摘要
针对传统方位-俯仰型天线存在“盲锥区”的问题,基于3-RSR并联机构开展并联式天线的结构设计,进行动力学仿真分析以确定电机所需驱动力矩,并研制出天线样机。以PC为上位机、STM32控制器为下位机搭建天线样机的运动控制硬件系统,并为其开发相应控制软件。最后,针对所研制的天线样机开展运动性能与指向测试,以验证结构设计与分析的正确性以及控制系统的有效性。该研究工作有益于少自由度并联机构在天线领域的应用以及并联式天线的产品化。
In order to solve the problem of "blind cone region" existed usually in the traditional azimuth-pitch antenna,the parallel antenna structure was designed based on the 3-RSR parallel mechanism in this paper.The dynamic simulation analysis was carried out to solve the driving torque of motor needed,and the prototype of the antenna was developed.And then,the hardware system of motion control was built for the antenna prototype with PC as the upper computer and the STM32 controller as the lower computer,and the corresponding control software was developed for it.Further more,in order to verify the correctness of the structure design and analysis and the effectiveness of the control system,the tests about motion performance and pointing were carried out for the developed prototype.The research was beneficial to the application of the parallel mechanisms with few DOF in the field of antenna and the production of parallel antennas.
作者
窦玉超
郑东豪
曾达幸
侯雨雷
DOU Yu-chao;ZHENG Dong-hao;ZENG Da-xing;HOU Yu-lei(The 54th Research Institute,CETC,Hebei Shijiazhuang 050081,China;School of Mechanical Engineering,Yanshan University,Hebei Qinhuangdao 066004,China)
出处
《机械设计与制造》
北大核心
2023年第3期146-150,155,共6页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51775473)
河北省自然科学基金资助项目(E2018203140)
河北省自然科学基金资助项目(E2019203109)
河北省高等学校科学技术研究重点项目(ZD2019020)。
关键词
天线
并联机构
控制系统
运动实验
Antenna
Parallel Mechanism
Control System
Motion Experimentation
