CN104157977A - Antenna structure system based on 3-RPS three-dimensional rotation type parallel mechanism - Google Patents
Antenna structure system based on 3-RPS three-dimensional rotation type parallel mechanism Download PDFInfo
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- CN104157977A CN104157977A CN201410445403.7A CN201410445403A CN104157977A CN 104157977 A CN104157977 A CN 104157977A CN 201410445403 A CN201410445403 A CN 201410445403A CN 104157977 A CN104157977 A CN 104157977A
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Abstract
The invention relates to an antenna structure system based on a 3-RPS three-dimensional rotation type parallel mechanism, and belongs to the field of the electromechanical integration technology. The antenna structure system is formed by connecting an antenna reflector with an antenna mount, wherein the antenna mount is of a structure that three servo motors or hydraulic oil cylinders drive three linear telescopic driving devices respectively, the lower ends of the three linear telescopic driving devices (sliding pairs P) are connected with a lower platform through revolute pairs, the upper ends of the three linear telescopic driving devices (sliding pairs P) are connected with an upper platform through spherical hinges (S), and the upper platform and the lower platform are respectively in the shape of an equilateral triangle and are identical in position; three branched chains are respectively connected to vertex angles of the two equilateral triangles. The antenna structure system is characterized in that the axes of the revolute pairs at the lower ends of the three branched chains are in the same plane and intersect with one point O on a connection line of the centers of the upper equilateral triangle and the lower equilateral triangle, in another word, a coplanar concurrent state is formed, and the antenna structure system based on the 3-RPS three-dimensional rotation type parallel mechanism is formed. According to the antenna structure system, remote sensing and remote metering signals and data of satellites, carrier rockets and other aircrafts can be completely obtained, continuous tracking of overhead airspaces is achieved through antennas until working airspaces of the antennas are reached, namely, continuous tracking of any posture is achieved within the working range at the orientation of 0-360 degrees and the pitch angle smaller than +/-90degrees if it is assumed that the antenna pitch angle of the position where an antenna electrical boresight is perpendicular to the ground and faces the sky is 0 degree.
Description
Affiliated technical field
The present invention relates to a kind of antenna structure system based on 3-RPS Three dimensional rotation type 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: day, watch, present) composition antenna system, realizes remote sensing, telemetry and telecommand acquisition of information and instruction, realizes satellite communication information and transmits and process.Especially can obtain telemetered signal and the data in the effective spatial domain of the aircraft such as satellite, carrier rocket, realization nothing is crossed the aircraft such as the Continuous Tracking satellite launcher on top " blind area ", satisfactorily resolve antenna in its work spatial domain, be pitching: < ± 90 °, orientation: the Continuous Tracking of 0 °～360 ° (supposing that the electrical boresight of antenna is vertically that antenna elevation angle is 0 ° towards position, sky greatly).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 feedforward supporting construction composition; 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.Two subsystems of antenna reflector and antenna pedestal form antenna structure system.
At present, in the world known space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) the classical elevation-azimuth type that adopts (EL-AZ type) antenna, elevation-azimuth type antenna exists " blind cone " region that cannot " cross and push up " Continuous Tracking in antenna zenith position, and the size (being the cone-apex angle of blind cone) in blind cone region 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 to the problem of " crossing top " Continuous Tracking.First introduce the concept in an antenna tracking " Mang Zhui district ", classical elevation-azimuth type antenna pedestal is in the time of 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 near antenna zenith by time, ε → 90 °, the elevation angle, cos ε → 0, β → ∞.But motor driving power is limited, the angular speed that antenna rotates is also limited, and under certain driving power, antenna can only be followed the tracks of the target below a certain elevation angle, near elevation-azimuth type antenna zenith, exist cannot Continuous Tracking " Mang Zhui district ".
At present, elevation-azimuth type in engineering reality (EL-AZ type) antenna exists " blind cone " region that cannot " cross and push up " Continuous Tracking in antenna zenith position, cannot adopt classical elevation-azimuth type antenna to realize in antenna zenith position and " cross and push up " Continuous Tracking.Can only select to avoid satellite transit track and follow the tracks of the position construction satellite ground station antenna of blind area through antenna zenith.
The remote sensing remote measurement low orbit satellite Antenna Design of traditional classical is selected elevation-azimuth type (EL-AZ type) antenna pedestal, there is top " Mang Zhui district " in it, elevation-azimuth type antenna cannot be crossed 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 problem that the object of the invention is to 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 work spatial domain and " cross and push up " Continuous Tracking, realize the demand of satellite-signal and the uninterrupted continuous operation of data.Owing to solving the equation of motion of parallel institution, anti-solution is convenient easily, 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 solve 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 feature of parallel institution.Adopt 3-RPS type parallel institution as antenna pedestal, adopt space three to overlap linear telescopic drive unit and connect upper and lower two platforms, three cover linear telescopic drive unit (moving sets) lower ends are connected with lower platform by revolute pair (R), its upper end is connected with upper mounting plate by ball pivot (S), form 3-RPS parallel institution, realize 3-RPS type parallel institution antenna pedestal.Above upper mounting plate, connect by flange-interface and various forms of antenna reflector, lower platform and ground are fixed, and also can connect the motor-driven antenna system of formation with other carrier frames skeletons such as (as:) vehicle, naval vessel and aircraft.
The efficient working range (scope of antenna pitching angle) of 3-RPS Three dimensional rotation type parallel antenna structure system of the present invention is determined by the hard-over of upper and lower platform size (upper and lower platform equilateral triangle circumradius ratio), bar length, revolute pair and ball pivot.Article 3, branched structure and consistent size, being is separated by 120 ° is arranged symmetrically with; Connect all parallel lower platform planes of shaft axis of 3 revolute pairs of lower platform equilateral triangle angle point, and intersect at 1 O on the upper and lower platform line of centres, the geometrical relationship (coplanar concurrent) that forms on the coplanar and junction two platform center lines of these 3 shaft axis a bit, forming for how much of this space determines that 3-RPS type parallel institutions of the present invention have the space parallel mechanism of 3 degrees of freedom of Three dimensional rotation.
By the analysis of spatial mechanism to 3-RPS type parallel institution, Structure Configuration Synthesis and theoretical derivation, it is long that Rational choice three overlaps the bar of linear drive apparatus, collapsing length, space angle and upper, lower platform size and ball pivot hard-over, realize antenna work spatial domain and reach orientation: 0 °～360 °, pitching: the work spatial domain rotational angle movement position of < ± 90 ° (supposing that the electrical boresight of antenna is vertically that antenna elevation angle is 0 ° towards position, sky greatly) is without Singularity problem, realize space remote sensing, telemetry and telecommand antenna is at the antenna structure system of work spatial domain Continuous Tracking.This invention and the antenna system that feed system and servo-control system form accordingly, realize telemetered signal and the data in the effective spatial domain of the aircraft such as satellite, carrier rocket, satisfactorily resolve top and followed the tracks of " blind area " problem, realized work spatial domain without a kind of Three dimensional rotation type (3DOF) antenna system 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, connecting an antenna pedestal by an antenna reflector forms, the structure that it is characterized in that described antenna pedestal is: three servomotors drive respectively the linear telescopic drive unit (as screw pair, hydraulic cylinder etc.) of three moving sets, the lower end of these three linear telescopic drive units (moving sets P) is connected by revolute pair with lower platform, its upper end is connected by ball pivot with upper mounting plate, forms 3-RPS type parallel institution.
The upper and lower end of above-mentioned three linear telescopic drive units (moving sets P) is connected by ball pivot (S), revolute pair (R) and described upper mounting plate bottom surface, a projection above lower platform respectively.
Upper and lower two platforms of above-mentioned antenna pedestal are equilateral triangle, upper and lower two equilateral triangle position consistency, and the installation that is parallel to each other, and 3 side chains are connected to the drift angle of two equilateral triangles.
The pivot center place same plane of 3 revolute pairs that connect on above-mentioned lower platform and be parallel to lower platform plane, and its 3 axis intersect at a bit, and this point is by (coplanar concurrent) on the upper and lower equilateral triangle platform line of centres.
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 back frame structure upper surface is laid main 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 " 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 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 in the time of large aperture antenna, be only the 60%-40% of elevation-azimuth type (EL-AZ type) antenna weight, greatly saved production cost.
Brief description of the drawings
Fig. 1: the structured flowchart that is 3-RPS Three dimensional rotation type parallel antenna structure system of the present invention.
Fig. 2: the structural representation that is 3-RPS Three dimensional rotation type parallel antenna structure system of the present invention.
Fig. 3: be the attitude schematic diagram (supposing that the electrical boresight of antenna is vertically that antenna elevation angle is 0 ° towards position, sky greatly) that the Three dimensional rotation of 3-RPS shown in Fig. 2 type antenna elevation angle is E.
Fig. 4: the schematic diagram that is the antenna reflector of 3-RPS Three dimensional rotation type parallel antenna structure system of the present invention.
Fig. 5: the vertical view that is Fig. 4.
Fig. 6: the structural representation that is the antenna pedestal of 3-RPS Three dimensional rotation type parallel antenna structure system of the present invention.
Fig. 7: the cutaway view (overlooking) that is Fig. 6.
Fig. 8: the cutaway view (looking up) that is Fig. 6.
Embodiment
A preferred embodiment of the present invention accompanying drawings is as follows:
Illustrate that at Fig. 1 antenna system of the present invention (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, realize automatic tracking satellite and aircraft, complete satellite or aircraft signal and data transmission, analysis and processing.
Referring to Fig. 2 and Fig. 3, this parallel antenna structure system is made up of antenna reflector (5) and antenna mount (6).
Referring to Fig. 4 and Fig. 5, this antenna structure system antenna reflector (5) is by subreflector (feedforward is without subreflector, and only rear feed pattern has subreflector) and supporting construction (7), main reflector panel (8), back frame structure (9) and centerbody (10) composition.
Referring to Fig. 6, Fig. 7 and Fig. 8, the antenna pedestal of this antenna structure system (6) is made up of upper mounting plate (11), three cover linear telescopic drive unit (12) and servomotors (13) thereof, lower platform (14) and ground frame (15).Servo-control system drives space three to overlap linear telescopic device (12) according to tracer request instruction servomotor (13), point to satellite or the aircraft of required tracking to drive upper mounting plate (11) to realize antenna reflector, 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 nut driven mechanisms), its nut is directly driven by servomotor or it rotates by actuator drives, thereby makes screw rod rectilinear movement; Also can be that servomotor directly drives or provides power oil by oil pump of actuator drives, drive oil cylinder that piston rod is moved linearly by power oil.
Claims (6)
1. the antenna structure system based on 3-RPS Three dimensional rotation type parallel institution, connecting an antenna mount (6) by an antenna reflector (5) forms, the structure that it is characterized in that described antenna pedestal (6) is: three servomotors (13) drive respectively three linear telescopic drive units (12), the lower end of these three linear telescopics (moving sets P) drive units (12) is connected with lower platform (14) by revolute pair (R), its upper end is connected with upper mounting plate (11) by ball pivot (S), article 3, side chain composition, structure and measure-alike, being is separated by 120 ° is arranged symmetrically with, all parallel lower platform planes and intersecting at of the shaft axis that each side chain moving sets (P) lower end connects 3 revolute pairs (R) on lower platform equilateral triangle angle point, 1 O on the lower platform line of centres, form these 3 shaft axis coplanar, and the geometrical relationship of any on junction two platform center lines, form " coplanar concurrent " geometric properties, the upper end of moving sets (P) is connected with upper mounting plate by ball pivot (S), forming for how much of this space determines that 3-RPS type parallel institution of the present invention has the space parallel mechanism of Three dimensional rotation (3 degrees of freedom), form 3-RPS Three dimensional rotation type parallel institution.
2. parallel antenna structure system according to claim 1, it is characterized in that described upper and lower two platforms (11,14) are equilateral triangle, upper and lower two equilateral triangle position consistency, and the installation that is parallel to each other, 3 side chains are connected to the drift angle of two equilateral triangles.
3. parallel antenna structure system according to claim 1, it is characterized in that the described antenna structure system based on 3-RPS Three dimensional rotation type parallel institution, by analysis and calculate, obtain one group of mechanism structure parameter and space geometry relation, make this parallel antenna structure system can realize antenna work spatial domain and reach orientation: 0 °～360 °, pitching: the work spatial domain of < ± 90 ° (supposing that the electrical boresight of antenna is vertically that antenna elevation angle is 0 ° towards position, sky greatly), actual pitching operating angle (E) depends on the hard-over of selected revolute pair (P) and ball pivot (S), can realize the antenna structure system of non-blind area Continuous Tracking in effective work spatial domain.
4. parallel antenna structure system according to claim 1, it is characterized in that described three linear telescopic drive units (12) lower end is connected with a projection of described lower platform (14) upper surface by revolute pair respectively, its upper end is connected with a projection of upper mounting plate (11) bottom surface by ball pivot respectively.
5. 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.
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 is laid reflector panel (8), and centerbody (10) is installed subreflector (7) by a supporting construction.
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| CN201410445403.7A CN104157977B (en) | 2014-09-03 | 2014-09-03 | 3-RPS Three dimensional rotation type parallel antenna structure system |
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| CN201410445403.7A CN104157977B (en) | 2014-09-03 | 2014-09-03 | 3-RPS Three dimensional rotation type parallel antenna structure system |
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Cited By (9)
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| CN104819822A (en) * | 2015-04-20 | 2015-08-05 | 中国科学院力学研究所 | Support system of hypersonic propulsion wind tunnel model |
| CN106125770A (en) * | 2016-07-22 | 2016-11-16 | 西安电子科技大学 | A kind of azimuth pitch moves two axle bed framves |
| CN106200684A (en) * | 2016-07-04 | 2016-12-07 | 西安电子科技大学 | The annulated column type rope net reflex system that three expansion links drive |
| CN108714887A (en) * | 2018-05-23 | 2018-10-30 | 西安工程大学 | With three-freedom degree spatial parallel structure |
| CN109066047A (en) * | 2018-09-28 | 2018-12-21 | 西安恒达微波技术开发有限公司 | Super high power three-dimensional feeder system and its flexible cable architecture |
| CN109301452A (en) * | 2018-09-19 | 2019-02-01 | 中国科学院遥感与数字地球研究所 | S/X/Ka triaxial antennas |
| CN109533401A (en) * | 2018-12-07 | 2019-03-29 | 银河航天(北京)通信技术有限公司 | A kind of spherical hinge and spacecraft directing mechanism |
| CN112310645A (en) * | 2020-11-06 | 2021-02-02 | 中国电子科技集团公司第五十四研究所 | Closed-loop control method for working space of 3RSR parallel mechanism antenna |
| CN114597625A (en) * | 2022-03-07 | 2022-06-07 | 中国电子科技集团公司第三十八研究所 | Oil lubrication radar rotary table |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104819822A (en) * | 2015-04-20 | 2015-08-05 | 中国科学院力学研究所 | Support system of hypersonic propulsion wind tunnel model |
| CN106200684A (en) * | 2016-07-04 | 2016-12-07 | 西安电子科技大学 | The annulated column type rope net reflex system that three expansion links drive |
| CN106200684B (en) * | 2016-07-04 | 2019-01-29 | 西安电子科技大学 | The annulated column type rope net reflecting system of three telescopic rods driving |
| CN106125770A (en) * | 2016-07-22 | 2016-11-16 | 西安电子科技大学 | A kind of azimuth pitch moves two axle bed framves |
| CN106125770B (en) * | 2016-07-22 | 2019-06-07 | 西安电子科技大学 | A kind of two axle bed frame of orientation-pitching movement |
| CN108714887A (en) * | 2018-05-23 | 2018-10-30 | 西安工程大学 | With three-freedom degree spatial parallel structure |
| CN109301452A (en) * | 2018-09-19 | 2019-02-01 | 中国科学院遥感与数字地球研究所 | S/X/Ka triaxial antennas |
| CN109301452B (en) * | 2018-09-19 | 2024-02-02 | 中国科学院遥感与数字地球研究所 | S/X/Ka triaxial antenna |
| CN109066047A (en) * | 2018-09-28 | 2018-12-21 | 西安恒达微波技术开发有限公司 | Super high power three-dimensional feeder system and its flexible cable architecture |
| CN109533401A (en) * | 2018-12-07 | 2019-03-29 | 银河航天(北京)通信技术有限公司 | A kind of spherical hinge and spacecraft directing mechanism |
| CN109533401B (en) * | 2018-12-07 | 2020-11-17 | 银河航天(北京)通信技术有限公司 | Ball hinge and spacecraft pointing mechanism |
| CN112310645A (en) * | 2020-11-06 | 2021-02-02 | 中国电子科技集团公司第五十四研究所 | Closed-loop control method for working space of 3RSR parallel mechanism antenna |
| CN114597625A (en) * | 2022-03-07 | 2022-06-07 | 中国电子科技集团公司第三十八研究所 | Oil lubrication radar rotary table |
| CN114597625B (en) * | 2022-03-07 | 2023-07-04 | 中国电子科技集团公司第三十八研究所 | Oil lubrication radar turntable |
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