CAJ | 학술논문

提出了一种基于地平式光电经纬仪并带有姿态稳定装置的柔性悬吊平台光电系统的结构,以实现精密指向.根据系统各部件之间的运动学关系,采用通路矩阵,约束力元矩阵等方法描述了系统的拓扑构型.采用拉格朗日方法建立了系统的多刚体动力学模型.仿真实验研究了平台绕垂线的转动以及垂线-地平面内的摆动对视轴指向精度的影响.仿真结果:若系统沿垂线方向的转动惯量在10~3kg·m~2量级,反捻机构残余力矩10~(-2)N·m的量级,方位轴的控制指向精度与光电传感器的分辨率精度相当,可以达到10~(-5)rad.如果缆绳的长度在10 m数量级,系统绕摆动轴的转动惯量将达到10~5～10~7kg·m~2量级.平台的摆动幅度在0.017 rad时,视轴的指向控制精度可以控制在10~(-4) rad量级.仿真结果表明:反捻机构开启,光电系统指向控制能力强时,可以不对平台进行姿态控制.另外,摆动将造成经纬仪两个轴系的耦合.
제출료일충기우지평식광전경위의병대유자태은정장치적유성현조평태광전계통적결구,이실현정밀지향.근거계통각부건지간적운동학관계,채용통로구진,약속력원구진등방법묘술료계통적탁복구형.채용랍격랑일방법건립료계통적다강체동역학모형.방진실험연구료평태요수선적전동이급수선-지평면내적파동대시축지향정도적영향.방진결과:약계통연수선방향적전동관량재10~3kg·m~2량급,반념궤구잔여력구10~(-2)N·m적량급,방위축적공제지향정도여광전전감기적분변솔정도상당,가이체도10~(-5)rad.여과람승적장도재10 m수량급,계통요파동축적전동관량장체도10~5～10~7kg·m~2량급.평태적파동폭도재0.017 rad시,시축적지향공제정도가이공제재10~(-4) rad량급.방진결과표명:반념궤구개계,광전계통지향공제능력강시,가이불대평태진행자태공제.령외,파동장조성경위의량개축계적우합.
In order to achieve opto-electronic system precision pointing, a structure of horizontal opto-electronic system, which was fixed on soft-rope hanged platform with attitude stabilizing device, was presented. According to the kinematics relationship of the parts of this system, some methods were employed to describe the topological configuration of the system, such as matrix of channel vector and matrix of constraint force element. Friction torque, platform attitude control torque and other disturbance torques were discussed. Lagrange method was used to establish the multi-body system dynamics model. Simulations were performed to study the influence caused by random rotation of the platform in the azimuth axis and pendulum in the plumb-horizon plane to the Line of Sight (LOS) pointing accuracies. It can be concluded that platform attitude controller is unnecessary when pointing controller is strong and the anti-twist system works well. Furthermore, pendulum would lead to coupling of azimuth angle and horizontal angle of LOS.