CN115789089A

CN115789089A - Lorentz force magnetic suspension universal stable platform

Info

Publication number: CN115789089A
Application number: CN202211603822.XA
Authority: CN
Inventors: 王卫杰; 庞维坤; 任元; 韩文婧; 樊亚洪; 朱宏业; 杨洋; 于春淼; 李磊; 段乐强
Original assignee: Peoples Liberation Army Strategic Support Force Aerospace Engineering University
Current assignee: Peoples Liberation Army Strategic Support Force Aerospace Engineering University
Priority date: 2022-12-13
Filing date: 2022-12-13
Publication date: 2023-03-14

Abstract

A Lorentz force magnetic suspension universal stable platform mainly comprises a platform cabin body, a frame cabin body and a load cabin body, wherein the platform cabin body drives the frame cabin body and the load cabin body to integrally rotate around a main symmetrical axis of the frame cabin body through a primary rotary Lorentz force magnetic bearing; the frame cabin controls the load cabin to move horizontally in three degrees of freedom through a pair of linear Lorentz force magnetic bearings and a pair of orthogonal Lorentz force magnetic bearings, wherein the orthogonal Lorentz force magnetic bearings synchronously and differentially restrain the load cabin from deflecting in two degrees of freedom; the frame cabin drives the load cabin to rotate around the main shaft of the load cabin through the secondary rotary Lorentz force magnetic bearing, and finally stable suspension and universal maneuvering of the load are achieved. The invention realizes the seven-degree-of-freedom suspension stability of the load cabin body through the full-channel Lorentz force magnetic suspension and the full-channel active control, greatly improves the stability and agility of the satellite load, and has wide application prospect in the fields of space laser communication and space remote sensing.

Description

Lorentz force magnetic suspension universal stable platform

Technical Field

The invention relates to a Lorentz force magnetic suspension universal stable platform, which is based on a linear, orthogonal and rotary Lorentz force magnetic bearing, constructs a three-body, seven-degree-of-freedom and full-channel Lorentz force magnetic suspension platform, realizes load ultra-precision pointing, ultra-stable control and hypersensitive maneuvering, provides a brand new technical approach for a high-quality spacecraft to perform multi-load aiming, pointing and tracking tasks, and has wide application prospects in the fields of space laser communication, astronomical observation, high-resolution reconnaissance and the like.

Technical Field

Space missions such as space laser communication and the like have high requirements on pointing accuracy, stability and agility of a spacecraft platform, the problem of vibration interference of a traditional mechanical double-shaft turntable on a satellite and the problem of mutual restriction of load attitude motion and platform attitude motion of the existing magnetic levitation satellite are solved, so that a high-quality spacecraft platform with ultra-precision, ultra-stability and hypersensitive performance needs to be developed urgently, and technical support is provided for complex space missions.

Based on the superiority of magnetic suspension technology, domestic related scholars propose a plurality of magnetic suspension platform solutions. The active magnetic suspension inertial stabilization platform with five degrees of freedom disclosed in patent No. ZL201210321861.0 has two-degree-of-freedom translation and three-degree-of-freedom rotation, but the function of the platform is limited to isolating the influence of the platform vibration on the load. One type of lorentz inertially stabilized platform described in the granted patent zl202010295521.X employs spherical lorentz force magnetic bearings for deflection, but the platform body is still mechanically rigidly supported. Meanwhile, the two magnetic suspension stable platform schemes are oriented to vibration suppression and servo tracking of airborne, vehicle-mounted or ship-based platforms, and are difficult to adapt to the space environment of microgravity. A two super satellite platform of granted patent ZL201410610456.X adopt non-contact magnetism to float the mechanism and realize that the sound space of vibration source and load keeps apart, eliminate the platform micro-vibration to the interference of load, realized satellite "super smart superstable" control, but platform and load can't rotate relatively, are difficult to satisfy the urgent demand of high dynamic space mission to platform hypersensitivity performance.

Disclosure of Invention

Aiming at the defects in the prior art: the invention aims to provide a high-precision high-dynamic Lorentz force magnetic suspension universal stable platform which can effectively reduce internal and external disturbance of a load in space flight and realize ultra-precise pointing, ultra-stable control and hypersensitive maneuvering of a satellite load.

The technical solution of the invention is as follows: a Lorentz force universal stable platform mainly comprises: the load cabin is arranged in the platform cabin and comprises a platform cabin body, a frame cabin body, a load cabin body, a pair of linear Lorentz force magnetic bearings, a pair of orthogonal Lorentz force magnetic bearings, a pair of first-stage rotary Lorentz force magnetic bearings and a pair of second-stage rotary Lorentz force magnetic bearings; the platform cabin body drives the frame cabin body to rotate around the main symmetry axis direction of the base through the first-stage rotating Lorentz force magnetic bearing to move, the linear Lorentz force magnetic bearing controls one-degree-of-freedom stable suspension of the load cabin, the orthogonal Lorentz force magnetic bearing controls four-degree-of-freedom stable suspension of the load cabin body, and the second-stage rotating Lorentz force magnetic bearing controls one-degree-of-freedom stable suspension of the load cabin body; on the basis of realizing six-degree-of-freedom stable suspension of the load cabin body, a first-stage rotary Lorentz force magnetic bearing in the frame cabin body controls one-degree-of-freedom deflection of the platform; finally, the seven-degree-of-freedom suspension stability of the load on the load cabin is realized, and meanwhile, the physical isolation between the load and the platform is also ensured.

The principle of the scheme is as follows: a Lorentz force load model is established through the ampere theorem, the Lorentz force magnetic bearing is adopted to provide magnetic force, non-contact stable support is achieved, the advantages of no friction, active vibration suppression, long service life, good dynamic performance and high control precision are achieved, stable suspension can be rapidly achieved, and the requirements of the platform on ultrahigh attitude stability, ultrahigh pointing precision and ultrafast attitude agility are met

Compared with the prior art, the invention has the advantages that: the novel mechanism of the seven-degree-of-freedom rotary Lorentz force magnetic bearing is provided for the first time, a high-uniformity magnetic field is created through double-ring-shaped and co-rotating-shaft radial magnetizing magnetic steel, the magnetic flux density linearity is greatly improved, and the rectangular closed-loop winding cuts magnetic lines of force to drive the stator and the rotor of the rotary Lorentz magnetic bearing to do reciprocating motion with relatively large angle, high precision and high dynamic. The four rotary Lorentz force magnetic bearings work in pairs, and two-dimensional universal rotation of the load cabin is driven in a pairwise orthogonal mode, so that 2 pi space hypersensitive maneuvering of the load is achieved.

Drawings

FIG. 1 is a top cross-sectional view of a Lorentz force magnetic suspension gimbal stabilized platform according to the present invention;

FIG. 2a is a schematic view of a primary rotational Lorentz force magnetic bearing structure of a Lorentz force magnetic suspension gimbal stabilized platform according to the present invention;

FIG. 2b is a schematic view of a primary rotational Lorentz force magnetic bearing structure of a Lorentz force magnetic suspension gimbal table according to the present invention;

FIG. 3 is a schematic diagram of a three-dimensional structure of a linear Lorentz force magnetic bearing of a Lorentz force magnetic suspension universal stable platform according to the technical solution of the present invention;

FIG. 4a is a schematic diagram of a three-dimensional structure of an orthogonal Lorentz force magnetic bearing of a Lorentz force magnetic suspension gimbal stabilized platform according to the present invention;

FIG. 4b is a schematic diagram of a force analysis of a main magnetic path diagram of an orthogonal Lorentz force magnetic bearing of a Lorentz force magnetic suspension gimbal stabilized platform according to the technical solution of the present invention;

FIG. 4c is a schematic view of the orthogonal Lorentz force magnetic bearing tile coils of a Lorentz force magnetic suspension gimbal table in accordance with the present invention;

FIG. 5a is a three-dimensional schematic diagram of a two-stage rotating Lorentz force magnetic bearing of a Lorentz force magnetic suspension gimbal table according to the present invention;

FIG. 5b is a schematic diagram of the force analysis of the main magnetic circuit of the secondary rotary Lorentz force magnetic bearing of the Lorentz force magnetic suspension gimbal stabilized platform according to the technical solution of the present invention;

detailed description of the preferred embodiments

The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to a person skilled in the art.

The specific embodiment is as follows:

as shown in fig. 1, a lorentz force magnetic suspension universal stable platform mainly comprises a platform cabin body, a frame cabin body and a load cabin body, and is characterized in that the platform cabin body mainly comprises: the device comprises a base 1, an upper frame cabin servo component 2A, an upper frame cabin support 3A, a primary upper rotary Lorentz force magnetic bearing stator component 4A, a lower frame cabin servo component 2B, a primary lower rotary Lorentz force magnetic bearing stator component 4B and a lower frame cabin support 3B; the frame cabin body mainly includes: the device comprises a primary upper rotary lorentz force magnetic bearing rotor assembly 5A, an upper frame 6A, a left load cabin servo assembly 8A, a left linear lorentz force magnetic bearing stator assembly 9A, a left translation sensor 11A, a left orthogonal lorentz force magnetic bearing stator assembly 13A, a left rotation sensor 14A, a secondary left rotary lorentz force magnetic bearing stator assembly 16A, a lower frame 6B, a secondary right rotary lorentz force magnetic bearing stator assembly 16B, a right rotation sensor 14B, a right orthogonal lorentz force magnetic bearing stator assembly 13B, a right translation sensor 11B, a right linear lorentz force magnetic bearing stator assembly 9B and a right load cabin servo assembly 8B; the load cabin body mainly includes: a left linear lorentz force magnetic bearing rotor assembly 10A, a left orthogonal lorentz force magnetic bearing rotor assembly 12A, a secondary left rotary lorentz force magnetic bearing rotor assembly 15A, a load receiver 7, a secondary right rotary lorentz force magnetic bearing rotor assembly 15B, a right orthogonal lorentz force magnetic bearing rotor assembly 12B and a right linear lorentz force magnetic bearing rotor assembly 10B; the upper frame cabin bracket 3A and the lower frame cabin bracket 3B are positioned at two ends along the main symmetrical axis of the base 1, the bottom of the upper frame cabin bracket 3A is fixedly connected with the base 1 through a screw, the upper end of the upper frame cabin bracket is fixedly connected with the upper frame cabin servo component 2A through a screw, the upper frame cabin servo component 2A is connected with a frame cabin rotating shaft through a mechanical bearing, and the primary upper rotating Lorentz force magnetic bearing stator component 4A is positioned at the radial inner side of the upper frame servo component 2A and is fixedly connected with the same; similarly, the bottom of the lower frame cabin bracket 3B is fixedly connected with the base 1 through a screw, the upper end of the lower frame cabin bracket is fixedly connected with the lower frame cabin servo assembly 2B through a screw, the lower frame cabin servo assembly 2B is connected with a lower rotating shaft of the frame cabin through a mechanical bearing, and a first-stage lower rotating Lorentz force magnetic bearing stator assembly 4B is positioned on the radial inner side of the lower frame cabin servo assembly 2B and is fixedly connected with the same through a screw; the first-stage upper rotary Lorentz force magnetic bearing rotor assembly 5A is positioned in the upper frame cabin servo assembly 2A and is fixedly connected with the upper frame 6A rotating shaft by screws along the main symmetrical shaft direction of the base 1, the lower ends of the left and right flanges of the upper frame 6A are fixedly connected with the left load cabin servo assembly 8A and the right load cabin servo assembly 8B by screws respectively, the left linear Lorentz force magnetic bearing stator assembly 9A is positioned at the left end of the inner side of the left load cabin servo assembly 8A and is fixedly connected with the left load cabin servo assembly, the left orthogonal Lorentz force magnetic bearing stator assembly 13A is positioned at the axial right side of the left linear Lorentz force magnetic bearing stator assembly 16A and is fixedly connected with the left load cabin servo assembly 8A, the left second-stage rotary Lorentz force magnetic bearing stator assembly 16A is positioned at the axial right side of the left orthogonal Lorentz force magnetic bearing stator assembly 13A and is fixedly connected with the left load cabin servo assembly 8A, the left translation sensor 11A is positioned between the left linear Lorentz force magnetic bearing stator assembly 9A and the left orthogonal Lorentz force bearing stator assembly 8A, a left rotation sensor 14A is positioned between the left orthogonal Lorentz force magnetic bearing stator assembly 13A and the left two-stage rotary Lorentz force magnetic bearing stator assembly 16A and is fixed on the left load cabin servo assembly 8A, the upper ends of the left and right flanges of the lower frame body 6B are fixedly connected with the left load cabin servo assembly 8A and the right load cabin servo assembly 8B through screws respectively, a right linear Lorentz force stator assembly 9B is positioned at the rightmost end of the inner side of the right load cabin servo assembly 8B, a right orthogonal Lorentz force magnetic bearing stator assembly 13B is positioned at the left side of the right linear Lorentz force magnetic bearing stator assembly 9B, a two-stage right rotary Lorentz force magnetic bearing stator assembly 16B is positioned at the left side of the right orthogonal Lorentz force stator assembly 13B, a right translation sensor 11B is positioned at the left side of the right linear Lorentz force magnetic bearing stator assembly 9B and the right orthogonal Lorentz force magnetic bearing stator assembly 13B, and a right translation sensor 11B is positioned between the right linear Lorentz force magnetic bearing stator assembly 9B and the right load cabin servo assembly 8B The right rotation sensor 14B is located between the right orthogonal lorentz force magnetic bearing stator assembly 13B and the right secondary rotational lorentz force magnetic bearing stator assembly 16B and both connected to the right load compartment servo assembly 8B; the left linear Lorentz force magnetic bearing rotor assembly 10A is positioned at the leftmost end of the inner side of the left load cabin servo assembly 8A, the left orthogonal Lorentz force magnetic bearing rotor assembly 12A is positioned at the right side of the left linear Lorentz force magnetic bearing rotor assembly 12A, the left two-stage rotary Lorentz force magnetic bearing rotor assembly 15A is positioned at the right side of the left orthogonal Lorentz force magnetic bearing rotor assembly 12A, and the left linear Lorentz force magnetic bearing rotor assembly 10A, the left orthogonal Lorentz force magnetic bearing rotor assembly 12A and the two-stage left rotary Lorentz force magnetic bearing rotor assembly 15A are fixedly connected with the load bearing piece 7 in a coaxial mode; similarly, the right linear lorentz force magnetic bearing rotor assembly 10B is positioned at the rightmost end of the inner side of the right load compartment servo assembly 8B, the right orthogonal lorentz force magnetic bearing rotor assembly 12B is positioned at the left side of the right linear lorentz force magnetic bearing rotor assembly 12B, and the right secondary rotary lorentz force magnetic bearing rotor assembly 15B is positioned at the left side of the right orthogonal lorentz force magnetic bearing rotor assembly 12B; the platform cabin body drives the frame cabin body and the load cabin body to integrally rotate along a rotating shaft of the frame cabin body in one degree of freedom through the first-stage rotary Lorentz force magnetic bearing, the linear Lorentz force magnetic bearing provides axial one-degree-of-freedom translational suspension for the load cabin body, the orthogonal Lorentz force magnetic bearing provides radial two-degree-of-freedom translational suspension and two-degree-of-freedom deflection suspension for the load cabin body, the frame cabin body drives the load cabin body to rotate along the rotating shaft in one degree of freedom through the second-stage rotary Lorentz force magnetic bearing, the rotating shaft of the load cabin body and the rotating shaft of the frame cabin body are in an orthogonal relation, the platform cabin body and the frame cabin body work cooperatively, five-degree-of-freedom Lorentz force stable suspension of the load cabin body and two-degree-of freedom Lorentz force quick rotation of the load cabin body are controlled, and ultra-precision pointing, ultra-stable control and hypersensitive maneuver of satellite load are realized.

FIG. 2a is a schematic structural diagram of a primary rotational Lorentz force magnetic bearing on the frame capsule of the present invention, and FIG. 2b is a schematic structural diagram of a cross-section of a primary rotational Lorentz force magnetic bearing on the frame capsule of the present invention, wherein an outer magnetic steel ring 301 of the primary rotational Lorentz force magnetic bearing on the frame capsule is disposed outside a coil support 306, and an inner magnetic steel ring 303 is disposed inside a coil; the inner magnetic steel ring 303 and the outer magnetic steel ring 301 are magnetized in the radial direction, and the magnetizing directions of the inner magnetic steel ring 303 and the outer magnetic steel ring 301 are the same; the coils 302 are wound on the coil support 306, and the coils 302 are fixed on a rotating shaft of the double-frame floater 903; the high-precision code disc 304 is used for detecting the rotation size of the frame cabin relative to the platform cabin.

FIG. 3 is a schematic structural diagram of a two-stage rotational Lorentz force magnetic bearing on a load cabin, wherein the two-stage rotational Lorentz force magnetic bearing adopts an inner magnetic steel and an outer magnetic steel mode, an outer magnetic steel ring 801 is arranged on the outer side of a coil support 803, and an inner magnetic steel ring 802 is arranged on the inner side of the coil support 804; the inner magnetic steel ring 802 and the outer magnetic steel ring 803 are magnetized in the radial direction, and the magnetizing directions of the inner magnetic steel ring 802 and the outer magnetic steel ring 801 are the same; the coil 803 is fixed on the coil bracket 804 and is vertically placed between the external magnetic steel 801 and the internal magnetic steel ring 802; after the coil 803 is electrified, a pair of equidirectional forces are generated in a uniform magnetic field perpendicular to the coil 803, and the load cabin is controlled to stably suspend.

FIG. 4a is a three-dimensional schematic view of a structure of an orthogonal Lorentz force magnetic bearing on a load compartment according to the present invention; the rotary Lorentz force magnetic bearing mainly comprises: the magnetic bearing outer rotor sleeve 901A, the magnetic bearing coil support 902 and the magnetic bearing inner rotor sleeve 901B are coaxially and fixedly connected with the magnetic conductive ring 903; fig. 4b is a magnetic circuit simulation diagram of an orthogonal lorentz force magnetic bearing on the load cabin, the orthogonal lorentz force magnetic bearing adopts a radial magnetizing mode, and the outer magnetizing directions are as follows in sequence: up N down S, up N down S and up N down S; the inner side magnetizing direction is as follows in sequence: the inner side and the outer side generate equidirectional force in a magnetic field; FIG. 4c is a schematic view of the inner tile coil of the orthogonal Lorentz force magnetic bearing structure of the load compartment of the present invention; the left tile-shaped coil 905A, the upper tile-shaped coil 905B, the lower tile-shaped coil 905C and the right tile-shaped coil 905D on the coil support are sequentially distributed in a 90-degree arrangement mode, and the tile-shaped arrangement mode is favorable for increasing the stress of the coils in a magnetic field.

FIG. 5a is a schematic view of a two-stage rotational Lorentz force magnetic bearing mechanism on a load compartment of the present invention, the two-stage rotational Lorentz force magnetic bearing mechanism comprising: the magnetic steel is magnetized in the radial direction 1004A and magnetized in the radial direction 1004B, the upper magnetic steel and the lower magnetic steel adopt a common rotating shaft mode to obtain a high-uniformity magnetic field, and the magnetic density linearity is improved; FIG. 5b is a schematic view of the main magnetic circuit diagram of the two-stage rotary Lorentz force magnetic bearing on the loading cabin according to the present invention; the external magnetic steel sequentially comprises the following components: s and N are arranged up and down, and S and N are arranged up and down; the inner magnetic steel is arranged from top to bottom and from top to bottom; the magnetic induction line is a closed curve formed by pointing the external magnetic steel to the internal magnetic steel, and the coil generates couple moment when electrified along the radial direction.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a universal stable platform of lorentz force magnetic suspension, mainly comprises platform cabin body, frame cabin body, load cabin body triplex, its characterized in that, the platform cabin body mainly includes: the device comprises a base (1), an upper frame cabin servo assembly (2A), an upper frame cabin support (3A), a primary upper rotary Lorentz force magnetic bearing stator assembly (4A), a lower frame cabin servo assembly (2B), a primary lower rotary Lorentz force magnetic bearing stator assembly (4B) and a lower frame cabin support (3B); the frame cabin body mainly includes: the device comprises a one-stage upper rotary Lorentz force magnetic bearing rotor assembly (5A), an upper frame body (6A), a left load cabin servo assembly (8A), a left linear Lorentz force magnetic bearing stator assembly (9A), a left translation sensor (11A), a left orthogonal Lorentz force magnetic bearing stator assembly (13A), a left rotation sensor (14A), a two-stage left rotary Lorentz force magnetic bearing stator assembly (16A), a lower frame body (6B), a two-stage right rotary Lorentz force magnetic bearing stator assembly (16B), a right rotation sensor (14B), a right orthogonal Lorentz force magnetic bearing stator assembly (13B), a right translation sensor (11B), a right linear Lorentz force magnetic bearing stator assembly (9B) and a right load cabin servo assembly (8B); the load cabin body mainly includes: a left linear Lorentz force magnetic bearing rotor assembly (10A), a left orthogonal Lorentz force magnetic bearing rotor assembly (12A), a two-stage left rotary Lorentz force magnetic bearing rotor assembly (15A), a load bearing piece (7), a two-stage right rotary Lorentz force magnetic bearing rotor assembly (15B), a right orthogonal Lorentz force magnetic bearing rotor assembly (12B) and a right linear Lorentz force magnetic bearing rotor assembly (10B); the upper frame cabin bracket (3A) and the lower frame cabin bracket (3B) are positioned at two ends along the main symmetrical axis of the base (1), the bottom of the upper frame cabin bracket (3A) is fixedly connected with the base (1) through a screw, the upper end of the upper frame cabin bracket is fixedly connected with the upper frame cabin servo assembly (2A) through a screw, the upper frame cabin servo assembly (2A) is connected with a rotating shaft of the frame cabin through a mechanical bearing, and the primary upper rotating Lorentz force magnetic bearing stator assembly (4A) is positioned at the radial inner side of the upper frame servo assembly (2A) and is fixedly connected with the radial inner side of the upper frame servo assembly (2A); similarly, the bottom of the lower frame cabin bracket (3B) is fixedly connected with the base (1) by a screw, the upper end of the lower frame cabin bracket is fixedly connected with the lower frame cabin servo assembly (2B) by a screw, the lower frame cabin servo assembly (2B) is connected with a lower rotating shaft of the frame cabin body by a mechanical bearing, and the first-stage lower rotating Lorentz force magnetic bearing stator assembly (4B) is positioned at the radial inner side of the lower frame cabin servo assembly (2B) and is fixedly connected with the lower frame cabin servo assembly by a screw; the first-stage upper rotary Lorentz force magnetic bearing rotor assembly (5A) is positioned in an upper frame cabin servo assembly (2A) and fixedly connected with a rotary shaft of an upper frame body (6A) through a screw along the main symmetrical axis direction of a base (1), the lower ends of left and right flanges of the upper frame body (6A) are fixedly connected with a left load cabin servo assembly (8A) and a right load cabin servo assembly (8B) through screws respectively, a left linear Lorentz force magnetic bearing stator assembly (9A) is positioned at the left end of the inner side of the left load cabin servo assembly (8A) and fixedly connected with the left load cabin servo assembly, a left orthogonal Lorentz force magnetic bearing stator assembly (13A) is positioned at the axial right side of a left linear Lorentz force magnetic bearing stator assembly (16A) and fixedly connected with the left load cabin servo assembly (8A), a left second-stage rotary Lorentz force magnetic bearing stator assembly (16A) is positioned at the axial right side of a left orthogonal Lorentz force magnetic bearing stator assembly (13A) and fixedly connected with the left load cabin servo assembly (8A) through a screw, a left and right rotary force magnetic bearing stator assembly (13A) are positioned between a left linear Lorentz force magnetic bearing stator assembly (9A) and a left load cabin servo assembly (13A) and a rotary load cabin servo assembly (8A) and a rotary load cabin servo assembly, a left load cabin servo assembly, a rotary sensor (14A) is fixedly connected with a left load cabin servo assembly (14A) through a rotary load mechanism, and a left load sensor (14A), and left load cabin servo assembly, and right rotary load cabin servo assembly, and left load cabin servo assembly, and right load sensor, the right load cabin servo assembly (8B) is fixedly connected, a right linear Lorentz force magnetic bearing stator assembly (9B) is positioned at the rightmost end of the inner side of the right load cabin servo assembly (8B), a right orthogonal Lorentz force magnetic bearing stator assembly (13B) is positioned at the left side of the right linear Lorentz force magnetic bearing stator assembly (9B), a secondary right rotary Lorentz force magnetic bearing stator assembly (16B) is positioned at the left side of the right orthogonal Lorentz force magnetic bearing stator assembly (13B), a right translation sensor (11B) is positioned between the right linear Lorentz force magnetic bearing stator assembly (9B) and the right orthogonal Lorentz force magnetic bearing stator assembly (13B) and fixedly connected to the right load cabin servo assembly (8B), and a right rotation sensor (14B) is positioned between the right orthogonal Lorentz force magnetic bearing stator assembly (13B) and the right rotary Lorentz force magnetic bearing stator assembly (16B) and connected to the right load cabin servo assembly (8B); a left linear Lorentz force magnetic bearing rotor component (10A) is positioned at the leftmost end of the inner side of the left load cabin servo component (8A), a left orthogonal Lorentz force magnetic bearing rotor component (12A) is positioned at the right side of the left linear Lorentz force magnetic bearing rotor component (12A), and a left two-stage rotary Lorentz force magnetic bearing rotor component (15A)

The left linear Lorentz force magnetic bearing rotor assembly (10A), the left orthogonal Lorentz force magnetic bearing rotor assembly (12A) and the second-level left rotary Lorentz force magnetic bearing rotor assembly (15A) are fixedly connected with the load bearing piece (7) in a coaxial mode; similarly, the right linear lorentz force magnetic bearing rotor assembly (10B) is positioned at the rightmost end of the inner side of the right load cabin servo assembly (8B), the right orthogonal lorentz force magnetic bearing rotor assembly (12B) is positioned at the left side of the right linear lorentz force magnetic bearing rotor assembly (12B), and the right secondary rotary lorentz force magnetic bearing rotor assembly (15B) is positioned at the left side of the right orthogonal lorentz force magnetic bearing rotor assembly (12B); the platform cabin body drives the frame cabin body and the load cabin body to integrally rotate along a rotating shaft of the frame cabin body in one degree of freedom through the first-stage rotary Lorentz force magnetic bearing, the linear Lorentz force magnetic bearing provides axial one-degree-of-freedom translational suspension for the load cabin body, the orthogonal Lorentz force magnetic bearing provides radial two-degree-of-freedom translational suspension and two-degree-of-freedom deflection suspension for the load cabin body, the frame cabin body drives the load cabin body to rotate along the rotating shaft in one degree of freedom through the second-stage rotary Lorentz force magnetic bearing, the rotating shaft of the load cabin body and the rotating shaft of the frame cabin body are in an orthogonal relation, the platform cabin body and the frame cabin body work cooperatively, five-degree-of-freedom Lorentz force stable suspension of the load cabin body and two-degree-of freedom Lorentz force quick rotation of the load cabin body are controlled, and ultra-precision pointing, ultra-stable control and hypersensitive maneuver of satellite load are realized.

2. The lorentz force magnetic levitation gimbal stabilized platform of claim 1, wherein: the frame cabin servo assembly consists of an upper frame cabin servo assembly (2A) and a lower frame cabin servo assembly (2B), and the upper frame cabin servo assembly (2A) and the lower frame cabin servo assembly (2B) are positioned at two ends along the main symmetry axis of the base (1); the frame cabin servo assembly mainly comprises: the angular displacement sensor, the mechanical bearing and the control circuit are arranged on the base; the angular displacement sensor is mainly used for measuring the deflection angle of the frame cabin body, and the mechanical bearing is mainly used for supporting the frame cabin body.

3. The lorentz force magnetic suspension gimbal stabilized platform of claim 1, wherein: the servo subassembly of load cabin comprises left load cabin servo subassembly (8A) and right load cabin servo subassembly (8B), mainly includes in the servo subassembly of load cabin: the device comprises a translation sensor, a rotation sensor and a control circuit; the translational sensor is mainly used for measuring the displacement of the frame cabin body, and the rotary sensor is mainly used for measuring the angular deflection of the frame cabin body.

4. The lorentz force magnetic suspension gimbal stabilized platform of claim 1, wherein: the primary rotary Lorentz force magnetic suspension bearing stator assembly mainly comprises a primary rotary Lorentz force magnetic suspension bearing protection frame (405), an outer magnetic steel ring (401) and an inner magnetic steel ring (403); the outermost side of the stator component of the first-stage rotary Lorentz force magnetic bearing is provided with a first-stage rotary Lorentz force magnetic bearing protection frame (405), the outer magnetic steel ring (401) is arranged on the inner side of the first-stage rotary Lorentz force magnetic bearing protection frame (405), and the inner magnetic steel ring (403) is arranged on the inner side of the outer magnetic steel ring (401); the inner magnetic steel ring (303) and the outer magnetic steel ring (401) are magnetized in the radial direction and the magnetizing directions are the same.

5. The lorentz force magnetic levitation gimbal stabilized platform of claim 1, wherein: the primary rotary Lorentz force magnetic bearing rotor assembly mainly comprises a coil (406), a coil support (406) and a coded disc (404); the coil (406) is vertically placed between the outer magnetic steel ring (401) and the inner magnetic steel ring (403) and fixed on the coil support (406), and after the coil (406) is electrified, a pair of equidirectional forces are generated in a uniform magnetic field vertical to the coil (406); the coded disc (404) is fixedly connected with the foremost end of the primary rotary Lorentz force magnetic bearing, provides measurement for the rotation angles of the base (1) and the base bracket, and controls the load cabin to stably suspend along the line direction around the external frame of the primary rotary Lorentz force magnetic bearing.

6. The lorentz force magnetic suspension gimbal stabilized platform of claim 1, wherein: the stator mechanism of the linear Lorentz force magnetic bearing mainly comprises a magnetic conductive ring (801), an outer magnetic steel ring (802) and an inner magnetic steel ring (804); the magnetic ring (801) is positioned at the outermost side of the stator assembly of the linear Lorentz force magnetic bearing, the outer magnetic steel ring (802) is positioned at the inner side of the magnetic ring (801), the inner magnetic steel ring (804) is positioned at the inner side of the outer magnetic steel ring (802), and the magnetic ring (801) and the outer magnetic steel ring (802) are in a coaxial relationship.

7. The lorentz force magnetic suspension gimbal stabilized platform of claim 1, wherein: the linear Lorentz force magnetic bearing rotor assembly mainly comprises an outer magnetic steel ring (802), an inner magnetic steel ring (804) and a coil (803), wherein the coil (803) is positioned between the outer magnetic steel ring (802) and the inner magnetic steel ring (804), and respective coils (803) in the left linear rotation Lorentz force magnetic bearing rotor assembly (10A) and the right linear rotation Lorentz force magnetic bearing rotor assembly (10B) generate a pair of same-direction forces, so that the linear Lorentz force magnetic bearing rotor assembly can realize radial one-degree-of-freedom translation control.

8. The lorentz force magnetic suspension gimbal stabilized platform of claim 1, wherein: the orthogonal Lorentz force magnetic bearing rotor assembly adopts a hollow disc structure and mainly comprises a left rotor assembly (1201A), a coil support (1202), a left coil (1205A), an upper coil (1205B), a right coil (1205D), a lower coil (1205C) and a right rotor assembly (1201B); the coil support (1202) is embedded in the magnetic gap between the left rotor assembly (1201A) and the right rotor mechanism (1201B), and the left coil (1205A), the upper coil (1205B), the right coil (1205D) and the lower coil (1205C) are arranged in the whole coil support (1202) and are combined in a clockwise mode at an angle of 90 degrees with each other in a plane which is orthogonal to the main symmetry axis of the base (1).

9. The lorentz force magnetic levitation gimbal stabilized platform of claim 1, wherein: in the rotor assembly of the orthogonal Lorentz force magnetic bearing, the left orthogonal Lorentz force magnetic bearing rotor assembly (12A) and the right orthogonal Lorentz force magnetic bearing rotor assembly (12A) are coil assemblies, and the coil assemblies comprise: when the tile-shaped coil is electrified, if a pair of Ampere forces with equal magnitude and same direction are generated in a uniform magnetic field vertical to the coil support (1202), the frame cabin body is controlled to do translational motion vertical to the base (1) along the direction of the lower frame body (6B) or vertical to the main symmetry axis of the base (1) in the opposite direction; similarly, when the tile-shaped coils in the left orthogonal Lorentz force magnetic bearing rotor assembly (12A) and the right orthogonal Lorentz force magnetic bearing rotor assembly (12B) are electrified, if a pair of opposite forces are generated in a uniform magnetic field vertical to the coil support (1202), the frame cabin body is controlled to rotate in a direction vertical to the base (1) along the direction of the lower frame body (6B) or in a direction vertical to the base (1) along the opposite direction; the orthogonal Lorentz force magnetic bearing rotor assembly can realize four-degree-of-freedom radial translation and rotation, axial translation and rotation control.

10. The lorentz force magnetic levitation gimbal stabilized platform of claim 1, wherein: the stator assembly of the two-stage rotating Lorentz force magnetic bearing mainly comprises a magnetic conduction ring (1601), a radial outer magnetizing magnetic steel (1602) and a radial inner magnetizing magnetic steel (1604), and a high-uniformity magnetic field is obtained by adopting a radial double-ring common rotating shaft mode, so that the magnetic density linearity is improved; the structure of the secondary rotating Lorentz force magnetic bearing stator assembly is similar to that of the primary rotating Lorentz force magnetic bearing stator assembly.

11. The lorentz force magnetic suspension gimbal stabilized platform of claim 1, wherein: the linear Lorentz force magnetic bearings, the orthogonal Lorentz force magnetic bearings and the two-stage rotary Lorentz force magnetic bearings are symmetrically distributed at the left end and the right end of the load cabin body and used for suspension control of the load cabin body, an ultra-stable and ultra-precise working environment can be provided for a payload on a load bearing piece (7) of the payload, seven-degree-of-freedom suspension stability of the load on the load cabin is finally achieved, and the load cabin is suitable for high-dynamic-performance satellite working platforms such as remote sensing satellites, detection satellites and the like.