CN108039913B - Coarse tracking device for light and small space laser communication terminal - Google Patents
Coarse tracking device for light and small space laser communication terminal Download PDFInfo
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- CN108039913B CN108039913B CN201711369373.6A CN201711369373A CN108039913B CN 108039913 B CN108039913 B CN 108039913B CN 201711369373 A CN201711369373 A CN 201711369373A CN 108039913 B CN108039913 B CN 108039913B
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 72
- 230000003287 optical effect Effects 0.000 claims abstract description 65
- 238000001514 detection method Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 239000000523 sample Substances 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000010008 shearing Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 239000002243 precursor Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/118—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum specially adapted for satellite communication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G3/00—Observing or tracking cosmonautic vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Chemical & Material Sciences (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Optical Communication System (AREA)
Abstract
The invention provides a light and small space laser communication terminal coarse tracking device, which aims to solve the technical problem that the conventional coarse tracking device cannot be suitable for a small satellite optical communication terminal due to large size, large weight and low precision. The invention adopts the flexible hinge to connect the optical transceiver with the base, adopts the linear actuator to carry out the two-point driving adjustment mode of the optical transceiver, and avoids the problems of large volume and heavy weight caused by using the pitching azimuth frame; because the linear actuator has large thrust, small volume, light weight and high displacement precision, the weight of the linear actuator can be controlled within 1Kg, the weight of the flexible hinge is controlled within 0.5Kg, and the total weight of the coarse tracking device can be controlled within 2-3 Kg by adding necessary connecting joints.
Description
Technical Field
The invention belongs to the field of photoelectric tracking and capturing, relates to a photoelectric tracking and aiming device, and in particular relates to a coarse tracking device of a space laser communication terminal.
Background
The small satellite optical communication terminal is widely researched and applied at home and abroad due to the characteristics of low SWaP (Size, weight and Power), short development period and low on-board resource consumption. The small satellite space laser communication generally carries out initial alignment of the optical axis through satellite attitude adjustment, and then compensates the error angle through a rough tracking mode, so that the task requirement of the optical communication load is reduced, and the small satellite optical communication load has the characteristics of small antenna caliber (less than 100 mm), small size and light weight, and therefore, the high requirement is put forward for a rough tracking system of an optical communication terminal.
The existing coarse tracking structure generally adopts a periscope type, an O-shaped frame type or a theodolite type or a swing mirror type structure. The periscope is suitable for an optical transceiver with the caliber of 100 mm-150 mm; the O-shaped frame type optical transceiver is suitable for 200-300 mm large-caliber optical transceivers; the installation space required by the mirror swinging is larger; the theodolite type deflection range is larger (90-180 degrees), the device is suitable for a satellite optical transceiver which needs large-angle adjustment, is large in weight and size, cannot be suitable for a small satellite optical communication terminal, and the coarse tracking devices of the structures all adopt mechanical shafts, and can cause an optical axis pointing error due to the problems of a rotation gap, backlash and friction of gears.
Disclosure of Invention
The invention provides a light and small space laser communication terminal coarse tracking device, which aims to solve the technical problem that the conventional coarse tracking device cannot be suitable for a small satellite optical communication terminal due to large size, large weight and low precision.
The technical scheme of the invention is as follows:
a light and small space laser communication terminal coarse tracking device is applied to a small satellite optical communication system; the small satellite optical communication system includes Wei Xingti; the coarse tracking device comprises an optical transceiver and a base; the special feature is that:
the device also comprises a two-degree-of-freedom flexible hinge, an azimuth axis type actuator, a pitching axis type actuator, a first eddy current displacement sensor, a second eddy current displacement sensor, a driver of the linear actuator and a front-end processor of the eddy current displacement sensor;
the optical transceiver is arranged on the base through the two-degree-of-freedom flexible hinge; the rotation center of the two-degree-of-freedom flexible hinge is overlapped with the rotation center of the optical transceiver;
the azimuth axis type actuator has the same structure as the pitch axis type actuator; the azimuth axis type actuator comprises a rotor, a flexible rod and a stator; one end of the rotor is connected with one end of the flexible rod; the other end of the flexible rod is connected with the mounting surface of the optical transceiver; the other end of the rotor extends into the stator, a coil is wound outside the rotor, and a permanent magnet is arranged between the coil and the stator;
the flexible rods of the azimuth axis type actuator and the pitching axis type actuator are connected with the optical transceiver, and the stators are used for connecting the whole actuator with the satellite body; the azimuth axis type actuator and the pitching axis type actuator are positioned at the positions of 0-90 degrees of the rotation center of the optical transceiver, and the distances from the azimuth axis type actuator and the pitching axis type actuator to the rotation center of the optical transceiver are equal;
the first eddy current displacement sensor and the second eddy current displacement sensor have the same structure and are both arranged on the satellite body; the first eddy current displacement sensor is used for detecting the linear displacement of the optical transceiver at a detection point corresponding to the first eddy current displacement sensor, and the second eddy current displacement sensor is used for detecting the linear displacement of the optical transceiver at a detection point corresponding to the second eddy current displacement sensor; the installation center of the first eddy current displacement sensor, the installation center of the pitching axis type actuator and the rotation center of the optical transmitter are collinear; the installation center of the second eddy current displacement sensor, the installation center of the azimuth axis type actuator and the rotation center of the optical transceiver are collinear; the first eddy current displacement sensor and the second eddy current displacement sensor are equal in distance from the rotation center of the optical transceiver;
the driver is used for driving the azimuth axis type actuator and the pitching axis type actuator to act; the front end processor is used for amplifying and filtering detection signals of the first eddy current displacement sensor and the second eddy current displacement sensor; the driver and the front end are both mounted on the base.
Further, the cut section of the two-degree-of-freedom flexible hinge is parabolic, hyperbolic, catwheel-type or elliptical.
Further, the cross section of the two-degree-of-freedom flexible hinge is elliptical.
Further, the base has a cavity, and the driver and the pre-driver are disposed in the cavity.
Further, the second eddy current displacement sensor comprises a probe, a shell, a connecting threaded rod, a supporting seat and a cable, wherein the shell is arranged outside the probe and used for preventing electromagnetic interference; the connecting threaded rod and the shell are integrated and are arranged on the supporting seat through an upper fastening nut and a lower fastening nut; the lower end of the supporting seat is provided with a connecting hole for connecting the satellite body; a cable extends from the housing to connect with the pre-amble.
Compared with the prior art, the invention has the advantages that:
1. the invention adopts the two-point driving adjusting mode of the linear actuator, thereby avoiding the problems of large volume and heavy weight caused by using a pitching azimuth frame; the linear actuator has large thrust, small volume, light weight and high displacement precision, the weight of the linear actuator can be controlled within 1Kg, the weight of the flexible hinge is controlled within 0.5Kg, and the total weight of the coarse tracking device can be controlled within 2-3 Kg by adding necessary connecting joints; compared with the prior art, the quality attribute is improved by more than 2 times, the displacement precision of the linear actuator and the detection precision of the eddy current displacement sensor can reach um level, and the angle displacement precision is controllable according to the difference of the distance between the installation position and the rotation center.
2. Because the coarse tracking does not need very high bandwidth, the linear actuator is installed by adopting a two-point type asymmetric installation mode, and compared with the traditional three-point type and four-point symmetric installation modes, the linear actuator has the advantages of light and small structure and higher miniaturization degree.
3. The two-degree-of-freedom flexible hinge adopts the flexible hinge with the elliptical cutting section, and can simultaneously meet the requirements of flexibility and adjustment precision.
4. Compared with the prior coarse tracking device of the mechanical shafting, the invention has the advantages of no backlash, no friction, no gap, no noise, no abrasion, small space size, high motion sensitivity, easy control of motion stability, high angular displacement precision and the like.
5. The linear actuator mover is connected with the optical transmitter and receiver by the flexible rod, the flexible rod has good rigidity in the axial direction and good flexibility in the tangential direction, and the linear actuator is prevented from being damaged due to overlarge shearing force caused by the movement of the optical transmitter and receiver.
6. The base of the invention can provide support for the flexible hinge on one hand, and has a cavity inside, and the driver of the linear actuator and the front device of the eddy current displacement sensor are placed in the cavity of the base, so that the volume of the tracking device is further reduced.
Drawings
FIG. 1 is a schematic diagram of a crude tracking device of a light and small space laser communication terminal connected with a satellite body;
FIG. 2 is a schematic view of the mounting locations of the linear actuator and the flexible hinge;
FIG. 3 is an axial schematic view of an azimuthal axial actuator and a second eddy current displacement sensor;
FIG. 4 is an axial schematic diagram of a pitch axis actuator and first eddy current displacement sensor assembly;
FIG. 5a is a schematic view of an azimuth axis actuator configuration;
FIG. 5b is a state diagram of the azimuth axis actuator of FIG. 5a in operation;
FIG. 6a is a schematic view of a two-degree-of-freedom flexible hinge;
FIG. 6b is a schematic view of the mounting of the actuator, the pre-cursor, and the two-degree-of-freedom flexible hinge of FIG. 6 a;
FIG. 7a is a schematic diagram of a second eddy current displacement sensor;
FIG. 7b is an isometric view of the second eddy current displacement sensor illustrated in FIG. 7 a;
FIG. 8 is a schematic representation of the motion relationship in azimuth (pitch and azimuth motion relationship are the same, so only schematic representation of azimuth is given);
reference numerals illustrate: 1-an optical transceiver; 101-an optical transceiver mounting surface; 2-two degrees of freedom flexible hinge; a 3-azimuth axis type actuator; 301-tightening a nut; 302-a gasket; 304-a threaded hole; 305-flexible rod; 306-permanent magnet; 307-mover; 308-stator; 309-coil; 4-pitch axis type actuator; 5-a first eddy current displacement sensor; 6-a second eddy current displacement sensor; 601-a probe; 602-a housing; 603-connecting a threaded rod; 604-up-tightening a nut; 605-a supporting seat; 606-lower tightening nut; 607-connecting holes; 608-cable; 7-Wei Xingti; 8-a base; 801-a driver; 802-pre-processor.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1-2, the light and small space laser communication terminal coarse tracking device provided by the invention comprises an optical transceiver 1, a two-degree-of-freedom flexible hinge 2, an azimuth axis type actuator 3 and a pitch axis type actuator 4 with equal load inertia, a first eddy current displacement sensor 5, a second eddy current displacement sensor 6 and a base 8.
The optical transceiver 1 is arranged on the base 8 through a two-degree-of-freedom flexible hinge 2, and the rotation center of the two-degree-of-freedom flexible hinge 2 coincides with the rotation center of the optical transceiver 1; the flexible shaft cutting surface of the two-degree-of-freedom flexible hinge 2 can be parabolic, hyperbolic, catwheel type and the like; in order to achieve both the tilting angle range and the angle precision, the flexible shaft cutting surface of the two-degree-of-freedom flexible hinge 2 is preferably elliptical; the whole coarse tracking device is connected with the satellite body 7 through a base 8; also mounted within the base 8 are a linear actuator driver 801 and an eddy current displacement sensor front end 802. The placement of the driver 801 and the pre-driver 802 is not limited to the one shown in fig. 6b, and the size of the base 8 is not limited to the one shown in fig. 6b, and the actual size may be designed according to the specific dimensions of the driver 801 and the pre-driver 802.
The azimuth axis type actuator 3 and the pitch axis type actuator 4 have the same structure, and the specific structure of the azimuth axis type actuator 3 is shown in fig. 5a and 5b, and comprises a rotor 307, a flexible rod 305, a stator 308, a fastening nut 301 and a gasket 302; one end of the mover 307 is connected to one end of the flexible rod 305 through a screw hole 304; the other end of the flexible rod 305 is in threaded connection with the optical-end machine mounting surface 101 and is fastened with the fastening nut 301 through the gasket 302; the other end of the rotor 307 extends into the stator 308, a coil 309 is wound outside the rotor 307, and a permanent magnet 306 is arranged between the coil 309 and the stator 308; the flexible rod can reduce the damage of shearing force generated by the action of the linear actuator to the linear actuator, and simultaneously provides rigidity when the linear actuator is pushed and pulled.
The flexible rods of the azimuth axis type actuator 3 and the pitching axis type actuator 4 are connected with the optical transceiver 1, and the stators are connected with the satellite body 7 through screws; the azimuth axis type actuator 3 and the pitch axis type actuator 4 are positioned at the positions of 0 DEG and 90 DEG of the rotation center of the optical transceiver 1, and the distances from the two to the rotation center of the optical transceiver 1 are equal; lorentz is controlled by controlling the current levels of coils on the movers of azimuth axis type actuator 3 and pitch axis type actuator 4The force pushes the flexible rod, and the flexible rod pushes the optical transceiver 1 to do azimuth and pitching motions; fig. 8 is a schematic diagram of a movement relationship in the azimuth direction, in which the line between the M point and the N point is the axis of the azimuth type actuator 3, and the M point is the connection point between the flexible rod 305 and the optical transceiver 1; the connecting line of the M point and the O point is the initial position of the installation surface 101 of the front-end light machine, and the distance between the M point and the O point is L; the connection line of the O point and the P point is the axis of the rotating shaft of the flexible hinge, the point N is the intersection point of the axis of the azimuth linear actuator 3 and the satellite body 7, and the point P is the intersection point of the rotating shaft of the two-degree-of-freedom flexible hinge 2 and the satellite body 7; HO is the new position of the optical transceiver installation surface 101 after the optical transceiver 1 is driven by the azimuth line type actuator 3, and Q is the foot perpendicular from H to MO; let the distance between MQ be Δx and the distance between HQ be Δy, the rotation angle of the optical transceiver 1 in the azimuth direction can be obtained as follows:
the first eddy current displacement sensor 5 and the second eddy current displacement sensor 6 have the same structure, and the second eddy current displacement sensor 6 has the structure shown in fig. 7a and 7b, and comprises a probe 601, a shell 602 arranged outside the probe 601 and used for preventing electromagnetic interference, and a connecting threaded rod 603; the connecting threaded rod 603 and the shell 602 are integrated and are arranged on the supporting seat 605 through the upper fastening nut 604 and the lower fastening nut 606; the supporting seat 605 is arranged on the satellite body 7 through a connecting hole 607 at the lower end; the cable 608 extends out of the shell 602 and is connected with a front end processor 802 of the eddy current displacement sensor, a detection signal is transmitted to the front end processor 802, the front end processor 802 amplifies, filters, detects and the like the signal, and then the signal is transmitted to an on-board general control computer of the small satellite optical communication system, and the on-board general control computer calculates the rotation angle of the current pitching and/or azimuth axis of the optical transceiver 1;
the first eddy current displacement sensor 5 is used for detecting linear displacement of the optical transceiver 1 at a detection point corresponding to the first eddy current displacement sensor 5, the first eddy current displacement sensor 5 is arranged on the satellite body 7 through a supporting seat thereof, and the installation center of the first eddy current displacement sensor 5, the installation center of the pitching axis type actuator 4 and the rotation center of the optical transceiver 1 are collinear; the second eddy current displacement sensor 6 is used for detecting linear displacement of the optical transceiver 1 at a detection point corresponding to the second eddy current displacement sensor 6, the second eddy current displacement sensor 6 is arranged on the satellite body 7 through a supporting seat thereof, and the installation center of the second eddy current displacement sensor 6, the installation center of the azimuth axis type actuator 3 and the rotation center of the optical transceiver 1 are collinear; the first eddy current displacement sensor 5 and the second eddy current displacement sensor 6 are equal in distance from the rotation center of the optical transceiver 1; the specific installation positions of the first eddy current displacement sensor 5 and the second eddy current displacement sensor 6 can be determined according to the measuring range; after the assembly is completed, the first eddy current displacement sensor 5 and the pitching axis type actuator 4 form a shaft system, and the second eddy current displacement sensor 6 and the azimuth axis type actuator 3 form a shaft system, as shown in fig. 3 and 4.
Claims (4)
1. A light and small space laser communication terminal coarse tracking device is applied to a small satellite optical communication system; the small satellite optical communication system comprises Wei Xingti (7); the coarse tracking device comprises an optical transceiver (1) and a base (8); the method is characterized in that:
the device also comprises a two-degree-of-freedom flexible hinge (2), an azimuth axis actuator (3) and a pitching axis actuator (4), a first eddy current displacement sensor (5) and a second eddy current displacement sensor (6), a driver (801) of the linear actuator and a front end processor (802) of the eddy current displacement sensor;
the optical transceiver (1) is arranged on the base (8) through the two-degree-of-freedom flexible hinge (2); the rotation center of the two-degree-of-freedom flexible hinge (2) coincides with the rotation center of the optical transceiver (1);
the azimuth axis type actuator (3) and the pitch axis type actuator (4) have the same structure; the azimuth axis type actuator (3) comprises a rotor (307), a flexible rod (305) and a stator (308); one end of the mover (307) is connected with one end of the flexible rod (305); the other end of the flexible rod (305) is connected with the optical transceiver installation surface (101); the other end of the rotor (307) extends into the stator (308), a coil (309) is wound outside the rotor (307), and a permanent magnet (306) is arranged between the coil (309) and the stator (308);
the flexible rods of the azimuth axis type actuator (3) and the pitching axis type actuator (4) are connected with the optical transceiver (1), and the stators are used for connecting the whole actuator with the satellite body (7); the azimuth axis type actuator (3) and the pitching axis type actuator (4) are positioned at the azimuth of 0 degree and 90 degrees of the rotation center of the optical transceiver (1), and the distances from the azimuth axis type actuator and the pitching axis type actuator to the rotation center of the optical transceiver (1) are equal;
the second eddy current displacement sensor (6) comprises a probe (601), a shell (602) arranged outside the probe (601) and used for preventing electromagnetic interference, a connecting threaded rod (603), a supporting seat (605) and a cable (608); the connecting threaded rod (603) and the shell (602) are integrated, and are arranged on the supporting seat (605) through an upper fastening nut (604) and a lower fastening nut (606); the lower end of the supporting seat (605) is provided with a connecting hole (607) for connecting Wei Xingti (7); a cable (608) extends from the housing (602) and is connected to the pre-heater (802);
the first eddy current displacement sensor (5) and the second eddy current displacement sensor (6) have the same structure and are both arranged on the satellite body (7); the first eddy current displacement sensor (5) is used for detecting the linear displacement of the optical transceiver (1) at a detection point corresponding to the first eddy current displacement sensor (5), and the second eddy current displacement sensor (6) is used for detecting the linear displacement of the optical transceiver (1) at a detection point corresponding to the second eddy current displacement sensor (6); the installation center of the first eddy current displacement sensor (5), the installation center of the pitching axis type actuator (4) and the rotation center of the optical transceiver (1) are collinear; the installation center of the second eddy current displacement sensor (6), the installation center of the azimuth axis type actuator (3) and the rotation center of the optical transceiver (1) are collinear; the first eddy current displacement sensor (5) and the second eddy current displacement sensor (6) are equal in distance from the rotation center of the optical transceiver (1);
the driver (801) is used for driving the azimuth axis type actuator (3) and the pitching axis type actuator (4) to act; the front end processor (802) is used for amplifying and filtering detection signals of the first eddy current displacement sensor (5) and the second eddy current displacement sensor (6); a driver (801) and a front end (802) are both mounted on the base (8).
2. The light and small-sized space laser communication terminal coarse tracking device according to claim 1, wherein: the cutting section of the two-degree-of-freedom flexible hinge (2) is parabolic, hyperbolic, catwheel or elliptic.
3. The light and small-sized space laser communication terminal coarse tracking device according to claim 2, wherein: the cutting section of the two-degree-of-freedom flexible hinge (2) is elliptical.
4. A lightweight compact spatial laser communication terminal coarse tracking device according to claim 1 or 2 or 3, characterized in that: the base (8) has a cavity within which the driver (801) and the pre-driver (802) are disposed.
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| CN201711369373.6A CN108039913B (en) | 2017-12-18 | 2017-12-18 | Coarse tracking device for light and small space laser communication terminal |
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| CN201711369373.6A CN108039913B (en) | 2017-12-18 | 2017-12-18 | Coarse tracking device for light and small space laser communication terminal |
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| CN113885190B (en) * | 2021-10-22 | 2022-05-31 | 中国科学院长春光学精密机械与物理研究所 | Periscopic pointing mechanism |
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