CN108762231A - A kind of super steady super quick control validating in orbit method of superfinishing - Google Patents
A kind of super steady super quick control validating in orbit method of superfinishing Download PDFInfo
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Abstract
A kind of super steady super quick control validating in orbit method of superfinishing, function and the performance indicator requirement of the super steady super quick control validating in orbit of superfinishing are determined first, and according to the hardware and software part required needed for design validating in orbit method, and assemble them into validating in orbit system, then pass through the requirement of the functional performance of the super steady super quick control of ground test result verification superfinishing, validating in orbit method Orbital detection flow and scheme are improved, the super steady super quick control effect of Orbital detection result verification superfinishing is completed.The present invention provides a set of practicable proof scheme for the validating in orbit of the super steady super quick control of spacecraft superfinishing, and demonstrates its function and performance indicator requirement by ground experiment test, has good use value.
Description
Technical field
The invention belongs to Spacecraft Control fields, are related to a kind of super steady super quick control validating in orbit method of superfinishing.
Background technology
The following high-performance spacecraft proposes and three surpasses the demand of (superhigh precision, ultrastability, super quick) control, at present
The single-stage control technology for being based only upon satellite gravity anomaly has been difficult to meet the requirements, for this purpose, proposing that spacecraft superfinishing is super steady super quick
Victory control multistage composite control method.Increased on the basis of original attitude control system with vibration isolation, disturb shake inhibition and
Be accurately directed to adjust three surpasses (superfinishing is super steady super quick) platform, and the passive vibration isolation by three surpassing platform controls, and realizes that high frequency is trembled
Dynamic isolation, the active control by three surpassing platform realize that the high precision high stability degree of load optical axis is directed toward control.
Based on this, three surpass Platform Key Technologies to break through, realization three surpasses the in-orbit application of platform engineering model machine and three overrides
Application effect assessment processed, proposes a kind of super steady super quick control validating in orbit method of superfinishing, realizes the in-orbit of three hypervisor technologies
Verification experimental verification.
Invention content
Present invention solves the technical problem that being：It the problem of steady super quick control validating in orbit super for spacecraft superfinishing, carries
Go out a kind of super steady super quick control validating in orbit method of superfinishing, designs the software and hardware part of validating in orbit system, eventually by
In-orbit experimental test flow and conceptual design verify " three surpassing " Con trolling index.
Technical solution of the invention is：A kind of super steady super quick control validating in orbit method of superfinishing, including walk as follows
Suddenly：
(1) function and performance indicator needed for the super steady super quick control validating in orbit of superfinishing are determined；
Performance indicator will include the Control performance standard to be verified for three surpassing start control platform, three surpassing start control unit,
It is to be verified three to surpass start control platform, three surpass start control unit, celestial body mounting plate, the first micrometer gyro installation, the second micrometer
Gyro weight constraints, it is to be verified three to surpass start control platform, three surpass start control unit, celestial body mounting plate, the first micrometer gyro
Installation, the second micrometer gyro power constraints, it is to be verified three surpass start control platform, three surpass start control unit, celestial body mounting plate,
First micrometer gyro installation, the second micrometer gyro service life；
(2) celestial body mounting plate is installed on satellite, three surpasses start control platform, three surpasses start control unit, the first survey
Microthrust test is mounted on celestial body mounting plate, and the second micrometer gyro installation three is surpassing start control platform；
Wherein, three surpass start control platform to include six actuator in parallel, platform structure, compress tripper, six
Actuator in parallel is connected between platform structure and celestial body mounting plate, is compressed tripper one end and is connected to celestial body mounting plate, separately
One end is connected to platform structure center, compresses tripper and locks platform structure and celestial body mounting plate in transmitter section, enters
Unlock makes platform structure be detached with tripper is compressed after rail, realizes six actuator in parallel in the control for three surpassing start control unit
The lower normal work of system；
Three surpass the realization of start control unit and three surpasses eddy current displacement sensor in start control platform, the survey of the second micrometer gyro
The acquisition of signal is measured, real-time resolving obtains control signal, realizes for the super steady super quick control of the superfinishing of the second micrometer gyro；
First micrometer gyro, the second micrometer gyro measure the angular speed at self-position in real time respectively；
(4) the current super steady super quick control algolithm of superfinishing is obtained, and controls and three surpasses start control unit according to current vortex position
The second micrometer gyro is calculated using the super steady super quick control algolithm of superfinishing in displacement sensor, the second micrometer gyro to measure signal
Signal is controlled, three surpassing start control platform using the control of the second micrometer gyro control signal adjusts the second micrometer gyro position and appearance
State；
(5) the second micrometer gyro control performance indicator data are obtained, if the second obtained micrometer gyro performance indicator number
According to the performance indicator met needed for the super steady super quick control validating in orbit of superfinishing that step (1) obtains, then it is transferred to step (6), it is no
It then redesigns the super steady super quick control algolithm of superfinishing, three surpass start control platform；
(6) if verification three surpasses start control platform, three surpasses start control unit：Transmitting is realized under compression pattern actively
The locking of section, and stop controlling when stopping control pattern and realizing in-orbit, and eddy current displacement sensor zero is completed under self-calibration pattern
The calibration of position and equivalent coefficient, and can realize that the working condition of voice coil motor and structure frequency change under frequency sweep mode, and
The realization stable state control under stable state control model, and realized in the case where being directed toward control model and be directed toward adjusting and stability contorting, and in event
Hinder the stable state control realized under stable state control model under malfunction, and in the case where realizing malfunction under failure is directed toward control model
Direction adjusting control and stabilization；
(7) the second micrometer gyro control function is obtained, if obtained control function meets the superfinishing that step (1) obtains and surpasses
The steady super quick function of controlling needed for validating in orbit, then the super steady super quick control validating in orbit of superfinishing pass through, otherwise redesign
The super steady super quick control algolithm of superfinishing three surpasses start control platform.
The function include powered phase and enter the orbit after according to telecommand unlock before compress locking device be impaction state,
The inhibition of the second micrometer gyro low frequency and high-frequency vibration isolation work(during compressing locking device unlock, in-orbit experiment are controlled according to telecommand
The second micrometer gyro is directed toward regulating power, degree of regulation, stabilizing power during energy, in-orbit experiment.
The performance indicator will include the control performance to be verified for three surpassing start control platform, three surpassing start control unit
It was less than for 0.04 ", three axis pointing accuracies be better than 0.1 " including stability in three axis 10ms, is directed toward and adjusts stabilization time and be less than 1s；It waits for
Verification three surpasses start control platform, three surpasses start control unit, celestial body mounting plate, the first micrometer gyro installation, the second micrometer top
Spiral shell power constraints include long-term power consumption, short-term power consumption.
The Orbital detection flow to be verified for three surpassing start control platform, three surpassing start control unit is：Compress solution
After the in-orbit unlock of locking device, sweep check is carried out by ground remote control instruction successively, self-calibration pattern, stable state control model, is referred to
To control model；When three surpassing start control platform and breaking down, failure stable state control model is carried out, failure is directed toward control mould
Formula；Finally the stable state control model in the case of progress normal non-fault, the failure stable state control being directed toward under control or fault condition
Pattern and failure are directed toward control model.
The actuator includes voice coil motor, eddy current displacement sensor, film spring, flexible hinge, displacement mechanical limit, electricity
Eddy displacement sensor is located in six actuator, and film spring provides the axial rigidity of actuator, and flexible hinge realizes that actuator is axial
Move to the transmission of the second micrometer gyro six degree of freedom direction movement, the maximum axial fortune of displacement mechanical limit limitation actuator
It is dynamic, protect eddy current displacement sensor；Actuator by eddy current displacement sensor measures position deviation and according to three surpassing start
The control signal of control unit output, driving voice coil motor apply control force and control moment to the second micrometer gyro, pass through
Six actuator cooperate, final to realize for the super steady super quick control of the superfinishing of the second micrometer gyro；
A kind of computer readable storage medium, the computer-readable recording medium storage has computer program, described
Computer program the step of the method as any such as claim 1- claims 5 is realized when being executed by processor.
A kind of super steady super quick control validating in orbit test terminal device of superfinishing, including memory, processor and storage
In the memory and the computer program that can run on the processor, the processor execute the computer
The step of the method as any such as claim 1- claims 5 is realized when program.
A kind of super steady super quick control system of superfinishing, including three surpass start control platform, three surpass start control unit, celestial body
Mounting plate, the first micrometer gyro, the second micrometer gyro；Celestial body mounting plate is installed on satellite, three is surpassed start control platform, three is surpassed work
On celestial body mounting plate, the second micrometer gyro installation three is surpassing start control platform for dynamic control unit, the first micrometer gyro installation；
Wherein：
Three surpass start control platform to include six actuator in parallel, platform structure, compress tripper, six works in parallel
Dynamic device is connected between platform structure and celestial body mounting plate, is compressed tripper one end and is connected to celestial body mounting plate, the other end connects
It is connected to platform structure center, tripper is compressed and locks platform structure and celestial body mounting plate in transmitter section, solved after entering the orbit
Lock makes platform structure be detached with tripper is compressed, and realizes six actuator in parallel under the control for three surpassing start control unit just
Often work；
Three surpass the realization of start control unit and three surpasses eddy current displacement sensor in start control platform, the survey of the second micrometer gyro
The acquisition of signal is measured, real-time resolving obtains control signal, realizes for the super steady super quick control of the superfinishing of the second micrometer gyro；
First micrometer gyro, the second micrometer gyro measure the angular speed at self-position in real time respectively；
The actuator includes voice coil motor, eddy current displacement sensor, film spring, flexible hinge, displacement mechanical limit, electricity
Eddy displacement sensor is located in six actuator, and film spring provides the axial rigidity of actuator, and flexible hinge realizes that actuator is axial
Move to the transmission of the second micrometer gyro six degree of freedom direction movement, the maximum axial fortune of displacement mechanical limit limitation actuator
It is dynamic, protect eddy current displacement sensor；Actuator by eddy current displacement sensor measures position deviation and according to three surpassing start
The control signal of control unit output, driving voice coil motor apply control force and control moment to the second micrometer gyro, pass through
Six actuator cooperate, final to realize for the super steady super quick control of the superfinishing of the second micrometer gyro.
The start control platform that three surpasses further includes the current vortex displacement between platform structure and celestial body mounting plate
Sensor, the backup as eddy current displacement sensor in actuator
The advantages of the present invention over the prior art are that：
(1) present invention proposes a kind of super steady super quick control validating in orbit method of superfinishing, realizes to three surpassing platform and three
The validating in orbit of hypervisor.On the basis of original satellite attitude control system installation with vibration isolation, disturb the inhibition and accurate of shaking
That is directed toward adjusting three surpasses platform, by three surpassing the passive vibration isolation of platform, realizes high dither isolation；By the active for three surpassing platform
Control realizes that the high precision high stability degree of load optical axis is directed toward control.It is final to realize the super steady super quick control of spacecraft superfinishing.
(2) present invention proposes a kind of super steady super quick control validating in orbit method of superfinishing, realization to three hypervisor performances into
Row test verification.The high-frequency vibration decaying of six degree of freedom direction is realized in design by three surpassing start control platform flexibility link, is tested
Demonstrate,prove validating in orbit system high-frequency vibration passive isolation ability；It is directed toward deviation measurement and actuator point by three surpassing start control platform
It is calculated with rule and forms closed-loop control system, verification validating in orbit system low frequency disturbs active suppression ability of shaking；It is directed toward and is adjusted by ground
Section instruction control, verification validating in orbit system are actively directed toward regulating power and assess pointing accuracy and fast and stable ability.
(3) present invention is by the micrometer gyro for three surpassing the upper and lower stage+module high-precision high bandwidth of start control platform, and
The test result for comparing upper and lower platform micrometer gyro provides one kind effectively for the validating in orbit of " three surpassing " Control performance standard
And reliable appraisal procedure.
(4) present invention proposes flexible member (film spring and flexible hinge) transmitting and compresses locking and On-orbit release method.In master
Dynamic section will three surpass start control platform compression, and being unlocked after entering the orbit makes three to surpass start control platform normal work, successfully solves
It's the problem of transmitting powered phase and realization of in-orbit function pasts flexible member in rail verification system.
Description of the drawings
Fig. 1 is the flow chart of the method for the present invention；
Fig. 2 is the method for the present invention validating in orbit hardware composition schematic diagram；
Fig. 3 is that the method for the present invention validating in orbit hardware forms tomograph；
Fig. 4 is that the method for the present invention validating in orbit system three surpasses start control platform structure chart；
Fig. 5 is that the method for the present invention validating in orbit system three surpasses actuator configurations figure in start control platform；
Fig. 6 is control algolithm block diagram in the method for the present invention validating in orbit system software part；
Fig. 7 is that the method for the present invention validating in orbit system ground experiment stable state controls test result figure；
Fig. 8 is that the method for the present invention validating in orbit system ground experiment is directed toward control test result figure；
Fig. 9 is that the method for the present invention validating in orbit system ground experiment is directed toward control test result partial enlarged view；
Figure 10 is that the method for the present invention validating in orbit system ground experiment is directed toward control fast settling time test result figure.
Specific implementation mode
The method of the present invention proposes a kind of super steady super quick control validating in orbit method of superfinishing, using flow shown in FIG. 1
The design of validating in orbit system is completed, is as follows：
(1) function and the performance indicator requirement of the super steady super quick validating in orbit system of superfinishing are determined；
Validating in orbit system has following functional requirement：
It is impaction state that powered phase and starting stage of entering the orbit, which keep validating in orbit system to compress locking device,；
It receives surface instruction and realizes the unlock of validating in orbit system；
During in-orbit experiment, the inhibition of verification validating in orbit system low frequency, high-frequency vibration isolation function；
During in-orbit experiment, verifies in validating in orbit system and be directed toward regulating power, and to degree of regulation and fast and stable
Ability is evaluated；
" three surpassing " carries verification system with the requirement of following performance indicator：
Validating in orbit system is with the requirement of following performance indicator：
Super steady super quick " three surpassing " Control performance standard of superfinishing
1) short-term stability is less than 0.04 " (3 σ) in three axis 10ms；
2) three axis pointing accuracies are better than 0.1 " (3 σ)；
3) quick motor-driven rear stabilization time is less than 1s；
Weight constraints
Total weight≤42kg (containing internal from tape cable)；
Power constraints
Long-term power consumption (primary power source)：≤100W；
Short-term power consumption (primary power source)：≤150W；
1 year service life；
(2) function and the performance indicator requirement of the super steady super quick validating in orbit system of superfinishing according to step (1), if
Count validating in orbit system.Include mainly：Validating in orbit hardware and validating in orbit system software part.
(3) as shown in Figures 2 and 3, the validating in orbit hardware described in step (2) includes mainly：Celestial body is installed
Plate three surpasses start control platform, three surpasses start control unit, two sets of micrometer gyros；
As shown in figure 4, three surpassing start control platform and including mainly：By six actuator in parallel, compress tripper and
Platform structure forms；As shown in figure 5, each actuator includes voice coil motor, and eddy current displacement sensor, elastic membrane spring, flexibility
Flexural pivot, displacement mechanical limit；Tripper is compressed, compresses upper mounting plate in powered phase, being unlocked after entering the orbit makes upper mounting plate and locking
Organizational separation.
Three surpass start control platform to specifically include：：
Voice coil motor × 6
Eddy current displacement sensor × 8 (6 are located in actuator, 2 be located at platform structure and celestial body mounting plate it
Between)
Elastic membrane spring × 6
Flexible flexural pivot × 6
Displacement mechanical limit × 6
Compress tripper × 1
Platform structure × 1
Three surpassing start control unit includes mainly：Calculation process module, analog signal processing module, voice coil motor drive mould
Block, secondary power supply module, data memory module；
Micrometer gyro is the optical fibre gyro with high-precision high bandwidth.
The method of the present invention selection validating in orbit needed for hardware components includes celestial body mounting plate, three surpass start control platform,
Three surpass start control unit, two sets of micrometer gyros, entire validating in orbit system is installed on satellite by celestial body mounting plate, three is surpassed
Start control platform three surpasses start control unit, a set of micrometer gyro installation on celestial body mounting plate different location, another set of survey
Microthrust test, which is installed on, three to be surpassed in start control platform；
Celestial body mounting plate is for connecting satellite and each hardware components of validating in orbit system；
It includes six actuator in parallel, platform structure, compression tripper three to surpass start control platform mainly, and six simultaneously
Connection actuator is connected between platform structure and celestial body mounting plate, and platform structure is designed by center disk and provides micrometer gyro 2
The installation interface of load, and six actuator are connected by six spanwise configurations, it compresses tripper one end and is connected to celestial body peace
Loading board, the other end are connected to platform structure center, compress tripper transmitter section and lock platform structure and celestial body mounting plate
It is fixed, mechanical environment when transmitting is born, actuator is protected, being unlocked after entering the orbit makes platform structure be detached with tripper is compressed, and discharges
Space realizes actuator normal work.Actuator include voice coil motor, eddy current displacement sensor, film spring, flexible hinge,
Displacement mechanical limits.Eddy current displacement sensor includes two kinds of forms, is located in 6 actuator and platform structure and star
Between body mounting plate, the two backups each other, and film spring provides the axial rigidity of actuator, and also has the function of hinge.It is flexible
Hinge release constraint degree of freedom realizes that actuator axially moves to the transmission of load six degree of freedom direction movement, displacement mechanical limit
Maximum axial motion for limiting actuator protects eddy current displacement sensor.Actuator passes through eddy current displacement sensor
Measurement result is with to the measured deviation to set the goal, and by certain control algolithm output control signal, driving voice coil motor applies
It to the control force and control moment of load, is cooperated by six actuator, final realization is super steady super for the superfinishing of load
Agility control；
Three surpass start control unit to be mainly used for realizing that the acquisition of sensor measurement signal, high speed and real time control resolve, control
The output of signal processed, the functions such as data storage include mainly：Calculation process module, analog signal processing module, voice coil motor drive
Dynamic model block, secondary power supply module, data memory module；
Two sets of micrometer gyroscope structure forms are consistent with performance indicator, by three angle mount optical fibre gyro heads and mechanical connection
Structure composition has high measurement accuracy and high measurement bandwidth, is installed on a set of micrometer gyro three surpassed in start control platform and uses
In simulation load, and it is directed toward in closed-loop control and validating in orbit system of the measurement result for validating in orbit system and adjusts energy
The qualitative assessment of the indexs such as power, degree of regulation, stabilizing power is installed on the another set of micrometer gyro of celestial body mounting plate by with three
The measurement result comparison of micrometer gyro in super start control platform, verification validating in orbit system low frequency inhibits and high-frequency vibration isolation work(
Energy.
(4) the validating in orbit system software part described in step (3) includes mainly：It is installed on and three surpasses in start control unit
Software and control algolithm；
As shown in fig. 6, the validating in orbit systematic control algorithm is：
For high band vibrate, by three surpass the flexible structure in start control platform actuator realize high-frequency vibration every
From.Low-frequency range is vibrated, the micrometer gyro 2 by three surpassing the installation of start control platform upper mounting plate measures posture information (removal
After orbit angular velocity), it is directed toward according to upper mounting plate stable state and the target of surface instruction determination is directed toward, calculated direction deviation and simultaneously pass through
Actuator distributive law controls each actuator and is moved, and forms actuator movement instruction.It is passed simultaneously by the displacement in actuator
The practical bar of sensor measurement acquisition is long, and corrects actuator movement instruction using PID controllers.In addition it is to be promoted three to surpass start control
Platform operation reliability processed, when conceptual design between upper lower platform, installation position displacement sensor is designed in actuator, it is ensured that when
When displacement sensor breaks down in single pole, the displacement sensor knot three surpassed in start control platform between lower platform is used
Fruit can still calculate and output each actuator movement instruction.
(5) the validating in orbit hardware and software section of step (3) and (4) are assembled into validating in orbit system,
And tested by ground experiment and obtain test result, whether requirement is reached with this authentication function performance, such as meets functional performance and wants
It asks, then enters in next step, otherwise, return to (3) and (4) redesign and three surpass start control platform and control algolithm.Until meeting
It is required that；
The installation form of validating in orbit system is：Three surpass start control platform lower platform, three surpass start control unit, micrometer
Gyro 1 is installed on carrying verification system structure support plate, and is directly connected with carrying satellite structure by support plate, micrometer gyro
2 are mounted on the upper mounting plate for three surpassing start control platform, are controlled by the comparative evaluation " three surpassing " of upper and lower platform micrometer gyro
Effect；
Validating in orbit system terrestrial test environment is built, the function and performance indicator to validating in orbit system require to survey
Examination, it is shown that test result is as follows.
1 validating in orbit system functional requirement accordance table of table
1 validating in orbit system performance index accordance table of table
As stated above, pointing accuracy, the short-term stability of validating in orbit system are investigated by stable state control model；Pass through
Shaping modes are directed toward come the pointing accuracy for investigating validating in orbit system and quick maneuverability.
As Fig. 7, Fig. 8, Fig. 9, ground experiment test result shown in Fig. 10 show：Three axis pointing accuracy of validating in orbit system
Index is satisfied by be satisfied by less than short-term stability in 0.1 rad, 10ms to be stablized less than after 0.04 rad, 50 rads of direction adjustings
Time meets the design objective less than 1s.Ground test the result shows that：Validating in orbit system meets the function of design and performance is wanted
It asks.
(6) it is directed to step (5), designs the testing process and scheme of validating in orbit system validating in orbit；
The main operation modes and function of validating in orbit system are：Compression pattern, the validating in orbit system transmitting of realization is actively
The locking of section；Stop control pattern, realizes and stop controlling when validating in orbit system is in-orbit；Self-calibration pattern is completed in validating in orbit system
The calibration of eddy current displacement sensor zero-bit and equivalent coefficient；Frequency sweep mode tests the work of voice coil motor in validating in orbit system
Make structure frequency when state and validating in orbit system operation on orbit；Stable state control model realizes the stable state of validating in orbit system
Control；It is directed toward control model, realizes that the direction of validating in orbit system is adjusted and fast and stable controls；Failure stable state control model,
Realize the stable state control under validating in orbit system fault condition；Failure is directed toward control model, realizes validating in orbit system failure shape
Direction adjusting control under state and fast and stable；
Orbital detection flow is：After compressing the in-orbit unlock of tripper, frequency sweep survey is carried out by ground remote control instruction successively
Examination, is directed toward control model at self-calibration pattern, stable state control model；After three surpassing start control platform and breaking down, can be transferred to therefore
Hinder stable state control model and failure is directed toward control model；Eventually by stable state control model, the direction in the case of normal non-fault
After control or the failure stable state control model under fault condition and failure are directed toward the test data of control model and carry out data
Reason obtains " three surpassing " control actual measurement index under in-orbit state.
(7) it requires, then terminates as " three surpassing " control actual measurement index under the in-orbit state of step (6) meets performance indicator,
Otherwise the control parameter three surpassed in start control unit control algolithm is readjusted in return to step (4), until meeting the requirements.
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (10)
1. a kind of super steady super quick control validating in orbit method of superfinishing, which is characterized in that include the following steps：
(1) function and performance indicator needed for the super steady super quick control validating in orbit of superfinishing are determined；
Performance indicator will include the Control performance standard to be verified for three surpassing start control platform, three surpassing start control unit, to be tested
Card three surpasses start control platform, three surpasses start control unit, celestial body mounting plate, the first micrometer gyro installation, the second micrometer gyro
Weight constraints, it is to be verified three surpass start control platform, three surpass start control unit, celestial body mounting plate, the first micrometer gyro installation,
Second micrometer gyro power constraints, it is to be verified three to surpass start control platform, three surpass start control unit, celestial body mounting plate, first
Micrometer gyro installation, the second micrometer gyro service life；
(2) celestial body mounting plate is installed on satellite, three surpasses start control platform, three surpasses start control unit, the first micrometer top
Spiral shell is mounted on celestial body mounting plate, and the second micrometer gyro installation is on three surpassing start control platform；
Wherein, three surpass start control platform to include six actuator in parallel, platform structure, compress tripper, six parallel connections
Actuator is connected between platform structure and celestial body mounting plate, is compressed tripper one end and is connected to celestial body mounting plate, the other end
It is connected to platform structure center, tripper is compressed and locks platform structure and celestial body mounting plate in transmitter section, after entering the orbit
Unlock makes platform structure be detached with tripper is compressed, and realizes six actuator in parallel under the control for three surpassing start control unit
Normal work；
Three surpass the realization of start control unit and three surpasses eddy current displacement sensor in start control platform, the second micrometer gyro to measure letter
Number acquisition, real-time resolving obtain control signal, realize for the super steady super quick control of the superfinishing of the second micrometer gyro；
First micrometer gyro, the second micrometer gyro measure the angular speed at self-position in real time respectively；
(4) the current super steady super quick control algolithm of superfinishing is obtained, and control three surpasses start control unit and passed according to current vortex displacement
The second micrometer gyro control is calculated using the super steady super quick control algolithm of superfinishing in sensor, the second micrometer gyro to measure signal
Signal three surpasses start control platform using the control of the second micrometer gyro control signal and adjusts the second micrometer gyro position and posture；
(5) the second micrometer gyro control performance indicator data are obtained, if the second obtained micrometer gyro performance indicator data symbols
The performance indicator needed for the super steady super quick control validating in orbit of superfinishing that step (1) obtains is closed, then is transferred to step (6), otherwise weighs
It is new to design the super steady super quick control algolithm of superfinishing, three surpass start control platform；
(6) if to be verified three surpass start control platform, three surpass start control unit：Transmitting powered phase is realized under compression pattern
Locking, and stop controlling when stopping control pattern and realizing in-orbit, and complete eddy current displacement sensor zero-bit under self-calibration pattern
With the calibration of equivalent coefficient, and working condition and the structure frequency variation of voice coil motor can be realized under frequency sweep mode, and
Stable state control is realized under stable state control model, and is realized in the case where being directed toward control model and is directed toward adjusting and stability contorting, and in failure
The stable state control under malfunction is realized under stable state control model, and in the case where realizing malfunction under failure is directed toward control model
It is directed toward adjusting control and stabilization；
(7) the second micrometer gyro control function is obtained, if to meet superfinishing that step (1) obtains super steady super for obtained control function
Agility controls the function needed for validating in orbit, then the super steady super quick control validating in orbit of superfinishing passes through, and otherwise redesigns superfinishing
Super steady super quick control algolithm three surpasses start control platform.
2. a kind of super steady super quick control validating in orbit method of superfinishing according to claim 1, it is characterised in that：Described
It is impaction state, according to telecommand control that function compresses locking device before being unlocked according to telecommand after including powered phase and entering the orbit
System compresses the inhibition of the second micrometer gyro low frequency and high-frequency vibration isolation function, in-orbit experimental period during locking device unlock, in-orbit experiment
Between the second micrometer gyro be directed toward regulating power, degree of regulation, stabilizing power.
3. a kind of super steady super quick control validating in orbit method of superfinishing according to claim 1 or 2, it is characterised in that：Institute
The performance indicator stated will include that the control performance to be verified for three surpassing start control platform, three surpassing start control unit includes three axis
Stability was less than for 0.04 ", three axis pointing accuracies be better than 0.1 ", is directed toward and adjusts stabilization time and be less than 1s in 10ms；It is to be verified three to surpass
Start control platform three surpasses start control unit, celestial body mounting plate, the first micrometer gyro installation, the second micrometer gyro power consumption about
Beam includes long-term power consumption, short-term power consumption.
4. a kind of super steady super quick control validating in orbit method of superfinishing according to claim 1 or 2, it is characterised in that：Institute
The Orbital detection flow to be verified for three surpassing start control platform, three surpassing start control unit stated is：It is in-orbit to compress tripper
After unlock, sweep check is carried out by ground remote control instruction successively, self-calibration pattern, stable state control model, is directed toward control model；
When three surpassing start control platform and breaking down, failure stable state control model is carried out, failure is directed toward control model；It finally carries out just
Stable state control model, direction control under normal non-failure conditions or the failure stable state control model under fault condition and failure are directed toward
Control model.
5. a kind of super steady super quick control validating in orbit method of superfinishing according to claim 1 or 2, it is characterised in that：Institute
The actuator stated includes voice coil motor, eddy current displacement sensor, film spring, flexible hinge, displacement mechanical limit, and current vortex displacement passes
Sensor is located in six actuator, and film spring provides the axial rigidity of actuator, and flexible hinge realizes that actuator axially moves to second
The transmission of micrometer gyro six degree of freedom direction movement, the maximum axial motion of displacement mechanical limit limitation actuator, protects electric whirlpool
Flow displacement sensor；Actuator measures position deviation by eddy current displacement sensor and is exported according to start control unit three is surpassed
Control signal, driving voice coil motor applies to the control force and control moment of the second micrometer gyro, passes through six actuator associations
It is final to realize for the super steady super quick control of the superfinishing of the second micrometer gyro with work；
6. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, feature
It is, the step such as any the method for claim 1- claims 5 is realized when the computer program is executed by processor
Suddenly.
7. a kind of super steady super quick control validating in orbit of superfinishing tests terminal device, including memory, processor and it is stored in
In the memory and the computer program that can run on the processor, it is characterised in that：The processor executes institute
The step of the method as any such as claim 1- claims 5 is realized when the computer program stated.
8. a kind of super steady super quick control system of superfinishing, it is characterised in that including three surpassing start control platform, three surpassing start control
Unit, celestial body mounting plate, the first micrometer gyro, the second micrometer gyro；Celestial body mounting plate is installed on satellite, and it is flat three to surpass start control
Platform three surpasses start control unit, the first micrometer gyro installation on celestial body mounting plate, and the second micrometer gyro installation three is surpassing start
Control platform；Wherein：
Three surpass start control platform to include six actuator in parallel, platform structure, compress tripper, six actuator in parallel
It is connected between platform structure and celestial body mounting plate, compresses tripper one end and be connected to celestial body mounting plate, the other end is connected to
Platform structure center compresses tripper and locks platform structure and celestial body mounting plate in transmitter section, and being unlocked after entering the orbit makes
Platform structure is detached with tripper is compressed, and realizes six actuator normal works under the control for three surpassing start control unit in parallel
Make；
Three surpass the realization of start control unit and three surpasses eddy current displacement sensor in start control platform, the second micrometer gyro to measure letter
Number acquisition, real-time resolving obtain control signal, realize for the super steady super quick control of the superfinishing of the second micrometer gyro；
First micrometer gyro, the second micrometer gyro measure the angular speed at self-position in real time respectively.
9. the super steady super quick control system of a kind of superfinishing according to claim 8, it is characterised in that：The actuator packet
Voice coil motor, eddy current displacement sensor, film spring, flexible hinge, displacement mechanical limit are included, eddy current displacement sensor is located at six
In actuator, film spring provides the axial rigidity of actuator, and flexible hinge realizes that actuator axially moves to the second micrometer gyro six certainly
By spending the transmission of direction movement, the maximum axial motion of displacement mechanical limit limitation actuator protects eddy current displacement sensor；
Actuator measures position deviation by eddy current displacement sensor and according to the control signal for three surpassing the output of start control unit, drives
Dynamic voice coil motor applies control force and control moment to the second micrometer gyro, is cooperated by six actuator, final real
Referring now to the super steady super quick control of superfinishing of the second micrometer gyro.
10. the super steady super quick control system of a kind of superfinishing according to claim 9, it is characterised in that：Described three surpasses work
Dynamic control platform further includes the eddy current displacement sensor between platform structure and celestial body mounting plate, as electric in actuator
The backup of eddy displacement sensor.
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