CN-121978702-A - Miniaturized intelligent cooperative control airborne laser communication terminal and application method thereof

CN121978702ACN 121978702 ACN121978702 ACN 121978702ACN-121978702-A

Abstract

The invention discloses a miniaturized intelligent cooperative control airborne laser communication terminal which comprises a coarse sighting unit, a fine sighting unit, an intelligent control unit and an application method of the airborne laser communication terminal, wherein the coarse sighting unit comprises a universal turntable and is used for realizing large-angle range coarse positioning and posture adjustment of the laser communication terminal and providing a basic positioning reference for subsequent fine sighting adjustment, the fine sighting unit is driven by a piezoelectric-electromagnetic hybrid and is matched with the coarse sighting unit to acquire positioning information of the coarse sighting unit and is used for realizing small-angle high-precision correction and compensating positioning errors of the coarse sighting unit, and the intelligent control unit is respectively connected with the coarse sighting unit and the fine sighting unit and is used for receiving external control instructions and scanning information fed back by the coarse sighting unit and the fine sighting unit and generating and outputting corresponding driving control signals. The invention adopts the direct-drive coarse sighting unit to improve coarse sighting efficiency, combines fine sighting performance through piezoelectric-electromagnetic hybrid drive, can comprehensively compensate platform vibration from low frequency to high frequency, and improves tracking precision and link stability.

Inventors

YU SIYUAN
ZHAO JINGHAN
YANG HERAN
GU ZEJUN
SERGEI ZAITSEV
ZHOU XIANTANG
BU WENJUN

Assignees

哈尔滨工业大学
赢海通信技术(山东)有限公司

Dates

Publication Date: 20260505
Application Date: 20251226

Claims (10)

1. The utility model provides a miniaturized intelligent cooperative control's airborne laser communication terminal which characterized in that includes: the coarse sighting unit comprises a universal turntable and is used for realizing large-angle-range coarse positioning and posture adjustment of the laser communication terminal and providing a basic positioning reference for subsequent fine sighting adjustment; The fine sighting unit is driven by piezoelectric-electromagnetic hybrid and matched with the coarse sighting unit to acquire positioning information of the coarse sighting unit, and is used for realizing small-angle high-precision correction on the basis of coarse positioning and compensating positioning errors of the coarse sighting unit; the intelligent control unit is respectively and electrically connected with the coarse sighting unit and the fine sighting unit or in signal connection, and is used for receiving an external control instruction and scanning information fed back by the coarse sighting unit and the fine sighting unit, and generating and outputting a corresponding driving control signal.
2. The miniaturized intelligent cooperative control airborne laser communication terminal according to claim 1, further comprising a bidirectional cooperative tracking algorithm module, wherein the bidirectional cooperative tracking algorithm module is integrated in the intelligent control unit and is used for constructing a coarse-fine cooperative control model according to feedback data of the coarse unit and the fine unit, and dynamically coordinating working time sequences and control parameters of the coarse unit and the fine unit to realize cooperative linkage tracking of the coarse unit and the fine unit.
3. The miniaturized intelligent cooperative control airborne laser communication terminal according to claim 2, wherein the universal turntable is connected with a hollow brushless direct current torque motor, and the hollow brushless direct current torque motor is fixedly connected with a rotating shaft of the universal turntable and is used for directly driving the universal turntable to drive the laser communication transmitting/receiving module to realize coarse angle adjustment in a two-dimensional direction.
4. The miniaturized intelligent cooperative control airborne laser communication terminal according to any one of claims 1-3, wherein the fine sighting unit comprises an electromagnetic driving module and a piezoelectric driving module, the electromagnetic driving module is connected with the piezoelectric driving module in parallel or in series and is used for driving the same fast steering mirror in a mixed mode to operate, the electromagnetic driving module is used for realizing the posture adjustment of medium precision and medium stroke, and the piezoelectric driving module is used for realizing the posture compensation of high precision and micro stroke; And the intelligent control unit drives the electromagnetic driving module and/or the piezoelectric driving module to work according to the positioning error.
5. An application method of a miniaturized intelligent cooperative control airborne laser communication terminal is characterized by being applied to the airborne laser communication terminal as claimed in any one of claims 1-4, and comprising the following steps: s10, initializing parameters of a coarse sighting unit and a fine sighting unit, and setting initial state information; Acquiring offset vectors corresponding to the initial sight direction and the aiming angle; S20, the coarse sighting unit enters a scanning mode, and dynamically selects an optimal scanning strategy to scan according to the uncertain range and the characteristics of the beacon light so as to balance the scanning efficiency and the capturing reliability; s30, based on self-adaptive signal judgment, after scanning is completed, analyzing the whole view field data, determining an optimal capturing point, and improving the capturing success rate; s40, after the step S30 is completed, starting the fine sighting unit, driving the fast steering mirror to work by mixing the piezoelectric driver and the electromagnetic driver, and realizing high-speed closed-loop feedback control by combining the piezoelectric driver and the electromagnetic driver with the intelligent control unit; the intelligent control unit continuously receives the running motion state of other units, acquires the advanced aiming angle in real time, and drives the advanced sighting telescope to execute compensation; s50, in a narrow beacon capturing mode, the uncertainty angle is reduced through high-precision inter-satellite/satellite calibration, and small-range quick scanning is performed by utilizing the large-stroke capacity of a fine-aiming FSM, so that scanning optimization is completed.
6. The application method of the miniaturized intelligent cooperative control on-board laser communication terminal according to claim 5, wherein the initial state information includes a position, a speed and a posture; the obtaining the initial line of sight direction includes calculating an initial line of sight direction unit vector, wherein a calculation formula of the initial line of sight direction includes: ;; Wherein R t is the initial position vector of the local end, and R r is the initial position vector of the target end; the obtaining the offset vector corresponding to the aiming angle comprises calculating an advance aiming direction unit vector, wherein a calculation formula of the advance aiming direction unit vector comprises the following steps: ; V rel =V r −V t , where V r and V t are velocity vectors of the target and the home terminal, respectively, τ is an estimated time required for the signal to propagate from the home terminal to the target, where τ is calculated as follows: ; wherein the light speed is c, rt is the initial position vector of the local end, and Rr is the initial position vector of the target end.
7. The application method of the miniaturized intelligent cooperative control airborne laser communication terminal according to claim 6, wherein the control core is used for controlling the laser communication terminal according to the following steps of And acquiring azimuth angle and pitch angle instructions required by the corresponding universal turntable, and instructing the universal turntable to move to the predicted direction.
8. The application method of the miniaturized intelligent cooperative control on-board laser communication terminal according to claim 5, wherein the optimal scanning strategy in step S20 includes: s201, capturing an angle radius rho ROU of an uncertain range and a divergence angle theta beam of the used beacon light by the intelligent control unit; S202, if rho ROU is smaller and the uncertainty area can be approximately circular, judging that a scene is 'uncertainty in small-range concentration', and selecting spiral scanning at the moment, wherein a spiral scanning formula comprises: ; Where r (t) =r 0 +Δr·t is the scan radius, which increases linearly with time; if ρ ROU is large and the shape of the uncertain region is irregular, judging that the scene is a scene with a large range or uncertain regular region, and selecting raster scanning at the moment; S203, setting a scanning step angle fatter S, wherein the setting of the scanning step angle fatter S meets the following condition Wherein eta is a coverage rate coefficient smaller than 1, generally 0.5-0.8 is adopted, and meanwhile, the high-sensitivity area array detector continuously collects optical signals.
9. The application method of the miniaturized intelligent cooperative control airborne laser communication terminal according to claim 5, wherein the control output formula of the electromagnetic driver hybrid driving and PID control interface in step S40 includes: ; Wherein e (t) is the tracking error at the current moment and is an input signal of the controller, K p 、k i 、k d is the proportional, integral and differential gain coefficients respectively, the dynamic response characteristic of the controller is determined by the system pre-calibration or self-adaptive algorithm setting, and U (t) is the total control quantity calculated by the controller and used for driving the fast steering mirror.
10. The application method of the miniaturized intelligent cooperative control airborne laser communication terminal according to claim 9, wherein the bidirectional cooperative tracking algorithm comprises: Based on the bidirectional tracking error coupling model, the aiming error state of the opposite end and the influence of the aiming error state on the light power of the opposite end are estimated in real time, and the tracking loop parameters of the opposite end are dynamically adjusted, so that performance fluctuation caused by transmission delay is restrained, and the mutual stability of the bidirectional links is ensured.

Description

Miniaturized intelligent cooperative control airborne laser communication terminal and application method thereof Technical Field The invention relates to the technical field of laser communication, in particular to a miniaturized intelligent cooperative control airborne laser communication terminal and an application method thereof. Background The laser communication terminal generally comprises a coarse sighting unit and a fine sighting unit, wherein the coarse sighting unit (generally a universal turntable) is responsible for scanning and capturing in a large-range uncertain area and guiding a light beam to a target direction initially, the fine sighting unit (generally an FSM) is responsible for compensating residual errors and high-frequency disturbance and realizing high-precision stable tracking, and the early sighting function is generally used as an independent module and is used for conducting open-loop or simple closed-loop prediction calculation based on navigation information. In the existing laser communication terminal, the scanning positioning precision and speed are low due to the inherent return clearance, friction and elastic deformation of the gear transmission in the coarse sighting unit, the mechanical structure is complex and heavy and is not beneficial to rapid capture and platform attitude control, and the electromagnetic FSM in the fine sighting unit has large stroke, low bandwidth and relatively poor precision, so that the capability of the system for coping with complex disturbance scenes is limited. In addition, the dynamic characteristic analysis of mutual coupling of errors at two ends in the existing method is insufficient, and an effective cooperative control algorithm is lacked to inhibit performance oscillation caused by time delay, so that the stability boundary of the system is fuzzy. In view of this, the present invention has been made. Disclosure of Invention The invention aims to solve the defects of the technology, and provides a miniaturized intelligent cooperative control airborne laser communication terminal and an application method thereof, which can rapidly and accurately perform scanning capture, perform vibration suppression with high broadband and high precision, stably and reliably perform bidirectional tracking, and simultaneously meet the requirements of light weight and intellectualization of a system. The technical scheme provided by the invention is as follows: in one aspect, the invention discloses a miniaturized intelligent cooperative control airborne laser communication terminal, which comprises: the coarse sighting unit comprises a universal turntable and is used for realizing large-angle-range coarse positioning and posture adjustment of the laser communication terminal and providing a basic positioning reference for subsequent fine sighting adjustment; The fine sighting unit is driven by piezoelectric-electromagnetic hybrid and matched with the coarse sighting unit to acquire positioning information of the coarse sighting unit, and is used for realizing small-angle high-precision correction on the basis of coarse positioning and compensating positioning errors of the coarse sighting unit; the intelligent control unit is respectively and electrically connected with the coarse sighting unit and the fine sighting unit or in signal connection, and is used for receiving an external control instruction and scanning information fed back by the coarse sighting unit and the fine sighting unit, and generating and outputting a corresponding driving control signal. Further, the airborne laser communication terminal further comprises a bidirectional collaborative tracking algorithm module, wherein the bidirectional collaborative tracking algorithm module is integrated in the intelligent control unit and is used for constructing a coarse sighting-fine sighting collaborative control model according to feedback data of the coarse sighting unit and the fine sighting unit, dynamically coordinating working time sequences and control parameters of the coarse sighting unit and the fine sighting unit, and realizing collaborative linkage tracking of the coarse sighting unit and the fine sighting unit. Further, the universal turntable is connected with a hollow brushless direct current torque motor, and the hollow brushless direct current torque motor is fixedly connected with a rotating shaft of the universal turntable and is used for directly driving the universal turntable to drive the laser communication transmitting/receiving module to realize coarse angle adjustment in the two-dimensional direction. The precise aiming unit comprises an electromagnetic driving module and a piezoelectric driving module, wherein the electromagnetic driving module is connected with the piezoelectric driving module in parallel or in series and is used for driving the operation of the same fast steering mirror in a mixed mode; the intelligent control unit drives the electromagnetic dri