基于旋量的风载作用3-RSR并联天线机构动力学建模

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振动与冲击 ›› 2020, Vol. 39 ›› Issue (19) : 174-181.

论文

侯雨雷，张国兴，侯荣伟，曾达幸

作者信息 +

Dynamic modeling of 3-RSR parallel antenna mechanism under wind load based on screw theory

HOU Yulei, ZHANG Guoxing, HOU Rongwei, ZENG Daxing

Author information +

文章历史 +

摘要

天线座架动力学问题关系到天线跟踪精度，同时外界风载对天线的影响不应忽视。以3-RSR(R为转动副，S为球面副)并联机构作为天线座架，分析少自由度并联天线机构动力学问题。首先描述并联机构起始位姿状态，通过指数积公式得到并联机构各杆件的位姿矩阵；然后通过运动副关节之间的约束关系，给出并联机构的约束矩阵，得到其雅克比矩阵和各杆件的速度旋量，通过推导约束矩阵的微分形式，获得并联机构各杆件的加速度旋量；其次根据各杆件力的平衡关系，推导并联天线机构的逆动力学模型。考虑风载荷作用提出并联天线机构动力学计算流程，分别运用Matlab和ADAMS软件在俯仰和方位运动状态下对并联天线机构动力学模型进行仿真，对动力学模型进行求解与验证。研究工作对并联天线机构动力学性能提升及控制实现具有一定指导意义。

Abstract

The dynamic problem of an antenna pedestal is related to its tracking accuracy, and influences of external wind load on the antenna should not be neglected. Here, a 3-RSR (R represents revolute joint and S represents spherical one) parallel mechanism was taken as an antenna pedestal to analyze dynamic problem of a parallel antenna mechanism with a few-DOF. Firstly, the initial posture state of a parallel mechanism was described, and the posture matrix of each member of the parallel mechanism was obtained with the exponential product formula. Then, constraint relations between joints of motion pairs were used to deduce the constraint matrix of the parallel mechanism, and obtain Jacobian matrix and the velocity screw of each member. The acceleration screw of each member was obtained by deriving the differential form of the constraint matrix. Secondly, the inverse dynamic model of the parallel antenna mechanism was deduced according to the force balance relationship of each member. Considering the action of wind load, the dynamic calculation procedure of the parallel antenna mechanism was proposed. Finally, the software MATLAB and ADAMS were used to do numerical simulation for the dynamic model under motion states of pitch and azimuth, respectively, solve and verify this dynamic model. It was shown that the study results provide a certain guidance for improvement of dynamic performance and control realization of parallel antenna mechanisms.

导出引用

侯雨雷，张国兴，侯荣伟，曾达幸. 基于旋量的风载作用3-RSR并联天线机构动力学建模[J]. 振动与冲击, 2020, 39(19): 174-181

HOU Yulei, ZHANG Guoxing, HOU Rongwei, ZENG Daxing. Dynamic modeling of 3-RSR parallel antenna mechanism under wind load based on screw theory[J]. Journal of Vibration and Shock, 2020, 39(19): 174-181

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