Phased array antenna array surface dynamic regulation mechanism, phased array antenna and spatial attitude multi-stage compensation regulation method

Abstract

The application provides a phased array antenna array surface dynamic regulation mechanism, a phased array antenna and a spatial attitude multi-stage compensation regulation method, and relates to the technical field of antenna deformation compensation. The dynamic regulation mechanism comprises a truss back plate, an actuator, a center limiting rod and an attitude sensor. The phased array antenna array surface is divided into multiple unit array surfaces. The truss back plate serves as a support and regulation reference surface of the unit array surface. The unit array surface is connected with the actuator and changes the position and posture under the control of the actuator. The attitude sensor is fixed on the unit array surface. The center of the unit array surface is connected with the center limiting rod through a spherical hinge, and the center limiting rod is connected with the truss back plate through a movable pair. The application improves the phased array antenna array surface dynamic regulation mechanism and proposes a multi-stage compensation regulation method. Through the coordinated adjustment of multiple groups of actuators, high-precision compensation of the pitch angle and height is realized, the flatness error is reduced, and the antenna gain and beam pointing accuracy are improved.

Description

Technical Field

[0001] This invention relates to the field of antenna deformation compensation technology, and in particular to a phased array antenna array dynamic control mechanism, a phased array antenna and its spatial attitude multi-level compensation control method. Background Technology

[0002] Phased array antennas generate beam deflection by changing the phase difference of their antenna radiating elements, thereby achieving signal positioning and focusing. The positional accuracy of their array elements directly affects the electromagnetic performance of the antenna.

[0003] Lightweight design and large aperture are important directions for the development of next-generation radar technology. However, this also leads to increased flexibility in antenna array structures. Furthermore, due to the increased size, the deviation of antenna radiating elements caused by structural deformation becomes more severe, significantly reducing the radar's detection range and accuracy. Next-generation phased array antenna structures employ active control technology, achieving precise control of the array structure through online sensing and compensation of deformation. Therefore, in this process, the large antenna deformation compensation technology directly determines the radar's performance.

[0004] Traditional antenna array deformation compensation techniques still have the following problems:

[0005] On the one hand, traditional passive stiffness strengthening technologies enhance structural stiffness by adding reinforcing ribs and increasing material modulus (such as carbon fiber composites), but the space for stiffness improvement is limited by weight constraints. To some extent, this sacrifices lightweight design, making it difficult to meet the requirements of mobile platforms.

[0006] On the other hand, existing active deformation compensation technologies mostly rely on electronic phase shift compensation, which can only correct small phase errors and cannot solve the geometric distortion of the array caused by macroscopic mechanical deformation. Large arrays will undergo millimeter-level deformation under environmental loads such as temperature difference and wind load, resulting in large beam pointing deviations and affecting antenna gain and sidelobe suppression capabilities. While mechanical compensation technology has directness and stability in some scenarios, its accuracy is limited by the inherent errors of machining and assembly, making it difficult to meet high-precision requirements. Moreover, the response lag is obvious, the mechanical adjustment speed is slow, and it cannot cope with high-frequency vibration or rapid thermal deformation. Summary of the Invention

[0007] Objective of the invention: To propose a dynamic control mechanism for the phased array antenna array, a phased array antenna using this control mechanism, and a multi-level compensation control method for the spatial attitude of the phased array antenna. This method achieves precise adjustment of the spatial attitude of the unit array through a multi-degree-of-freedom actuator array, thus solving the aforementioned problems in the prior art.

[0008] To achieve the above objectives, in a first aspect, the present invention provides a dynamic control mechanism for a phased array antenna array, the control mechanism comprising a truss backplate, an actuator, a central limiting rod, and an attitude sensor.

[0009] The phased array antenna array is divided into multiple unit arrays;

[0010] The truss back plate serves as the support and control reference surface for the unit array; the unit array is connected to the actuator and changes its pose under the control of the actuator; the attitude sensor is fixed on the unit array.

[0011] The center of the unit array is connected to the central limiting rod via a ball joint. The central limiting rod is connected to the truss back plate via a sliding joint. The central limiting rod can only move in the vertical direction.

[0012] In a further embodiment of the first aspect, the unit array is rectangular, and its pose is controlled by four actuators on four sides. The actuators on each pair of sides form a group, and there are two groups of actuators.

[0013] Each actuator is fixedly connected to the truss back plate and extends or retracts with the truss back plate as a reference.

[0014] In a further embodiment of the first aspect, the first set of actuators is connected to a linear slider via a ball joint. The linear slider is pushed by a linear stepper motor to slide unidirectionally along a linear slide groove, which is fixed on the unit array surface.

[0015] In a further embodiment of the first aspect, the second set of actuators is connected to a circular slider via a ball joint. The circular slider is pushed by a linear stepper motor to slide in any direction along a plane within a circular groove, which is fixed to the unit array surface.

[0016] In a further embodiment of the first aspect, the linear stepper motor is fixed to the truss back plate by a motor base.

[0017] In a second aspect, the present invention provides a phased array antenna, which includes a phased array antenna surface composed of a plurality of unit array surfaces, and further includes the phased array antenna surface dynamic adjustment mechanism described in the first aspect.

[0018] A third aspect of the present invention provides a multi-level compensation and control method for the spatial attitude of a phased array antenna, the method comprising the following steps:

[0019] Activate the phased array antenna array dynamic control mechanism;

[0020] The initial attitude data, including pitch and roll angles, is recorded by an attitude sensor when the system is unloaded; the initial Z-axis position is recorded by an external camera and set as the target pose for structural compensation.

[0021] When external loads cause changes in the array's attitude, the attitude sensor monitors the current changes in the array's attitude in real time and transmits the measured pitch and roll angle deviations to the control unit through a closed-loop feedback system.

[0022] The control unit generates compensation commands based on the PID feedforward algorithm, which drive the four actuators to work together. The extension and retraction of the actuators are controlled by stepper motors, so that the pose error is within a predetermined threshold, and finally the millimeter-level reset and stable maintenance of the array pose is achieved.

[0023] In a further embodiment of the third aspect, the control unit generates compensation instructions based on a PID feedforward algorithm, wherein the PID compensation term is:

[0024]

[0025] In the formula, Used for quick response to current deviation; Used to eliminate steady-state errors; Used to suppress overshoot;

[0026] Indicates attitude deviation:

[0027]

[0028] In the formula, , , These are the target pitch angle, roll angle, and Z-axis displacement, respectively. , , These are the real-time pitch angle and roll angle acquired by the IMU, and the Z-axis displacement measured by an external camera, respectively.

[0029] The feedforward compensation term is:

[0030]

[0031] In the formula, The rate of change of the target's attitude; Acceleration for changes in the target's attitude; For real-time temperature gradient; Real-time wind pressure; Used to compensate for response lag at the target velocity; Used to compensate for the inertial effects of the target's acceleration; Used to compensate for thermal deformation caused by temperature gradients; Used to compensate for dynamic deformation caused by wind pressure disturbance.

[0032] In a further embodiment of the third aspect, a total control command is synthesized based on the PID compensation term and the feedforward compensation term. ;

[0033] Generating actuator commands through geometric inverse kinematics:

[0034]

[0035] In the formula, A geometric inverse solution model to describe the actuator system; , , , The target extension / retraction amount for each of the four actuators.

[0036] In a fourth aspect, the present invention provides an electronic device comprising a processor and a memory storing computer program instructions; wherein the processor, when executing the computer program instructions, implements the phased array antenna spatial attitude multi-level compensation control method as disclosed in the third aspect.

[0037] Compared with the prior art, the present invention has at least the following beneficial effects:

[0038] (1) By coordinating the adjustment of four actuators, high-precision compensation of pitch angle and altitude is achieved, reducing flatness error and significantly improving antenna gain and beam pointing accuracy.

[0039] (2) The limitations of traditional single compensation methods are solved by an innovative macro-micro hierarchical compensation mechanism. At the micro level, fiber optic grating arrays are used to monitor deformation in real time and drive phase shifters to perform electronic phase compensation (with accuracy down to the micrometer level), while at the macro level, millimeter-level geometric distortion compensation is achieved through a 2R1T parallel mechanism.

[0040] (3) Multi-unit array splicing, both the error within the unit array and the error between unit arrays are compensated, which is suitable for the distributed compensation requirements of large-scale phased array antennas, and the modular distributed architecture greatly optimizes the engineering applicability and cost-effectiveness.

[0041] (4) Combining attitude sensors and closed-loop control algorithms, the compensation response time is small, which meets the real-time deformation compensation requirements of high-speed maneuvering platforms. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of the phased array antenna array dynamic control mechanism in the embodiment.

[0043] Figure 2 This is a magnified view of a portion of the first group of actuators.

[0044] Figure 3 This is a magnified view of a portion of the second set of actuators.

[0045] Figure 4This is a magnified view of a portion of the central limiting rod.

[0046] Figure 5 This is a flowchart of the multi-level compensation and control method for the spatial attitude of the phased array antenna in the embodiment.

[0047] The attached figures are labeled as follows: Truss back plate 1, first group of actuators 2, first group of motor bases 201, first group of linear stepper motors 202, first group of ball joints 203, linear slider 204, linear groove 205, second group of actuators 3, second group of motor bases 301, second group of linear stepper motors 302, second group of ball joints 303, circular slider 304, circular groove 305, center limit rod 4, limit member 401, limit rod 402, third group of ball joints 403, connector 404, unit array 5, attitude sensor 6. Detailed Implementation

[0048] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0049] This invention aims to provide a phased array antenna array dynamic control mechanism, a phased array antenna and its spatial attitude multi-level compensation control method. It achieves precise spatial attitude adjustment of the unit array 5 through a multi-degree-of-freedom actuator array, solves the problem of array flatness degradation caused by environmental load, and is suitable for scenarios with high beam pointing accuracy requirements such as satellite communication and radar systems.

[0050] The overall concept of this invention is as follows:

[0051] First, a macro-micro hierarchical compensation strategy is proposed, which divides the phased array antenna surface into multiple element arrays 5. Deformation within each element array 5 is achieved through micro-compensation. A fiber grating array is integrated into each element array 5 to monitor deformation and reconstruct the displacement field in real time. The compensation phase amount of each element is calculated using a deformation-phase conversion algorithm (Δφ=2πΔd / λ). A high-precision phase shifter is driven for electronic phase correction, and closed-loop control is used to eliminate dynamic errors, achieving real-time compensation for micron-level deformation. The core of electronic compensation is that although the radar array undergoes physical deformation due to external environment (such as wind load, temperature difference, or vibration), causing the actual position of the antenna element to deviate from the ideal geometric configuration, the spatial path difference and phase error caused by deformation are offset at the electromagnetic wave level by adjusting the excitation signal (amplitude and phase) of each element in real time. Ultimately, the directivity, gain, and sidelobe characteristics of the radiated beam are almost identical to those of the undeformed array, achieving an electromagnetic effect of "deformation stealth." That is, the element array 5, after microscopic compensation, can be approximated as a rigid body without deformation. Errors between element arrays 5 are compensated macroscopically by actively adjusting the element pose through an actuator array, suppressing overall array geometric distortion. Finally, dynamic synergy between mechanical and electronic phase compensation is achieved, solving the failure problem of traditional single compensation methods in scenarios where macroscopic deformation and microscopic phase errors coexist, and improving the overall flatness of the phased array antenna array.

[0052] Secondly, a dynamic control mechanism for the phased array antenna surface is proposed, see [link to relevant documentation]. Figure 1 The macroscopic compensation part is mainly composed of a truss back plate 1, two sets of actuators, a central limit rod 4, a unit array 5, and an attitude sensor 6.

[0053] The truss back plate 1 is designed with lightweight as the core, and adopts a carbon fiber-titanium alloy composite truss support structure to achieve a combination of high rigidity and low weight, serving as the support and control reference surface of the unit array 5; the unit array 5 is connected to the actuator and changes its posture under the control of the actuator; the attitude sensor 6 is fixed on the unit array 5.

[0054] Actuation Mechanism Design: The unit array 5 is square, with four actuators controlling its posture on each of its four sides. Each pair of actuators forms a group, resulting in two groups of actuators. All actuators are fixedly connected to the truss backplate 1, allowing for extension and retraction based on the truss backplate 1. The first pair of actuators is connected to a linear slider 204 via a ball joint. The slider slides unidirectionally along a linear groove 205, which is fixed to the unit array 5. The second pair of actuators is connected to a circular slider 304 via a ball joint. The circular slider 304 allows sliding in any direction within the circular groove 305, which is fixed to the unit array 5. A linear stepper motor is fixed to the truss backplate 1 via a motor base. The core principle is that the distance between any two connection points is variable, suppressing the degree of freedom of rotation of the unit array 5 around the vertical direction, forming a 2R1T parallel actuation mechanism, allowing the array to retain only the rotational degrees of freedom around the X and Y axes and the translational degrees of freedom around the Z axis.

[0055] The unit center is connected to the central limiting rod 4 via a ball joint. The central limiting rod 4 is connected to the truss back plate 1 via a sliding joint. The central limiting rod 4 can only move in the vertical direction. The magnetorheological damper cancels the rotational torque about the vertical axis (Z-axis) in real time. This design forcibly constrains the rotational degree of freedom of the array surface about the Z-axis, ensuring that the adjustment of all actuators only affects the pitch angle or height, and does not cause the array surface to spin. Moreover, the center of the unit array surface 5 and the center of the truss are always restricted to the same vertical direction.

[0056] In the aforementioned macroscopic compensation mechanism, the unit array 5 (approximately a rigid body) adjusts the pitch angle (around the Y-axis), roll angle (around the X-axis), and Z-axis displacement through a four-actuator array (two sets of actuators and a central limit rod 4). Traditional solutions use pure PID closed-loop control (based on attitude sensor 6 and external camera feedback), which may exhibit lag in response to predictable disturbances (such as wind load and temperature changes). Therefore, feedforward + PID control is introduced to improve dynamic response speed.

[0057] The present invention will now be described in detail.

[0058] Under complex service environments (such as temperature gradients and mechanical loads), phased array antennas experience both macroscopic geometric deformation and microscopic phase errors on their array surface. Macroscopic deformation leads to beam pointing deviation, while microscopic phase errors cause sidelobe level deterioration; the combination of these two significantly reduces antenna performance. Traditional single compensation methods have obvious limitations: electronic phase compensation can only correct tiny phase differences on the order of wavelength, and it completely fails when the radius of curvature of the array surface changes too much; mechanical compensation, while direct and stable in some scenarios, is limited in accuracy by the inherent errors of machining and assembly, making it difficult to meet high-precision requirements, and it also has significant response lag, slow mechanical adjustment speed, and cannot cope with high-frequency vibrations or rapid thermal deformation.

[0059] This invention proposes a macro-micro hierarchical compensation strategy, which overcomes the bottlenecks of traditional compensation through hierarchical processing and dynamic coordination. This strategy divides a large-size array surface into multiple independent element array surfaces 5, and performs micro- and macro-level compensation for in-plane and inter-plane deformations, respectively. To illustrate the specific implementation of this invention in detail, according to... Figure 5 The multi-level compensation framework diagram shown further illustrates the present invention:

[0060] Microscopic compensation layer: A fiber grating array is integrated into the unit array 5 to monitor deformation and reconstruct the displacement field in real time; the compensation phase of each unit is calculated using a deformation-phase conversion algorithm (Δφ=2πΔd / λ); a high-precision phase shifter is driven for electronic phase correction, and closed-loop control is used to eliminate dynamic errors, achieving real-time compensation for micron-level deformation. This cancels out the spatial path difference and phase error caused by deformation at the electromagnetic wave level. Ultimately, the directivity, gain, and sidelobe characteristics of the radiation beam are almost indistinguishable from those of the undeformed array.

[0061] Macroscopic Compensation Layer: This invention proposes a phased array antenna array dynamic control mechanism based on a multi-level compensation strategy. This mechanism mainly includes a truss backplate 1, a first set of actuators 2, a second set of actuators 3, a central limiting rod 4, an element array 5, and an attitude sensor 6. The truss backplate 1 prioritizes lightweight design, employing a carbon fiber-titanium alloy composite truss support structure to achieve a balance between high rigidity and low weight, serving as the support and control reference surface for the element array 5. The element array 5 is connected to the actuators, changing its attitude under their control. The attitude sensor 6 (IMU) is fixed to the element array 5, used to measure the real-time attitude of the element array 5, measuring pitch and roll angles. The element array 5 is square, with one actuator installed on each side. Each pair of actuators forms a group, resulting in two groups of actuators (the first group of actuators 2 and the second group of actuators 3). All actuators are fixedly connected to the truss back plate 1 and can extend and retract based on the truss back plate 1. The pitch attitude of the unit array 5 can be adjusted by the extension length of the two sets of actuators.

[0062] See Figure 2 The first actuator 2 mainly includes a first motor base 201, a first linear stepper motor 202, a first ball joint 203, a linear slider 204, and a linear groove 205. The first motor base 201 is horizontally fixed on the truss back plate 1, and the first linear stepper motor 202 is fixed on the first motor base 201, serving as the actuation reference. The stepper motor shaft end is the first ball joint 203, which is fixedly connected to the linear slider 204. The linear slider 204 can slide along the linear groove 205, meaning that the connection point between the first actuator 2 and the unit array 5 has a degree of freedom in one direction. This design strictly constrains the translational degree of freedom of the unit array 5 in the lateral direction (X or Y axis), ensuring that the extension and retraction of the actuator are only used to adjust the array height (Z-axis direction) and pitch angle, and will not cause array distortion due to lateral displacement.

[0063] See Figure 3 The second actuator 3 mainly includes a second motor base 301, a second linear stepper motor 302, a second ball joint 303, a circular slider 304, and a circular groove 305. The second motor base 301 is horizontally fixed to the truss back plate 1, and the second linear stepper motor 302 is fixed to the second motor base 301, serving as the actuation reference. The stepper motor shaft end is the second ball joint 303, which is fixedly connected to the circular slider 304. The circular slider 304 can slide along the circular groove 305, meaning that the connection point between the second actuator 3 and the unit array 5 has two degrees of freedom. This design allows the actuator's extension and retraction to be used only to adjust the array height (Z-axis direction) and roll angle, avoiding additional stress caused by limited in-plane displacement during height adjustment due to insufficient degrees of freedom.

[0064] See Figure 4 The structure of the central limiting rod 4 mainly includes a limiting component 401, a limiting rod 402, a third set of ball joints 403, and a connecting component 404. The limiting component 401 is horizontally fixed on the truss back plate 1. The limiting rod 402 can slide vertically along the central hole of the limiting component 401. The axial end of the limiting rod 402 is the third set of ball joints 403, which is fixedly connected to the connecting component 404. The connecting component 404 is fixed at the center position of the unit array 5, that is, the limiting rod 402 can only move in the vertical direction. The magnetorheological damper cancels the rotational torque about the vertical axis (Z-axis) in real time. This design forcibly constrains the rotational degree of freedom of the array about the Z-axis, ensuring that the adjustment of all actuators only affects the pitch angle or height, and does not cause the array to spin. Moreover, the center of the unit array 5 and the center of the truss are always restricted to the same vertical direction.

[0065] The first set of actuators 2, the second set of actuators 3, and the center limit rod 4 together form the actuator system. Its core essence is that the distance between any two connection points can be changed and the unit array 5 will not rotate around the vertical axis. At the same time, the ball joint can ensure that the array unit can achieve pitch at any angle, forming a 2R1T parallel actuator mechanism, so that the array only retains the rotational degree of freedom around X and Y and the translational degree of freedom around Z.

[0066] The control algorithm is based on a geometric inverse kinematics model, directly mapping the target attitude (pitch angle, roll angle) of the array face to the independent extension and retraction of the four actuators, rather than relying on a coupled chain adjustment. When a single actuator fails, the remaining actuators re-decouple their degrees of freedom through dynamic weighted optimization to ensure compensation accuracy. Based on feedback from attitude sensor 6 and external cameras, the extension and retraction of each actuator are calculated, driving the array face 5 to adjust to the target attitude.

[0067] Introducing feedforward control on the basis of traditional PID control can significantly improve the dynamic control performance of the phased array antenna surface. The PID compensation term is shown in equation (1):

[0068]

[0069] The attitude deviation is shown in equation (2):

[0070]

[0071] in, Used for quick response to current deviation; Used to eliminate steady-state errors; Used to suppress overshoot; , , These are the target pitch angle, roll angle, and Z-axis displacement, respectively. , , These are the real-time pitch angle and roll angle acquired by the IMU, and the Z-axis displacement measured by an external camera, respectively.

[0072] The feedforward compensation term is shown in equation (3):

[0073]

[0074] in, The rate of change of the target's attitude; Acceleration for changes in the target's attitude; For real-time temperature gradient; Real-time wind pressure; Used to compensate for response lag at the target velocity; Used to compensate for the inertial effects of the target's acceleration; Used to compensate for thermal deformation caused by temperature gradients; Used to compensate for dynamic deformation caused by wind pressure disturbance.

[0075] Synthetic master control command .

[0076] The actuator command is generated by the geometric inverse solution shown in equation (4):

[0077]

[0078] in, A geometric inverse solution model to describe the actuator system; , , , The target extension / retraction amount for each of the four actuators.

[0079] The PID feedback term is adjusted proportionally, integrally, and derivatively based on the real-time error e(t) measured by the attitude sensor 6 and the external camera, continuously eliminating steady-state deviations in pitch, roll, and displacement. Meanwhile, the feedforward term proactively offsets dynamic lag caused by mechanical inertia or external disturbances (such as platform maneuvering or wind load). Together, they significantly enhance system response speed and control accuracy, ensuring stability even under high-speed disturbances. The core idea is to predict disturbance sources through predictive quantization, generating inverse compensation signals to directly counteract their impact on the system, suppressing errors at their root cause rather than waiting for errors to occur before correction, thereby improving dynamic response speed.

[0080] Based on the phased array antenna array dynamic control mechanism disclosed in the above embodiments, this embodiment further discloses its macroscopic compensation process:

[0081] After the equipment is started, the initial attitude data (including pitch and roll angles) under no load is first recorded by the attitude sensor 6 (such as a high-precision IMU). The initial Z-direction position is recorded by external camera measurement, and this data is set as the target pose for structural compensation. When external loads (such as strong winds, impacts, or thermal deformation) cause attitude changes in the array face (errors within the unit array face 5 have been electrically compensated, and each unit array face 5 can be approximated as a rigid body), the attitude sensor 6 monitors the current attitude changes of the array face in real time and transmits the measured pitch and roll angle deviations to the control unit through a closed-loop feedback system. The control unit generates compensation commands based on a PID feedforward algorithm, driving four actuators to work together. The extension and retraction of the actuators are controlled by stepper motors to keep the pose error within a certain threshold, ultimately achieving millimeter-level reset and stable maintenance of the array face pose.

[0082] This invention is applied to the field of dynamic deformation compensation of high-precision phased array antennas. It solves the problems of millimeter-level geometric distortion and micrometer-level phase misalignment caused by temperature difference / wind load during service by using a macro-micro hierarchical collaborative mechanism, which significantly improves beam pointing accuracy and gain stability.

[0083] Furthermore, the phased array antenna spatial attitude multi-level compensation and control method disclosed in the above embodiments can be embedded into a field system for use by writing executable code. The executable code runs in the field system as software, and the software can be written to a computer-readable storage medium. More specific examples of computer-readable storage media in this embodiment may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, 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 devices, magnetic storage devices, or any suitable combination of the above.

[0084] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0085] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A mechanism for dynamically adjusting a phased array antenna array, comprising: include: Truss back plate, actuator, center limit rod, attitude sensor; The phased array antenna array is divided into multiple unit arrays; each unit array is rectangular and its pose is controlled by four actuators on four sides. The actuators on each pair of sides form a group, and there are two groups of actuators. Each actuator is fixedly connected to the truss back plate and extends or retracts with the truss back plate as a reference. The first set of actuators is connected to a linear slider via a ball joint. The linear slider is pushed by a linear stepper motor to slide unidirectionally along a linear slide groove, which is fixed on the unit array surface. The second set of actuators is connected to a circular slider via a ball joint. The circular slider is pushed by a linear stepper motor to slide in any direction along the plane within a circular groove. The circular groove is fixed on the unit array surface. The truss back plate serves as the support and control reference surface for the unit array; the unit array is connected to the actuator and changes its pose under the control of the actuator; the attitude sensor is fixed on the unit array. The center of the unit array is connected to the central limiting rod via a ball joint. The central limiting rod is connected to the truss back plate via a sliding joint. The central limiting rod can only move in the vertical direction.

2. The phased array antenna array dynamic conditioning mechanism of claim 1, wherein, The linear stepper motor is fixed to the truss back plate via a motor base.

3. A phased array antenna, characterized by It includes a phased array antenna array composed of several unit arrays, and also includes the phased array antenna array dynamic control mechanism as described in claim 1 or 2.

4. A multi-stage compensation control method for spatial attitude of a phased array antenna, characterized in that, Includes the following steps: Activate the phased array antenna array dynamic control mechanism as described in claim 1 or 2; The initial attitude data, including pitch and roll angles, is recorded by an attitude sensor when the system is unloaded. The initial Z-axis position is recorded by an external camera and set as the target pose for structural compensation. When external loads cause the array to change attitude, the attitude sensor monitors the current attitude change of the array in real time and transmits the measured pitch angle deviation and roll angle deviation to the control unit through the closed-loop feedback system. The control unit generates compensation commands based on the PID feedforward algorithm, which drive the four actuators to work together. The extension and retraction of the actuators are controlled by stepper motors, so that the pose error is within a predetermined threshold, and finally the millimeter-level reset and stable maintenance of the array pose is achieved.

5. The phased array antenna space attitude multi-stage compensation regulation method according to claim 4, characterized in that, The control unit generates compensation instructions based on a PID feedforward algorithm, wherein the PID compensation term is: ； In the formula, Used for quick response to current deviation; Used to eliminate steady-state errors; Used to suppress overshoot; Indicates attitude deviation: ； In the formula, , , These are the target pitch angle, roll angle, and Z-axis displacement, respectively. , , These are the real-time pitch angle and roll angle acquired by the IMU, and the Z-axis displacement measured by an external camera, respectively. The feedforward compensation term is: ； In the formula, The rate of change of the target's attitude; Acceleration for changes in the target's attitude; For real-time temperature gradient; Real-time wind pressure; Used to compensate for response lag at the target velocity; Used to compensate for the inertial effects of the target's acceleration; Used to compensate for thermal deformation caused by temperature gradients; Used to compensate for dynamic deformation caused by wind pressure disturbance.

6. The multi-level compensation and control method for the spatial attitude of a phased array antenna according to claim 5, characterized in that, The overall control command is synthesized based on the PID compensation term and the feedforward compensation term. ; Generating actuator instructions through geometric inverse kinematics: ； In the formula, A geometric inverse solution model to describe the actuator system; , , , The target extension / retraction amount for each of the four actuators.

7. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the phased array antenna spatial attitude multi-level compensation and control method as described in any one of claims 4 to 6.

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