CN104157977B - 3-RPS Three dimensional rotation type parallel antenna structure system - Google Patents
3-RPS Three dimensional rotation type parallel antenna structure system Download PDFInfo
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- CN104157977B CN104157977B CN201410445403.7A CN201410445403A CN104157977B CN 104157977 B CN104157977 B CN 104157977B CN 201410445403 A CN201410445403 A CN 201410445403A CN 104157977 B CN104157977 B CN 104157977B
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Abstract
The present invention relates to one kind to be based on 3-RPS Three dimensional rotation type parallel antenna structure system.It is made of antenna reflector and antenna pedestal, antenna pedestal is three servo motors or hydraulic cylinder respectively drives three linear expansion driving devices, and the upper and lower end of three linear expansion driving devices passes through flexural pivot respectively, revolute pair is connect with upper and lower platform.The flexural pivot of revolute pair, the upper end connection that each linear expansion driving device is connect with its lower end, constitutes a branch.Upper and lower platform is respectively equilateral triangle, and position consistency.3 branches are connected to the apex angle of upper and lower two equilateral triangle, it is characterized in that the revolute pair axis co-planar of 3 branch lower ends, and the point O on the upper and lower equilateral triangle line of centres (i.e. composition " coplanar concurrent ") is intersected at, it constitutes and is based on 3-RPS Three dimensional rotation type parallel antenna structure system.The present invention solves the technical problem that antenna " cross and push up " is continuously tracked, and realizes that hemisphere airspace is continuously tracked.
Description
Technical field
The present invention relates to a kind of antenna structure systems based on 3-RPS Three dimensional rotation type parallel institution.For space remote sensing,
Satellite " three is distant " technology (remote sensing, telemetering, remote control technology) and the antenna structure system of satellite communication.Antenna structure system and servo
Control system, feed feeder system (referred to as: day is watched, presented) composition antenna system, realize remote sensing, telemetry and telecommand acquisition of information
And instruction, realize the transmitting of satellite communication information and processing.The effective airspace of the aircraft such as satellite, carrier rocket can especially be obtained
Telemetered signal and data, realize and be continuously tracked the aircraft such as satellite launcher without crossing top " blind area ", satisfactorily resolve antenna
Being continuously tracked in hemisphere work airspace, i.e., in orientation: 0 °~360 °, pitching: -90 ° of 90 ° of < pitch angle < are (assuming that antenna hangs down
Straight horizontal plane is oriented to 0 ° of position of pitch angle towards day) work airspace is continuously tracked.Technical solution of the present invention belongs to electromechanical
Change technical field.
Background technique
Antenna-reflected body portion generally has: main reflector panel, back frame structure, centerbody, counterweight structure, subreflector
With focus control and its support construction or feedforward support construction composition；Antenna seating portion generally has: antenna pedestal support construction, driving
Shafting and transmission device, feeder line and cable winding device, Data Detection transfer device and safety guard composition.Antenna-reflected
Two subsystems of body and antenna pedestal constitute antenna structure system.
Currently, well known space remote sensing, satellite " three is distant " technology (remote sensing, telemetering, remote control technology) use warp in the world
Elevation-azimuth type (EL-AZ type) antenna of allusion quotation, elevation-azimuth type antenna can not " mistake there is one in antenna zenith position
" blind cone " region for being continuously tracked of top ", the size (cone-apex angle of i.e. blind cone) in blind cone region depend on antenna and aircraft away from
From with the horizontal flying speed of aircraft.The problem of " cross and push up " is continuously tracked not yet is satisfactorily resolved so far to low rail remote sensing antenna.First
The concept in an antenna tracking " area Mang Zhui " is introduced, classical elevation-azimuth type antenna pedestal is when tracking target, antenna azimuth
Speed: (in formula: V is the horizontal velocity of target flight to β=V/ (R*cos ε)；R is linear distance of the antenna to target；ε is antenna
The elevation angle；β is antenna bearingt angular speed), when target passes through near antenna zenith, elevation angle ε → 90 °, cos ε → 0, β → ∞.
But motor driven power is limited, and the angular speed of antenna rotation is also limited, and under certain driving power, antenna can only
A certain elevation angle target below is tracked, there is " area Mang Zhui " that can not be continuously tracked near elevation-azimuth type antenna zenith.
Currently, engineering in practice elevation-azimuth type (EL-AZ type) antenna antenna zenith position can not there is one
" blind cone " region that " cross and push up " is continuously tracked can not be realized using classical elevation-azimuth type antenna in antenna zenith position " mistake
Top " is continuously tracked.It can only select the position construction ground satellite station for avoiding satellite transit track by antenna zenith tracking blind area
Antenna.
The remote sensing telemetering low orbit satellite Antenna Design of traditional classical selects elevation-azimuth type (EL-AZ type) antenna pedestal, deposits
" area Mang Zhui " is pushed up crossing, elevation-azimuth type antenna can not cross top " area Mang Zhui " airspace in satellite and satellite is continuously tracked, and realize signal
The demand of uninterrupted continuous work.
Summary of the invention
It is an object of the invention to prior art there are the problem of a kind of parallel antenna structure system is provided, realize nothing
That crosses top " blind area " is continuously tracked antenna system, satisfactorily resolves Antenna Operation airspace " cross and push up " and is continuously tracked, realizes satellite-signal
With the demand of the uninterrupted continuous work of data.Convenient be easy is solved since the equation of motion of solution parallel institution is counter, it is easy to accomplish is watched
Clothes control.
In order to achieve the above object, insight of the invention is that using parallel institution have rigidity is big, precision is high, speed is fast,
The particular advantages such as large carrying capacity, structure be simple, light-weight and control is convenient, and the equation of motion of parallel institution counter solves solution
It is convenient to be easy, it is easy to accomplish SERVO CONTROL.Applied to the design of remote sensing telemetering low orbit satellite antenna, parallel institution has been given full play to
The characteristics of.Using 3-RPS type parallel institution as antenna pedestal, it is coupled using three sets of space linear expansion driving device (P) upper and lower
Two platforms, three sets of linear expansion driving device lower ends (P) are connect by revolute pair (R) with lower platform, and the upper end passes through flexural pivot
(S) it is connect with upper mounting plate, constitutes 3-RPS parallel institution, realize 3-RPS type parallel institution antenna pedestal.Pass through method above upper mounting plate
Blue interface is coupled with various forms of antenna reflectors, and lower platform is fixed with ground, can also be with other carrier racks (such as: vehicle
, the skeletons such as naval vessel and aircraft) be coupled and constitute motorized antenna system.
Efficient working range (the antenna elevation angle of 3-RPS Three dimensional rotation type parallel antenna structure system of the invention
The range of degree) by upper and lower platform size (upper and lower platform equilateral triangle circumradius ratio), bar length, revolute pair and flexural pivot
Hard-over determines.The structure snd size of three linear expansion driving devices (P) are consistent, are arranged symmetrically in being separated by 120 °；Connection
The shaft axis of three revolute pairs of lower platform equilateral triangle angle point intersects at upper and lower flat each parallel to lower platform plane
A point O on the platform line of centres, constitute that three shaft axis are coplanar and on two central platform line of junction any geometrical relationship (altogether
Face concurrent), the geometric constitution in the space determines that 3-RPS type parallel institution of the present invention has the sky of 3 freedom degrees of Three dimensional rotation
Between parallel institution.
By analysis of spatial mechanism, Structure Configuration Synthesis and the theory deduction to 3-RPS type parallel institution, three sets of Rational choice straight
Bar length, collapsing length, space angle and the upper and lower platform size and flexural pivot hard-over of line driving device realize antenna work
Reach orientation as airspace: 0 °~360 °, pitching: -90 ° of 90 ° of < pitch angle < are (assuming that antennas orthogonal horizontal plane is oriented to towards day and bows
0 ° of elevation angle position) work airspace without unusual pose problem, realize that space remote sensing, telemetry and telecommand antenna are continuous in work airspace
The antenna structure system of tracking.The antenna system that the invention is constituted with corresponding feed system and servo-control system, realization are defended
The telemetered signal and data in the effective airspace of the aircraft such as star, carrier rocket satisfactorily resolve Passing zenith tracing " blind area " problem, realize work
Make a kind of Three dimensional rotation type (the 3 rotational freedoms) antenna system of airspace without tracking blind area.
Conceived according to foregoing invention, the present invention adopts the following technical solutions:
A kind of antenna structure system based on 3-RPS Three dimensional rotation type parallel institution is coupled by an antenna reflector (5)
One antenna pedestal (6) is constituted, it is characterised in that: the antenna pedestal (6) includes: upper mounting plate (11), lower platform (14) and three phases
Same branch, upper mounting plate Δ abc and lower platform Δ ABC are equilateral triangle, upper and lower two equilateral triangles position consistency, and
Be parallel to each other installation, and each branch includes: the linear expansion driving device (12) an of servo motor (13) and its driving,
The upper end of the linear expansion driving device (12) is connected with upper mounting plate (11) lower end by flexural pivot S, lower end and lower platform (14)
Upper end by revolute pair R be connected, the structure snd size of 3 branches are all the same, be arranged symmetrically in being separated by 120 °, three branches with it is upper
The center of the flexural pivot S of platform lower end connection constitutes equilateral triangle Δ def, the center for the revolute pair R connecting with lower platform upper end
Constitute equilateral triangle Δ DEF, each branch and linear expansion driving device (12), the equilateral triangle of each branch lower end connection
It is total to constitute three shaft axis each parallel to Δ DEF plane for the shaft axis of 3 revolute pairs (R) on shape Δ DEF angle point
Face, and a point O on the two equilateral triangle line of centres of junction Δ def and Δ DEF, i.e. composition " coplanar concurrent " geometrical characteristic, should
The space geometry of antenna pedestal constitutes the space parallel mechanism for determining that the 3-RPS Three dimensional rotation type parallel institution has Three dimensional rotation.
The above-mentioned antenna structure system based on 3-RPS Three dimensional rotation type parallel institution, is analyzed and is calculated, and one group of machine is obtained
Structure structural parameters and space geometry relationship, enable the antenna structure system based on 3-RPS Three dimensional rotation type parallel institution
Realize that Antenna Operation airspace reaches orientation: 0 °~360 °, pitching: the work airspace of -90 ° of 90 ° of < pitch angle < is (assuming that antenna hangs down
Straight horizontal plane is oriented to 0 ° of position of pitch angle towards day), it can be achieved that the antenna structure system that non-blind area is continuously tracked in work airspace.
The structure of above-mentioned antenna reflector is: back frame structure is with outside a centerbody, back frame structure upper surface is laid with
Main reflector panel, centerbody install subreflector by a support construction.
The beneficial effects of the present invention are: classical elevation-azimuth type (EL-AZ type) antenna can satisfactorily be solved in antenna
It crosses zenith " area Mang Zhui " airspace and satellite problem is continuously tracked, realize space remote sensing, satellite remote sensing telemetered signal and satellite communication letter
Number and the uninterrupted continuous work of information demand.And the antenna of same bore, technical indicator, inventive antenna structural system
Weight is significantly lower than classical elevation-azimuth type (EL-AZ type) antenna weights, especially more obvious in large aperture antenna, only
It is the 40%~60% of elevation-azimuth type (EL-AZ type) antenna weights, production cost is greatly saved.
Detailed description of the invention
Fig. 1: being the structural block diagram of 3-RPS Three dimensional rotation type parallel antenna structure system of the invention.
Fig. 2: being the structural schematic diagram of 3-RPS Three dimensional rotation type parallel antenna structure system of the invention.
Fig. 3: being the posture schematic diagram that the type antenna elevation angle of 3-RPS Three dimensional rotation shown in Fig. 2 is E, it is assumed that antennas orthogonal water
Plane is oriented to 0 ° of position of pitch angle towards day.
Fig. 4: being the schematic diagram of the antenna reflector of 3-RPS Three dimensional rotation type parallel antenna structure system of the present invention.
Fig. 5: being the top view of Fig. 4.
Fig. 6: being the structural schematic diagram of the antenna pedestal of 3-RPS Three dimensional rotation type parallel antenna structure system of the present invention.
Fig. 7: being the cross-sectional view (vertical view) of Fig. 6.
Fig. 8: being the cross-sectional view (looking up) of Fig. 6.
Specific embodiment
A preferred embodiment of the present invention is described with reference to the drawings as follows:
Showing inventive antenna system (1) in Fig. 1 is by antenna structure system (2) and corresponding feed system (3), servo
Control system (4) and its corresponding matched electronic equipment collectively constitute, and realize automatic tracking satellite and aircraft, complete satellite or
Aircraft signal and data transmitting, analysis and processing.
Referring to figs. 2 and 3, this parallel antenna structure system is made of antenna reflector (5) and antenna pedestal (6).
It (is feedovered without subreflector, only with Fig. 5, this antenna structure system antenna reflector (5) by subreflector referring to fig. 4
Rear feed pattern has subreflector) and its support construction (7), main reflector panel (8), back frame structure (9) and centerbody (10) group
At.
Referring to Fig. 6, Fig. 7 and Fig. 8, the antenna pedestal (6) of this antenna structure system is driven by upper mounting plate (11), three sets of linear expansions
Dynamic device (12) and its servo motor (13), lower platform (14) and ground rack (15) composition.Servo-control system is according to tracking
It is required that instruction servo motor (13) drives three sets of space linear expansion device (12), to drive upper mounting plate (11) to realize antenna-reflected
The satellite or aircraft that body tracks needed for being directed toward realize signal, information exchange or reception by feed system.
Above-mentioned linear expansion driving device (12) and its servo motor (13) can be worm drive (such as: feed screw nut
Transmission mechanism), nut is directly driven by servo motor or drives its rotation by transmission device, so that screw rod straight line be made to move
It is dynamic；It is also possible to servo motor to directly drive or drive an oil pump to provide power oil by transmission device, is driven by power oil
Dynamic oil cylinder makes piston rod move linearly.
Claims (5)
1. a kind of antenna structure system based on 3-RPS Three dimensional rotation type parallel institution is coupled one by an antenna reflector (5)
A antenna pedestal (6) is constituted, it is characterised in that: the antenna pedestal (6) includes: that upper mounting plate (11), lower platform (14) are identical with three
Branch, upper mounting plate and lower platform are respectively equilateral triangle △ abc, equilateral triangle △ ABC, upper and lower two equilateral triangle
Position consistency, and the installation that is parallel to each other, each branch include: the linear expansion driving dress of a servo motor (13) and its driving
(12) are set, the upper end of the linear expansion driving device (12) is connected with upper mounting plate (11) lower end by flexural pivot S, and lower end is put down with lower
Platform (14) upper end is connected by revolute pair R, and the structure snd size of 3 branches are all the same, are arranged symmetrically in being separated by 120 °, three branch
The center for the flexural pivot S that chain is connect with upper mounting plate lower end constitutes equilateral triangle △ def, the revolute pair R connecting with lower platform upper end
Center constitute equilateral triangle △ DEF, 3 revolute pair R on the equilateral triangle △ DEF angle point of each branch lower end connection
Shaft axis each parallel to △ DEF plane, to keep the shaft axis of 3 revolute pair R coplanar, and junction △ def and △ DEF
The space geometry composition of a point O on the two equilateral triangle lines of centres, i.e. composition " coplanar concurrent " geometrical characteristic, the antenna pedestal are determined
The fixed 3-RPS Three dimensional rotation type parallel institution has the space parallel mechanism of Three dimensional rotation.
2. the antenna structure system according to claim 1 based on 3-RPS Three dimensional rotation type parallel institution, feature exist
In: it is analyzed and is calculated, obtained one group of mechanism structure parameter and its space geometry relationship, enable the antenna structure system real
Existing Antenna Operation airspace reaches orientation: 0 °~360 °, pitching: the work airspace of -90 ° of 90 ° of < pitch angle < is, it can be achieved that work is empty
The antenna structure system that non-blind area is continuously tracked in domain, wherein antennas orthogonal horizontal plane is defined as 0 ° of pitch angle towards day direction
Position.
3. the antenna structure system according to claim 1 based on 3-RPS Three dimensional rotation type parallel institution, feature exist
In: three linear expansion driving device (12) lower ends pass through respectively one of revolute pair R and the lower platform (14) upper surface it is convex
Block connection, the upper end passes through flexural pivot respectively and connect with a convex block of upper mounting plate (11) bottom surface.
4. the antenna structure system according to claim 1 based on 3-RPS Three dimensional rotation type parallel institution, feature exist
In: the upper mounting plate (11) is fixedly connected with antenna reflector (5), and the lower platform (14) and ground rack (15) or antenna carry
The connection of body rack.
5. the antenna structure system according to claim 1 based on 3-RPS Three dimensional rotation type parallel institution, feature exist
In: the structure of the antenna reflector (5) is: being with back frame structure (9) outside a centerbody (10), table on back frame structure (9)
Face is laid with main reflector panel (8), and centerbody (10) installs subreflector (7) by a support construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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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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| CN104157977A CN104157977A (en) | 2014-11-19 |
| CN104157977B true CN104157977B (en) | 2019-07-26 |
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Families Citing this family (9)
| 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 |
| 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 |
| 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 |
| CN108714887B (en) * | 2018-05-23 | 2020-10-27 | 西安工程大学 | Spatial parallel mechanism with three degrees of freedom |
| 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 |
| 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 |
| CN112310645B (en) * | 2020-11-06 | 2022-06-21 | 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 |
| 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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| CN102119903A (en) * | 2011-02-28 | 2011-07-13 | 上海大学 | Traditional Chinese medicine theory-based waist massage medical instrument |
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| CN102119903A (en) * | 2011-02-28 | 2011-07-13 | 上海大学 | Traditional Chinese medicine theory-based waist massage medical instrument |
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