflection angle and drive output current data collected in step S2 need to be weighted and filtered first to remove abnormal fault data before proceeding to the next step.

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