阅读说明：本技术 一种超声电机驱动的超稳卫星平台及其控制方法 (Superstable satellite platform driven by ultrasonic motor and control method thereof ) 是由 李华峰 陈浩 于 2020-07-21 设计创作，主要内容包括：本发明公开了一种超声电机驱动的超稳卫星平台及其控制方法,超稳卫星平台包括柔性电缆以及通过所述柔性电缆相连接的载荷模块和调姿模块；载荷模块用于承载有效载荷,有效载荷对卫星平台具有稳定性要求；载荷模块包括载荷平台以及设置在载荷平台上的第一姿态敏感器、锁紧线圈组、第一无线收发模块；调姿模块用于对载荷模块进行姿态调整；调姿模块包括三自由度机械臂、直线型超声电机、旋转型超声电机、电磁电机、控制模块、第二无线收发模块；第二无线收发模块与第一无线收发模块进行无线通信。本发明能够完成载荷模块和调姿模块的大角度相对运动,实现了卫星平台的高精度指向和振动抑制。(The invention discloses an ultra-stable satellite platform driven by an ultrasonic motor and a control method thereof, wherein the ultra-stable satellite platform comprises a flexible cable, and a load module and an attitude adjusting module which are connected through the flexible cable; the load module is used for bearing an effective load, and the effective load has a stability requirement on the satellite platform; the load module comprises a load platform, a first attitude sensor, a locking coil group and a first wireless transceiver module, wherein the first attitude sensor, the locking coil group and the first wireless transceiver module are arranged on the load platform; the posture adjusting module is used for adjusting the posture of the load module; the posture adjusting module comprises a three-degree-of-freedom mechanical arm, a linear ultrasonic motor, a rotary ultrasonic motor, an electromagnetic motor, a control module and a second wireless transceiver module; the second wireless transceiver module is in wireless communication with the first wireless transceiver module. The invention can complete the large-angle relative motion of the load module and the attitude adjusting module, and realizes the high-precision pointing and vibration suppression of the satellite platform.)

1. An ultrastable satellite platform driven by an ultrasonic motor is characterized by comprising a flexible cable, and a load module and an attitude adjusting module which are connected through the flexible cable;

the load module comprises a load platform, a first attitude sensor, a locking coil group and a first wireless transceiver module, wherein the first attitude sensor, the locking coil group and the first wireless transceiver module are arranged on the load platform; the load platform is used for bearing a payload, a hemispherical pit is arranged in the middle of the bottom of the load platform, the center of the sphere of the hemispherical pit and the center of the bottom surface of the load platform are positioned on the same plane, and the locking coil group is arranged on the inner wall of the hemispherical pit;

The attitude adjusting module comprises a three-degree-of-freedom mechanical arm, a linear ultrasonic motor, a rotary ultrasonic motor, an electromagnetic motor, a control module and a second wireless transceiver module, wherein the linear ultrasonic motor, the rotary ultrasonic motor, the electromagnetic motor and the second wireless transceiver module are respectively and electrically connected with the control module;

the first attitude sensor is used for sensing attitude information of the load platform; the first wireless transceiving module is used for sending the attitude information acquired by the first attitude sensor to the second wireless transceiving module through a wireless transmission mode;

the second attitude sensor is used for sensing attitude information of the three-degree-of-freedom mechanical arm, the non-contact position sensor is used for sensing relative position information between the three-degree-of-freedom mechanical arm and the load platform, the hemispherical iron ball is used for being connected with the load platform during attitude adjustment, and the control module is used for controlling the linear ultrasonic motor, the rotary ultrasonic motor and the electromagnetic motor to be linked according to the attitude information of the load platform, the attitude information of the three-degree-of-freedom mechanical arm and the relative position information between the three-degree-of-freedom mechanical arm and the load platform, so that the.

2. The ultrasonic motor-driven hyperstable satellite platform of claim 1, wherein the three degree-of-freedom robotic arm has two rotational degrees of freedom and one translational degree of freedom.

3. A control method of an ultra-stable satellite platform driven by an ultrasonic motor, which is realized based on the ultra-stable satellite platform driven by the ultrasonic motor of claim 1, and is characterized by comprising the following steps:

step 1, sensing attitude information of a load platform by using a first attitude sensor, sensing attitude information of a three-degree-of-freedom mechanical arm by using a second attitude sensor, and sensing relative position information between the three-degree-of-freedom mechanical arm and the load platform by using a non-contact position sensor;

step 2, the control module drives the three-degree-of-freedom mechanical arm according to the attitude information of the load platform, the attitude information of the three-degree-of-freedom mechanical arm and the relative position information between the three-degree-of-freedom mechanical arm and the load platform, so that a hemispherical iron ball at the top end of the three-degree-of-freedom mechanical arm extends into a hemispherical pit at the bottom of the load platform, and the distance between the central point of the outer surface of the hemispherical iron ball and the central point of the inner wall of;

step 3, introducing in-phase electricity into the rotary ultrasonic motor and the linear ultrasonic motor to enable the rotary ultrasonic motor and the linear ultrasonic motor to be in an ultrasonic suspension state; electrifying the locking coil group to connect the posture adjusting module and the load module together through a hemispherical iron ball;

Step 4, the control module drives the three-degree-of-freedom mechanical arm according to the attitude information of the load platform and the new pose information of the load platform, so that the pose adjusting module drives the load platform to move to a new pose;

step 5, powering off the locking coil group to separate the attitude adjusting module from the load platform; and the control module drives the three-degree-of-freedom mechanical arm according to the attitude information of the three-degree-of-freedom mechanical arm, the attitude information of the load platform and the relative position information of the three-degree-of-freedom mechanical arm and the load platform so as to separate the attitude adjusting module from the load platform.

Technical Field

The invention relates to an ultrasonic motor driven ultra-stable satellite platform and a control method thereof, belonging to the technical field of satellite platforms.

Background

With the continuous development of space activities such as high-resolution optical loads, deep space telescopes, inter-satellite laser communication and the like, the requirements of high-performance loads carried by the spacecraft on pointing accuracy and attitude stability are higher and higher, so that higher requirements are provided for the isolation technology of micro-vibration of the spacecraft.

At present, the vibration isolation technology of the satellite is mainly divided into two types according to the rigidity of the interface of the vibration isolation platform:

1. hard coupling provides vibration isolation. The hard connection vibration isolation system mainly comprises a passive vibration isolation system and an active vibration isolation system consisting of a driver and a sensor, wherein the driver mainly comprises a piezoelectric driver, a voice coil driver and a magnetostrictive driver. Hard-wired vibration isolation has the following disadvantages: firstly, passive vibration isolation cannot effectively isolate low-frequency vibration; secondly, the active vibration isolation is influenced by the measurement precision of the sensor and the positioning precision of the driver, so that the vibration isolation with high stability and the pointing function with high precision are difficult to realize; thirdly, the vibration isolation platform cannot realize the pointing of large angle and large displacement due to the influence of the stroke of the driver; finally, as the active vibration isolation needs to be carried out continuously, a large amount of electric energy needs to be consumed, for an on-orbit satellite, the electric energy mainly comes from the solar sailboard, and the large amount of electric energy consumption can influence the main task of the satellite.

2. And (4) vibration isolation of the flexible connection. The soft connection vibration isolation system divides the satellite into a load part and a support part which are not in contact with each other through a non-contact driver and a non-contact sensor, so that interference generated by a support module can be isolated to zero frequency, and the soft connection mainly comprises a DFP (Disturbance-Free Payload) system and a double-body satellite vibration isolation system. Because the measurement information obtained by the non-contact sensor is used for driving the actuating mechanism on the supporting module, the vibration isolation performance of the flexible connection vibration isolation system is not influenced by the accuracy of the sensor. However, since the stroke of the non-contact actuator is small, the movement of the support module needs to follow the movement of the load module, and when the load module is rapidly maneuvered, the support module is also rapidly maneuvered, which requires an actuator with a large moment capacity to be mounted on the support module, which undoubtedly increases the complexity of the control system and the energy consumption of the spacecraft.

Therefore, a mechanism which can release the limitation of the stroke of the non-contact actuator and realize the large-angle relative movement of the load module and the support module is urgently needed.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the utility model provides an ultrastable satellite platform driven by an ultrasonic motor and a control method thereof, which are used for solving the problems in the prior art and realizing the large-angle relative motion of a load module and an attitude adjusting module.

The invention adopts the following technical scheme for solving the technical problems:

an ultra-stable satellite platform driven by an ultrasonic motor comprises a flexible cable, and a load module and an attitude adjusting module which are connected through the flexible cable;

the load module comprises a load platform, a first attitude sensor, a locking coil group and a first wireless transceiver module, wherein the first attitude sensor, the locking coil group and the first wireless transceiver module are arranged on the load platform; the load platform is used for bearing a payload, a hemispherical pit is arranged in the middle of the bottom of the load platform, the center of the sphere of the hemispherical pit and the center of the bottom surface of the load platform are positioned on the same plane, and the locking coil group is arranged on the inner wall of the hemispherical pit;

the attitude adjusting module comprises a three-degree-of-freedom mechanical arm, a linear ultrasonic motor, a rotary ultrasonic motor, an electromagnetic motor, a control module and a second wireless transceiver module, wherein the linear ultrasonic motor, the rotary ultrasonic motor, the electromagnetic motor and the second wireless transceiver module are respectively and electrically connected with the control module;

The first attitude sensor is used for sensing attitude information of the load platform; the first wireless transceiving module is used for sending the attitude information acquired by the first attitude sensor to the second wireless transceiving module through a wireless transmission mode;

the second attitude sensor is used for sensing attitude information of the three-degree-of-freedom mechanical arm, the non-contact position sensor is used for sensing relative position information between the three-degree-of-freedom mechanical arm and the load platform, the hemispherical iron ball is used for being connected with the load platform during attitude adjustment, and the control module is used for controlling the linear ultrasonic motor, the rotary ultrasonic motor and the electromagnetic motor to be linked according to the attitude information of the load platform, the attitude information of the three-degree-of-freedom mechanical arm and the relative position information between the three-degree-of-freedom mechanical arm and the load platform, so that the.

As a preferred scheme of the ultrastable satellite platform, the three-degree-of-freedom mechanical arm has two rotational degrees of freedom and one translational degree of freedom.

A control method of an ultrasonic motor driven hyperstable satellite platform is realized based on the ultrasonic motor driven hyperstable satellite platform, and comprises the following steps:

step 1, sensing attitude information of a load platform by using a first attitude sensor, sensing attitude information of a three-degree-of-freedom mechanical arm by using a second attitude sensor, and sensing relative position information between the three-degree-of-freedom mechanical arm and the load platform by using a non-contact position sensor;

Step 2, the control module drives the three-degree-of-freedom mechanical arm according to the attitude information of the load platform, the attitude information of the three-degree-of-freedom mechanical arm and the relative position information between the three-degree-of-freedom mechanical arm and the load platform, so that a hemispherical iron ball at the top end of the three-degree-of-freedom mechanical arm extends into a hemispherical pit at the bottom of the load platform, and the distance between the central point of the outer surface of the hemispherical iron ball and the central point of the inner wall of;

step 3, introducing in-phase electricity into the rotary ultrasonic motor and the linear ultrasonic motor to enable the rotary ultrasonic motor and the linear ultrasonic motor to be in an ultrasonic suspension state; electrifying the locking coil group to connect the posture adjusting module and the load module together through a hemispherical iron ball;

step 4, the control module drives the three-degree-of-freedom mechanical arm according to the attitude information of the load platform and the new pose information of the load platform, so that the pose adjusting module drives the load platform to move to a new pose;

step 5, powering off the locking coil group to separate the attitude adjusting module from the load platform; and the control module drives the three-degree-of-freedom mechanical arm according to the attitude information of the three-degree-of-freedom mechanical arm, the attitude information of the load platform and the relative position information of the three-degree-of-freedom mechanical arm and the load platform so as to separate the attitude adjusting module from the load platform.

Compared with the prior art, the invention adopting the technical scheme has the following technical effects:

1. the posture sensor is used for acquiring the posture information of the posture adjusting module and the load module, and the non-contact position sensor is used for acquiring the relative position information between the posture adjusting module and the load module, so that the accurate detection of the postures of the posture adjusting module and the load module is realized; the connection and separation of the posture adjusting platform and the load module are realized through the power-on and power-off of the locking coil, the posture adjusting module and the load module are connected together through the hemispherical iron ball under the condition that the locking coil is powered on, and the motion of the three-degree-of-freedom mechanical arm drives the load module to adjust the posture, so that the large-angle posture adjustment of the load module is realized.

2. In the process of connecting the attitude adjusting module and the load module, the same-phase electricity is supplied to the ultrasonic motor on the three-degree-of-freedom mechanical arm, so that the ultrasonic motor is in an ultrasonic suspension state, the impact vibration caused in the process of connecting the attitude adjusting platform and the load module is effectively reduced, and the vibration suppression of the satellite platform is further enhanced.

Drawings

Fig. 1 is a block diagram of the structure of the ultra-stable satellite platform of the present invention.

Fig. 2 is a schematic structural diagram of the hyperstable satellite platform of the present invention.

Fig. 3 is a schematic structural diagram of a load platform and a locking coil set in an embodiment of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

As shown in fig. 1 and fig. 2, the present embodiment provides an ultra-stable satellite platform, which includes a load module, an attitude adjusting module, and a flexible cable, where the load module and the attitude adjusting module are connected by the flexible cable; the load module and the posture adjusting module are not in contact with each other.

The load module is used for bearing an effective load, and the effective load has high stability requirement on the satellite platform; the load module comprises a load platform, a first attitude sensor, a locking coil group and a first wireless transceiver module, wherein the first attitude sensor, the locking coil group and the first wireless transceiver module are arranged on the load platform; the bottom of the load platform is provided with a hemispherical pit, and the locking coil group is arranged on the inner wall of the hemispherical pit, as shown in figure 3;

the first attitude sensor is used for sensing attitude information of the load platform;

the locking coil group completes connection and separation between the attitude adjusting module and the load module through electrification and outage;

The first wireless transceiving module is used for carrying out wireless communication with the posture adjusting module and sending the posture information collected by the first posture sensor to the posture adjusting module through a wireless transmission mode.

The posture adjusting module is used for adjusting the posture of the load module; the posture adjusting module comprises a rotary ultrasonic motor, a linear ultrasonic motor, an electromagnetic motor, a three-degree-of-freedom mechanical arm, a control module and a second wireless transceiver module; the control module is connected with the three-degree-of-freedom mechanical arm, and a second attitude sensor, a hemispherical iron ball and a non-contact position sensor are arranged on the three-degree-of-freedom mechanical arm;

the posture adjusting module is used for driving the load module to adjust the posture;

the second attitude sensor is used for sensing the attitude information of the three-degree-of-freedom mechanical arm;

the semispherical iron ball is used for connecting the load module with the attitude adjusting module, namely the load platform is connected with the three-degree-of-freedom mechanical arm;

the non-contact position sensor is used for sensing relative position information between the three-degree-of-freedom mechanical arm and the load platform;

the three-degree-of-freedom mechanical arm is used for driving the posture adjusting platform to move; the three-degree-of-freedom mechanical arm is provided with a rotary ultrasonic motor, a linear ultrasonic motor and an electromagnetic motor, the three-degree-of-freedom mechanical arm is provided with two rotational degrees of freedom and one translational degree of freedom, and the ultrasonic motor is used for driving the three-degree-of-freedom mechanical arm;

The control module is used for controlling the three-degree-of-freedom mechanical arm and driving the posture adjusting platform to move through the three-degree-of-freedom mechanical arm;

the second wireless transceiver module is used for carrying out wireless communication with the first wireless transceiver module and receiving the attitude information acquired by the first attitude sensor;

the flexible cable is used for energy transmission between the posture adjusting module and the load module.

The embodiment provides an attitude adjusting control method, which comprises the following steps:

step S1, connecting the posture adjusting module and the load platform

The first attitude sensor senses and collects attitude information of the load platform, the attitude information of the load platform is transmitted to the control module through the first wireless transceiver module and the second wireless transceiver module, the second attitude sensor senses and collects attitude information of the three-degree-of-freedom mechanical arm, and the non-contact position sensor senses and collects relative position information between the load platform and the three-degree-of-freedom mechanical arm; the control module drives the three-degree-of-freedom mechanical arm according to information collected by the first attitude sensor, the second attitude sensor and the non-contact position sensor, so that the hemispherical iron ball at the end part of the three-degree-of-freedom mechanical arm extends into the pit of the load platform, and the distance between the iron ball and the bottom of the pit is smaller than 1 mm.

Because the ultrasonic motor has the power-off self-locking capacity, the three-degree-of-freedom mechanical arm cannot move freely under the condition of no power supply. The control module is used for introducing in-phase voltage to each ultrasonic motor on the three-degree-of-freedom mechanical arm, under the action of the in-phase voltage, the rotor of each ultrasonic motor is in an ultrasonic suspension state, so that the three-degree-of-freedom mechanical arm is in a free motion state, the locking coil group of the load module is electrified at the moment, and the attitude adjusting module and the load platform can be connected through the electromagnet with minimum impact.

Step S2, driving the load module to adjust the position and posture through the three-degree-of-freedom mechanical arm

The control module drives the three-degree-of-freedom mechanical arm through the information acquired by the first attitude sensor and the new pose information of the load module, so that the three-degree-of-freedom mechanical arm drives the load module to move to a new pose; where the new pose information is determined by mission instructions of the payload on the satellite, e.g., adjusting the load module to point the satellite to a new star. The three-degree-of-freedom mechanical arm drives the load module to move and adjust the posture, large-angle posture adjustment of the load module is achieved, large-power reaction wheels are prevented from being used for large-angle posture adjustment, and quick response to the posture adjustment of the load module is achieved due to the fact that the ultrasonic motor is quick in response.

Step S3, separating the posture adjusting module from the load platform, and finely adjusting the posture of the load module

After the load module moves to a new pose, the locking coil group is powered off, so that the pose adjusting module is separated from the load platform, and the control module drives the three-degree-of-freedom mechanical arm according to information collected by the first pose sensor, the second pose sensor and the non-contact position sensor, so that the pose adjusting module is separated from the load platform.

The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.