Working space closed-loop control method of 3RSR parallel mechanism antenna
A work space, closed-loop control technology, applied in the field of satellite communication and measurement and control, can solve the problems of low system bandwidth, difficulty in tracking fast moving targets, pointing angle and command angle errors, etc. Effect
Active Publication Date: 2021-02-02
NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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Problems solved by technology
[0005] (1) Due to the existence of factors such as machining accuracy and installation error, after the drive shaft rotates to the corresponding angle, there is a certain error between the current actual pointing angle and the command angle;
[0006] (2) Since the existing control method is a closed-loop joint space, the system bandwidth is low, and it is difficult to track fast-moving targets
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[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0028] A working space closed-loop control method for a 3RSR parallel mechanism antenna, which is applied to such as figure 1 The 3RSR parallel mechanism antenna shown. The antenna includes an antenna surface 1, an upper platform 2, a lower platform 5, three upper branch rods 3 and three lower branch rods 4, with an upper rotating pair between the upper branch rods and the upper platform, and a lower branch rod between the lower branch rods and the lower platform. Rotating pair, there is a middle rotating pair between the corresponding upper branch rod and the lower branch rod, and the center of the hinge point of the upper platform is to the midpoint of each upper rotating pair (i.e. image 3 Q in 1 , Q 2 , Q 3 ) are equal, the center of the hinge point of the lower platform to the midpoint of each lower rotating pair (ie image...
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The invention discloses a working space closed-loop control method of a 3RSR parallel mechanism antenna, and belongs to the technical field of satellite communication and measurement and control. Themethod comprises the following steps: installing three absolute encoders for acquiring angles of corresponding upper revolute pairs, calibrating initial angles of the encoders, acquiring angles reported by the encoders in real time, calculating an actual pointing angle of a current 3RSR antenna, and carrying out closed-loop control on a working space of the antenna. The absolute encoders are adopted to directly measure the angle between an upper branch rod and an upper platform, the actual pointing direction of the antenna in the working space is obtained through algorithm calculation, the closed-loop control in the working space is formed by the actual pointing direction and the antenna instruction angle, adverse effects of the machining precision and installation deviation of a 3RSR parallel mechanism on the antenna pointing precision can be effectively avoided, and meanwhile, the bandwidth of an antenna servo system is improved, and the response speed of the antenna is increased.
Description
technical field [0001] The invention belongs to the technical field of satellite communication and measurement and control, in particular to a working space closed-loop control method of a 3RSR parallel mechanism antenna. Background technique [0002] Most of the traditional antenna mounts are in the form of azimuth-elevation (AE) mounts, which are widely used because of their simple structure and mature technology. blind spot". In order to solve the problem of overhead antennas, various types of antenna mounts have been developed, such as XY mounts, AET mounts, and parallel mechanism mounts. Among them, the 3RSR parallel mechanism antenna is a parallel mechanism pedestal antenna specially developed to solve the "overhead" problem. [0003] The 3RSR parallel mechanism antenna has the advantages of easy overhead, simple structure, and no need for slip rings. Since the 3RSR antenna has no actual physical azimuth and pitch rotation axis, it is impossible to install an encode...
Claims
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IPC IPC(8): H01Q3/02
CPCH01Q3/02
Inventor 许海深孙孟林谢少明窦玉超段艳宾付强秦超
Owner NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP