CN102904017B - Hemispherical work spatial domain parallel antenna structure system - Google Patents
Hemispherical work spatial domain parallel antenna structure system Download PDFInfo
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- CN102904017B CN102904017B CN201210218603.XA CN201210218603A CN102904017B CN 102904017 B CN102904017 B CN 102904017B CN 201210218603 A CN201210218603 A CN 201210218603A CN 102904017 B CN102904017 B CN 102904017B
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Abstract
The present invention relates to a kind of parallel antenna structure system.It connects an antenna mount by an antenna reflector and forms, antenna mount is that six servomotors or hydraulic jack drive six linear telescopic drive units respectively, the upper end of these six linear telescopic drive units selects spherical hinge and one piece of upper mounting plate to be hinged, and lower end selects Hooke's hinge and one piece of lower platform to be hinged, upper and lower platform is respectively hexagon, forms a kind of antenna structure system based on 6/6-SPU type Stewart parallel institution.The present invention can satisfactorily resolve the remote sensing telemetered signal and data that obtain the aircraft such as satellite, carrier rocket, realize antenna and " cross and push up " spatial domain Continuous Tracking, reach hemispherical work spatial domain, i.e. pitching :-1 ° ~ 181 °, orientation: the free-position Continuous Tracking of 0 ° ~ 360 ° (supposing that horizontal plane position antenna elevation angle is 0 ° or 180 °).
Description
Art
The present invention relates to a kind of antenna structure system based on 6/6-SPU type Stewart parallel institution.For the antenna structure system of 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: sky, watch, present) form antenna system, realize remote sensing, telemetry and telecommand acquisition of information and instruction, realize satellite communication information and transmit and process.Especially telemetered signal and the data in the effective spatial domain of the aircraft such as satellite, carrier rocket can be obtained, realize the Continuous Tracking antenna system without crossing top " blind area ", satisfactorily resolve antenna hemispherical work spatial domain, i.e. 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
Antenna reflector part generally has: main reflector panel, back frame structure, centerbody, balance weight structure, subreflector and focus control and supporting construction thereof or the supporting construction composition that feedovers; 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 composition.
At present, in the world known space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) adopt classical elevation-azimuth type (EL-AZ type) antenna, elevation-azimuth type antenna also exists in antenna zenith position " blind cone " region that could " be crossed and push up " Continuous Tracking, and the size (i.e. the cone-apex angle of blind cone) in blind cone region depends on the horizontal flying speed of Distance geometry aircraft of antenna and aircraft.Low rail remote sensing antenna is not yet satisfactorily resolved so far to the problem of " crossing top " Continuous Tracking.First introduce the concept of an antenna tracking " Mang Zhui district ", classical elevation-azimuth type antenna pedestal is when tracking target, and antenna bearingt angular speed: β=V/ (R*cos ε) is (in formula: V is the horizontal velocity of target flight; R is the air line distance that antenna arrives target; ε is antenna elevation angle; β is antenna bearingt angular speed), when target is passed through near antenna zenith, ε → 90 °, the elevation angle, cos ε → 0, β → ∞.But motor driving power is limited, the angular speed that antenna rotates also is limited, and under certain driving power, antenna can only follow the tracks of the target at below a certain elevation angle, and existing near elevation-azimuth type antenna zenith cannot " the Mang Zhui district " of Continuous Tracking.
At present, in engineering reality elevation-azimuth type (EL-AZ type) antenna also exist one in antenna zenith position cannot " blind cone " region of " cross top " Continuous Tracking, classical elevation-azimuth type antenna cannot be adopted to realize in antenna zenith position Continuous Tracking of " crossing top ".Can only select to avoid blind area followed the tracks of by satellite transit track position construction satellite ground station antenna through antenna zenith.
The remote sensing remote measurement low orbit satellite Antenna Design of traditional classical generally adopts elevation-azimuth type (EL-AZ type) antenna pedestal, there is top " Mang Zhui district " in it, elevation-azimuth type antenna cannot cross top " Mang Zhui district " spatial domain Continuous Tracking satellite at satellite, realizes the demand of the uninterrupted continuous operation of signal.
Summary of the invention
The object of the invention is to prior art Problems existing and a kind of parallel antenna structure system is provided, realize the Continuous Tracking antenna system without 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.It is easily convenient to separate because the equation of motion solving parallel institution is counter, is easy to realize SERVO CONTROL.
In order to achieve the above object, design of the present invention is: utilize parallel institution to have rigidity is large, precision is high, speed is fast, bearing capacity is large, structure is simple, lightweight and control the particular advantages such as convenient, and the anti-solution of the equation of motion of parallel institution solves easily convenient, be easy to realize SERVO CONTROL.Be applied to the design of remote sensing remote measurement low orbit satellite antenna, give full play to the feature of parallel institution.Adopt 6/6-SPU type Stewart parallel institution as antenna pedestal, space six is adopted to overlap upper and lower two platforms of linear telescopic drive unit connection, six cover linear telescopic drive unit upper ends are connected with upper mounting plate respectively by ball pivot, its lower end is connected with lower platform respectively by Hooke's hinge, form Stewart platform mechanism, realize 6/6-SPU type Stewart mechanism antenna mount.Upper mounting plate is connect 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: skeleton such as vehicle, naval vessel and aircraft) and form motorized antenna system.By the analysis of spatial mechanism to 6/6-SPU type Stewart parallel institution, comprehensive and theory deduction, Rational choice six overlaps that the bar of linear drive apparatus is long, collapsing length and space angle, realize Antenna Operation spatial domain and reach pitching :-1 ° ~ 181 °, orientation: the large rotation angular movement position in the hemispherical work spatial domain of 0 ° ~ 360 ° (suppose horizontal plane be the angle of pitch be 0 ° or 180 °), without Singularity problem, realizes the antenna structure system of space remote sensing, telemetry and telecommand antenna hemispherical work spatial domain Continuous Tracking.The antenna system that this invention and corresponding feed system and servo-control system are formed, realize telemetered signal and the data in the effective spatial domain of the aircraft such as satellite, carrier rocket, satisfactorily resolve Passing zenith tracing " blind area " problem, realize hemispherical work spatial domain without the extraordinary antenna system of the one of following the tracks of blind area.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of parallel antenna structure system, connect an antenna mount by an antenna reflector to form, it is characterized in that the structure of described antenna mount is: six servomotors drive six linear telescopic drive units respectively, the upper end of these six linear telescopic drive units is connected by ball pivot with one piece of upper mounting plate, and lower end and one piece of lower platform are connected by Hooke's hinge, form 6/6-SPU type Stewart parallel institution.
Often 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 often adjacent two lower ends by Hooke's hinge and to be describedly hinged with a projection of one piece of 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: be with back frame structure outside a centerbody, and back frame structure upper surface lays main reflector panel, and centerbody installs subreflector by a supporting construction.
The invention has the beneficial effects as follows: classical elevation-azimuth type (EL-AZ type) antenna can be solved satisfactorily and cross zenith " Mang Zhui district " spatial domain Continuous Tracking satellite problem at antenna, realize the demand of space remote sensing, satellite remote sensing telemetered signal and satellite communication signals and the uninterrupted continuous operation of information.And same bore, technical indicator antenna, the weight of inventive antenna structural system is starkly lower than classical elevation-azimuth type (EL-AZ type) antenna weights, especially more obvious when large aperture antenna, be only the 70%-50% of elevation-azimuth type (EL-AZ type) antenna weights, greatly save production cost.
Accompanying drawing explanation
Fig. 1: the structured flowchart being antenna system.
Fig. 2: the structural representation being 6/6-SPU type Stewart parallel antenna structure system of the present invention.
Fig. 3: to be the antenna elevation angle of antenna structure system shown in Fig. 2 the be attitude schematic diagram (supposing that horizontal plane position antenna elevation angle is 0 ° or 180 °) of-1 °.
Fig. 4: the schematic diagram being inventive antenna structural system antenna reflector.
Fig. 5: the vertical view being Fig. 4.
Fig. 6: the structural representation being inventive antenna structural system antenna mount.
Fig. 7: the vertical view being Fig. 6.
Fig. 8: the upward view being Fig. 6.
Embodiment
A preferred embodiment of the present invention accompanying drawings is as follows:
Illustrate that antenna system (1) is made up of jointly antenna structure system (2) and corresponding feed system (3), servo-control system (4) and corresponding supporting electronic equipment thereof at Fig. 1, realize automatic tracking satellite and aircraft, complete satellite or aircraft signal and data transmission, treatment and analysis.
See Fig. 2 and Fig. 3, this parallel antenna structure system is made up of antenna reflector (5) and antenna mount (6).
See Fig. 4 and Fig. 5, this antenna structure system antenna reflector (5) is by subreflector (without subreflector, only rear feed pattern has subreflector in feedforward) and supporting construction (7), main reflector panel (8), back frame structure (9) and centerbody (10) composition thereof.
See Fig. 6, Fig. 7 and Fig. 8, this antenna structure system antenna mount (6) is made up of upper mounting plate (11), six covers linear telescopic drive unit (12) and servomotor (13), lower platform (14) and ground frame (15).Servo-control system drives space six to overlap linear telescopic device (12) according to tracer request instruction servomotor (13), realize to drive upper mounting plate (11) satellite or the aircraft that antenna reflector points to required tracking, realize 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), by servomotor Direct driver or by actuator drives, it rotates its nut, thus screw rod is moved linearly; Also can be servomotor Direct driver or provide power oil by actuator drives oil pump, drive oil cylinder that piston rod is moved linearly by power oil.
Claims (5)
1. the antenna structure system based on 6/6-SPU type Stewart parallel institution, connect an antenna mount (6) by an antenna reflector (5) to form, it is characterized in that the structure of described antenna mount (6) is: on, lower two platforms (11, 14) hexagon is, on, lower two hexagon positions differ 60 °, and the installation that is parallel to each other, six servomotors (13) drive six linear telescopic drive units (12) respectively, the upper end of these six linear telescopic drive units (12) is connected by a ball pivot with one piece of upper mounting plate (11), and its lower end and one piece of lower platform (14) are connected by a Hooke's hinge, form 6/6-SPU type Stewart parallel institution.
2. parallel antenna structure system according to claim 1, it is characterized in that the 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, make this parallel antenna structure system can realize Antenna Operation spatial domain and reach pitching :-1 ° ~ 181 °, orientation: the large rotation angular movement in the hemispherical spatial domain of 0 ° ~ 360 °, suppose that the angle of pitch of horizontal plane is 0 ° or 180 °, realize the antenna structure system of hemispherical work spatial domain Continuous Tracking.
3. parallel antenna structure system according to claim 1, it is characterized in that often adjacent two upper ends of described six linear telescopic drive units (12) are hinged by a projection of ball pivot and described upper mounting plate (11) bottom surface, and often adjacent two lower ends by Hooke's hinge and to be describedly hinged with a projection of one piece of lower platform (14) upper surface.
4. parallel antenna structure system according to claim 1, it is characterized in that described upper mounting plate (11) is fixedly connected with antenna reflector (5), described lower platform (14) is connected with ground frame (15) or antenna carrier frame.
5. parallel antenna structure system according to claim 1, it is characterized in that the structure of described antenna reflector (5) is: outside a centerbody (10), be with back frame structure (9), back frame structure (9) upper surface lays main reflector panel (8), and centerbody (10) installs subreflector by a supporting construction (7).
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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 CN102904017A (en) | 2013-01-30 |
| CN102904017B true CN102904017B (en) | 2016-04-06 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN106252822B (en) * | 2016-08-30 | 2023-06-06 | 上海交通大学 | Intelligent polar orbit satellite antenna based on six-foot walking |
| 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 |
| 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 |
| CN109103565A (en) * | 2018-10-18 | 2018-12-28 | 燕山大学 | Detachable portable parallel 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 |
| CN111536932B (en) * | 2020-05-12 | 2022-02-15 | 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 |
| 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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| CN1356561A (en) * | 2001-12-29 | 2002-07-03 | 北京航空航天大学 | Antenna tracking device for robot helicopter and its operation method |
| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
| CN201194250Y (en) * | 2008-04-21 | 2009-02-11 | 上海大学 | Six degree of freedom parallel mechanism antenna seat |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003534846A (en) * | 2000-05-12 | 2003-11-25 | アルバータ リサーチ カウンシル インコーポレイテッド | Mobile platform and its use |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1356561A (en) * | 2001-12-29 | 2002-07-03 | 北京航空航天大学 | Antenna tracking device for robot helicopter and its operation method |
| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
| CN201194250Y (en) * | 2008-04-21 | 2009-02-11 | 上海大学 | Six degree of freedom parallel mechanism antenna seat |
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Address after: 201705 Shanghai City, Phoenix Town, Qingpu District, Feng Xing Road, Lane 1731, No. 1 Applicant after: Shanghai Chuangtou Electromechanical Engineering Co., Ltd. Address before: 201705, No. 1731, Feng Feng Road, Xifeng Town, Qingpu District, Shanghai, 1 Applicant before: Shanghai Chuangtou Electromechanical Engineering Co., Ltd. |
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