CN102904017A - Antenna structure system of parallel mechanism in super-hemisphere working airspace - Google Patents
Antenna structure system of parallel mechanism in super-hemisphere working airspace Download PDFInfo
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- CN102904017A CN102904017A CN201210218603XA CN201210218603A CN102904017A CN 102904017 A CN102904017 A CN 102904017A CN 201210218603X A CN201210218603X A CN 201210218603XA CN 201210218603 A CN201210218603 A CN 201210218603A CN 102904017 A CN102904017 A CN 102904017A
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Abstract
The invention relates to an antenna structure system of a parallel mechanism. The antenna structure system is formed by linking an antenna reflector with an antenna base rack; the antenna base rack is formed as follows: six servo motors or hydraulic oil cylinders respectively drive six linear stretching driving devices; the upper ends of the six linear stretching driving devices are hinged with an upper platform through spherical hinges, and the lower ends of the six linear stretching driving devices are hinged with a lower platform through Hooke hinges (universal hinges); and the upper platform and the lower platform respectively are hexagonal, so as to form the antenna structure system based on 6/6-SPU type Stewart parallel mechanism. With the adoption of the antenna structure system of the parallel mechanism, provided by the invention, remote sensing and telemetering signals and data of aircrafts, such as a satellite and a carrier rocket can be entirely solved; the antenna has the capacity of overhead airspace continuous tracing, and can reach the super-hemisphere working airspace, namely, the random pose continuous tracking with a pitch angle of -1 to 181 degrees and a direction of 0-360 degrees (assuming that the pitch angle (at a horizontal plane position) of an antenna is 0 degree or 180 degrees) can be realized.
Description
Affiliated technical field
The present invention relates to a kind of antenna structure system based on 6/6-SPU type Stewart parallel institution.The antenna structure system that is used for space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) and satellite communication.Antenna structure system and servo-control system, feed feeder system (be called for short: day, watch, present) form antenna system, realize remote sensing, telemetry and telecommand acquisition of information and instruction, realize that satellite communication information transmits and process.Especially can obtain telemetered signal and the data in the effective spatial domains of aircraft such as satellite, carrier rocket, realize without the Continuous Tracking antenna system of crossing top " blind area ", satisfactorily resolve the super hemisphere work of antenna spatial domain, be pitching :-1 °～181 °, orientation: the free-position Continuous Tracking of 0 °～360 ° (supposing that horizontal plane position antenna elevation angle is 0 ° or 180 °).Technical solution of the present invention belongs to electromechanical integration technology area.
Background technology
The antenna reflector part generally has: main reflector panel, back frame structure, centerbody, balance weight structure, and subreflector and focus control and supporting construction thereof or feedforward supporting construction form; The antenna pedestal part generally has: antenna pedestal supporting construction, driving shaft system and transmission device, feeder line and cable winding device, Data Detection transfer device and safety guard form.
At present, known space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) adopt classical elevation-azimuth type (EL-AZ type) antenna in the world, the elevation-azimuth type antenna exists " blind cone " zone that can't " cross and push up " Continuous Tracking in the antenna zenith position, and the size in blind cone zone (being the cone-apex angle of blind cone) depends on distance and the aircraft horizontal flight speed of antenna and aircraft.Low rail remote sensing antenna is not yet satisfactorily resolved so far the problem of " crossing the top " Continuous Tracking.Introduce first the concept in an antenna tracking " blind cone district ", classical elevation-azimuth type antenna pedestal is when tracking target, and (in the formula: V is the horizontal velocity of target flight to antenna bearingt angular speed: β=V/ (R*cos ε); R is the air line distance that antenna arrives target; ε is antenna elevation angle; β is antenna bearingt angular speed), when target near the antenna zenith by the time, elevation angle ε → 90 °, cos ε strives 0, the β ∞ that trembles.But motor-driven power is limited, and the angular speed that antenna rotates also is limited, and under certain driving power, antenna can only be followed the tracks of the following target in a certain elevation angle, near elevation-azimuth type antenna zenith, exist can't Continuous Tracking " blind cone district ".
At present, elevation-azimuth type in the engineering reality (EL-AZ type) antenna exists " blind cone " zone that can't " cross and push up " Continuous Tracking in the antenna zenith position, can't adopt classical elevation-azimuth type antenna to be implemented in the antenna zenith position and " cross and push up " Continuous Tracking.Can only select to avoid the satellite transit track is followed the tracks of the blind area through the antenna zenith position construction satellite ground station antenna.
The remote sensing remote measurement low orbit satellite Antenna Design of traditional classical generally adopts elevation-azimuth type (EL-AZ type) antenna pedestal, there was top " blind cone district " in it, the elevation-azimuth type antenna can't be crossed top " blind cone district " spatial domain Continuous Tracking satellite at satellite, realizes the demand of the uninterrupted continuous operation of signal.
Summary of the invention
The problem that the object of the invention is to the prior art existence provides a kind of parallel antenna structure system, realize without the Continuous Tracking antenna system of crossing top " blind area ", satisfactorily resolve antenna hemisphere work spatial domain any attitude Continuous Tracking, realize the demand of satellite-signal and the uninterrupted continuous operation of data.Because it is convenient easily to find the solution the anti-solution of the equation of motion of parallel institution, is easy to realize SERVO CONTROL.
In order to achieve the above object, design of the present invention is: utilize parallel institution have that rigidity is large, precision is high, speed is fast, bearing capacity is large, simple in structure, lightweight and control the particular advantages such as convenient, and the anti-solution of the equation of motion of parallel institution find the solution convenient easily, be easy to realize SERVO CONTROL.Be applied to the design of remote sensing remote measurement low orbit satellite antenna, given full play to the characteristics of parallel institution.Adopt 6/6-SPU type Stewart parallel institution as antenna pedestal, adopt space six cover linear telescopic drive units to connect upper and lower two platforms, six cover linear telescopic drive unit upper ends are connected with upper mounting plate by ball pivot respectively, its lower end is connected with lower platform by universal hinge (Hooke's hinge) respectively, consist of the Stewart platform mechanism, realize 6/6-SPU type Stewart mechanism antenna mount.Upper mounting plate connects by flange-interface and various forms of antenna reflector, and lower platform and ground are fixed, and also can connect with other carrier frames (as: skeletons such as vehicle, naval vessel and aircraft) to consist of motor-driven antenna system.By to the analysis of spatial mechanism of 6/6-SPU type Stewart parallel institution, comprehensive and theoretical the derivation, bar length, collapsing length and the space angle of Rational choice six cover linear drive apparatus, realize that antenna work spatial domain reaches pitching :-1 °～181 °, the orientation: the movement position of rotational angle on a large scale in the super hemisphere work spatial domain of 0 °～360 ° (supposing that horizontal plane is that the angle of pitch is 0 ° or 180 °) is realized the antenna structure system of space remote sensing, the super hemisphere work of telemetry and telecommand antenna spatial domain Continuous Tracking without the Singularity problem.The antenna system that this invention and corresponding feed system and servo-control system consist of, realize telemetered signal and the data in the effective spatial domains of aircraft such as satellite, carrier rocket, satisfactorily resolved the top and followed the tracks of " blind area " problem, realized that super hemisphere work spatial domain was without a kind of extraordinary antenna system of following the tracks of the blind area.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of parallel antenna structure system, connecting an antenna mount by an antenna reflector consists of, the structure that it is characterized in that described antenna mount is: six servomotors drive respectively six linear telescopic drive units, the upper end of these six linear telescopic drive units is connected by ball pivot with a upper mounting plate, and the lower end is connected by universal hinge (Hooke's hinge) with a lower platform, consists of 6/6-SPU type Stewart parallel institution.
Every adjacent two upper ends of six above-mentioned linear telescopic drive units are hinged by a projection of ball pivot and described upper mounting plate bottom surface, and every adjacent two lower ends are hinged by Hooke's hinge (universal hinge) and a described projection with a lower platform upper surface.
Above-mentioned upper and lower two platforms are hexagon, and upper and lower two hexagon positions differ 60 °, and the installation that is parallel to each other.
Above-mentioned upper mounting plate is fixedly connected with antenna reflector, and described lower platform is connected with ground frame or antenna carrier frame.
The structure of above-mentioned antenna reflector is: a centerbody is with back frame structure outward, and the back frame structure upper surface lays reflector panel, and centerbody is installed subreflector by a supporting construction.
The invention has the beneficial effects as follows: can solve satisfactorily classical elevation-azimuth type (EL-AZ type) antenna and cross zenith " blind cone district " spatial domain Continuous Tracking satellite problem at antenna, realize the demand of space remote sensing, satellite remote sensing telemetered signal and satellite communication signal and the uninterrupted continuous operation of information.And the antenna of same bore, technical indicator, the weight of antenna structure system of the present invention is starkly lower than classical elevation-azimuth type (EL-AZ type) antenna weight, especially more obvious when large aperture antenna, only be the 70%-50% of elevation-azimuth type (EL-AZ type) antenna weight, greatly saved production cost.
Description of drawings
Fig. 1: the structured flowchart that is antenna system.
Fig. 2: the structural representation that is 6/6-SPU type Stewart parallel antenna structure system of the present invention.
Fig. 3: the antenna elevation angle that is antenna structure system shown in Figure 2 is-1 ° attitude schematic diagram (supposing that horizontal plane position antenna elevation angle is 0 ° or 180 °).
Fig. 4: the schematic diagram that is antenna structure system antenna reflector of the present invention.
Fig. 5: the vertical view that is Fig. 4.
Fig. 6: the structural representation that is antenna structure system antenna mount of the present invention.
Fig. 7: the vertical view that is Fig. 6.
Fig. 8: the upward view that is Fig. 6.
Embodiment
A preferred embodiment of the present invention accompanying drawings is as follows:
At Fig. 1 antenna system (1) being shown is made of jointly antenna structure system (2) and corresponding feed system (3), servo-control system (4) and corresponding supporting electronic equipment thereof, realize automatic tracking satellite and aircraft, finish satellite or aircraft signal and data transmission, analysis and processing.
Referring to Fig. 2 and Fig. 3, this parallel antenna structure system is comprised of antenna reflector (5) and antenna mount (6).
Referring to Fig. 4 and Fig. 5, this antenna structure system antenna reflector (5) is comprised of subreflector (feedforward is without subreflector, and only the rear feed pattern has subreflector) and supporting construction (7), main reflector panel (8), back frame structure (9) and centerbody (10).
Referring to Fig. 6, Fig. 7 and Fig. 8, this antenna structure system antenna mount (6) is comprised of upper mounting plate (11), six cover linear telescopic drive units (12) and servomotor (13), lower platform (14) and ground frame (15).Servo-control system drives space six cover linear telescopic devices (12) according to tracer request instruction servomotor (13), realize that to drive upper mounting plate (11) antenna reflector points to satellite or the aircraft of required tracking, realizes signal, information exchange or reception by feed system.
Above-mentioned linear telescopic drive unit (12) and servomotor (13) thereof can be worm drive (as: screw-and-nut mechanisms), its nut is directly driven by servomotor or passes through its rotation of actuator drives, thereby makes the screw rod traveling priority; Also can be that servomotor directly drives or provides power oil by oil pump of actuator drives, drive oil cylinder by power oil and make piston rod make traveling priority.
Claims (6)
1. antenna structure system based on 6/6-SPU type Stewart parallel institution, connecting an antenna mount (6) by an antenna reflector (5) consists of, the structure that it is characterized in that described antenna mount (6) is: six servomotors (13) drive respectively six linear telescopic drive units (12), the upper end of these six linear telescopic drive units (12) is connected by ball pivot with a upper mounting plate (11), and the lower end is connected by universal hinge (Hooke's hinge) with (14) lower platforms, consists of 6/6-SPU type Stewart parallel institution.
2. parallel antenna structure system according to claim 1 is characterized in that described upper and lower two platforms (11,14) are hexagon, and upper and lower two hexagon positions differ 60 °, and the installation that is parallel to each other.
3. parallel antenna structure system according to claim 1, it is characterized in that described antenna structure system mechanism based on 6/6-SPU type Stewart parallel institution, by analysis and calculate, obtain one group of mechanism structure parameter, so that this parallel antenna structure system can realize that antenna work spatial domain reaches pitching :-1 °～181 °, the orientation: the rotational angle on a large scale in the super hemisphere spatial domain of 0 °～360 ° (supposing that horizontal plane is that the angle of pitch is 0 ° or 180 °) moves, and realizes the antenna structure system of super hemisphere work spatial domain Continuous Tracking.
4. parallel antenna structure system according to claim 1, it is characterized in that every adjacent two upper ends of described six linear telescopic drive units (12) by a projection hinge of ball pivot and described upper mounting plate (11) bottom surface, and every adjacent two lower ends are by Hooke's hinge (universal hinge) and a projection hinge described and a lower platform (14) upper surface.
5. parallel antenna structure system according to claim 1 is characterized in that described upper mounting plate (11) is fixedly connected with antenna reflector (5), and described lower platform (14) is connected with ground frame (15) or antenna carrier frame.
6. parallel antenna structure system according to claim 1, the structure that it is characterized in that described antenna reflector (5) is: the outer back frame structure (9) that is with of a centerbody (10), back frame structure (9) upper surface lays reflector panel (8), and centerbody (10) is installed subreflector (7) by a supporting construction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210218603.XA CN102904017B (en) | 2012-06-28 | 2012-06-28 | Hemispherical work spatial domain parallel antenna structure system |
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| CN201210218603.XA CN102904017B (en) | 2012-06-28 | 2012-06-28 | Hemispherical work spatial domain parallel antenna structure system |
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| CN102904017A true CN102904017A (en) | 2013-01-30 |
| CN102904017B CN102904017B (en) | 2016-04-06 |
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Cited By (9)
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|---|---|---|---|---|
| CN105186142A (en) * | 2015-09-28 | 2015-12-23 | 上海创投机电工程有限公司 | 3/6-SPU type parallel mechanism based antenna structural system |
| CN105226370A (en) * | 2015-10-23 | 2016-01-06 | 上海创投机电工程有限公司 | 6/6-UPU type parallel antenna structure system |
| CN106252822A (en) * | 2016-08-30 | 2016-12-21 | 上海交通大学 | A kind of intelligent polar-orbiting satellite antenna based on six foot walkings |
| CN107275787A (en) * | 2017-06-22 | 2017-10-20 | 成都希塔科技有限公司 | The rotary table for supporting directional aerial to turn to |
| CN107275786A (en) * | 2017-06-22 | 2017-10-20 | 成都希塔科技有限公司 | The direction switch base of directional aerial |
| CN109103565A (en) * | 2018-10-18 | 2018-12-28 | 燕山大学 | Detachable portable parallel antenna |
| CN110299599A (en) * | 2019-07-26 | 2019-10-01 | 中国电子科技集团公司第五十四研究所 | A kind of space structure weight-balancing device for reflector antenna |
| CN111536932A (en) * | 2020-05-12 | 2020-08-14 | 中国电子科技集团公司第五十四研究所 | Method for measuring parallel mechanism pedestal type antenna pointing direction by using inclinometer |
| CN113246671A (en) * | 2021-07-05 | 2021-08-13 | 北京理工大学 | Reconfigurable autonomous docking control method and control system for unmanned vehicle |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105186142A (en) * | 2015-09-28 | 2015-12-23 | 上海创投机电工程有限公司 | 3/6-SPU type parallel mechanism based antenna structural system |
| CN110970735A (en) * | 2015-09-28 | 2020-04-07 | 上海创投机电工程有限公司 | Antenna structure system based on 3/6-SPU type parallel mechanism |
| CN105226370A (en) * | 2015-10-23 | 2016-01-06 | 上海创投机电工程有限公司 | 6/6-UPU type parallel antenna structure system |
| CN110459855A (en) * | 2015-10-23 | 2019-11-15 | 上海创投机电工程有限公司 | One kind being based on 6/6-UPU type parallel antenna structure system |
| CN106252822B (en) * | 2016-08-30 | 2023-06-06 | 上海交通大学 | Intelligent polar orbit satellite antenna based on six-foot walking |
| CN106252822A (en) * | 2016-08-30 | 2016-12-21 | 上海交通大学 | A kind of intelligent polar-orbiting satellite antenna based on six foot walkings |
| CN107275787A (en) * | 2017-06-22 | 2017-10-20 | 成都希塔科技有限公司 | The rotary table for supporting directional aerial to turn to |
| CN107275786A (en) * | 2017-06-22 | 2017-10-20 | 成都希塔科技有限公司 | The direction switch base of directional aerial |
| CN109103565A (en) * | 2018-10-18 | 2018-12-28 | 燕山大学 | Detachable portable parallel antenna |
| CN110299599A (en) * | 2019-07-26 | 2019-10-01 | 中国电子科技集团公司第五十四研究所 | A kind of space structure weight-balancing device for reflector antenna |
| CN110299599B (en) * | 2019-07-26 | 2024-02-13 | 中国电子科技集团公司第五十四研究所 | Space structure counterweight device for reflecting surface antenna |
| CN111536932A (en) * | 2020-05-12 | 2020-08-14 | 中国电子科技集团公司第五十四研究所 | Method for measuring parallel mechanism pedestal type antenna pointing direction by using inclinometer |
| CN113246671A (en) * | 2021-07-05 | 2021-08-13 | 北京理工大学 | Reconfigurable autonomous docking control method and control system for unmanned vehicle |
| CN113246671B (en) * | 2021-07-05 | 2021-10-08 | 北京理工大学 | Reconfigurable autonomous docking control system for unmanned vehicle |
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