CN105186142A - 3/6-SPU type parallel mechanism based antenna structural system - Google Patents
3/6-SPU type parallel mechanism based antenna structural system Download PDFInfo
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- CN105186142A CN105186142A CN201510626192.1A CN201510626192A CN105186142A CN 105186142 A CN105186142 A CN 105186142A CN 201510626192 A CN201510626192 A CN 201510626192A CN 105186142 A CN105186142 A CN 105186142A
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Abstract
The invention relates to a parallel mechanism based antenna structural system. The parallel mechanism based antenna structural system comprises an antenna reflector jointed with an antenna mount; the antenna mount is structured in a mode that six straight line telescopic driving apparatuses are respectively driven by six servo motors or hydraulic oil cylinders; the adjacent two upper ends of the six straight line telescopic driving apparatuses are crossed and hinged with the lower surface of a triangular upper platform through a spherical hinge while the adjacent lower ends of the six straight line telescopic driving apparatuses are hinged with the upper surface of a hexagonal lower platform through hooke joints (universal joints); the upper platform and the lower platform are separated at an angle of 60 degrees; six sets of straight line telescopic apparatuses are linked with the upper platform and the lower platform through three spherical hinges and six hooke joints (universal joints) to constitute the 3/6-SPU type parallel mechanism based antenna structural system. The 3/6-SPU type parallel mechanism based antenna structural system can realize overtop continuous tracing of the antenna, and can reach a pitch of minus 5 degrees to 185 degrees at the position within 0 to 360 degrees (assumed that the angle of pitch of the antenna in the horizontal plane is 0 degree or 180 degrees), so that continuous tracing at any position postures exceeding semispherical working airspace is realized.
Description
Art
The present invention relates to a kind of antenna structure system based on 3/6-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 :-5 ° ~ 185 °, 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.Because the anti-solution of the equation of motion solving parallel institution is comparatively easy, be 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 3/6-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 universal hinge (Hooke's hinge), forms Stewart platform mechanism.6 cover linear telescopic devices, by 3 ball pivots and 6 universal hinges (Hooke's hinge) and upper and lower platform linkage, realize 3/6-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 3/6-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 :-5 ° ~ 185 °, 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, by a ball pivot and a upper mounting plate hinge after the adjacent two upper end junctions of these six linear telescopic drive units, its lower end is respectively by universal hinge (Hooke's hinge) and once Platform hinge, 6 cover linear telescopic devices by 3 ball pivots and 6 universal hinges (Hooke's hinge) with upper, lower platform links, form a kind of based on 3/6-SPU type parallel antenna structure system.
Be hinged by a projection of a ball pivot and described upper mounting plate bottom surface after adjacent two upper end junctions of six above-mentioned linear telescopic drive units, and adjacent two lower ends are hinged with a projection of one piece of lower platform upper surface with described by Hooke's hinge (universal hinge).
Above-mentioned upper mounting plate triangle, lower platform is hexagon, and upper mounting plate triangle differs 60 ° with lower platform hexagon position, 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 erection main reflector panel, centerbody and back frame structure install subreflector and feed 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 3/6-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-5 °.
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 (6)
1. the antenna structure system based on 3/6-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: 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 ball pivot with one piece of upper mounting plate (11), and lower end and one piece of lower platform (14) are connected by universal hinge (Hooke's hinge), 6 cover linear telescopic devices by 3 ball pivots and 6 universal hinges (Hooke's hinge) with upper, lower platform links, form a kind of based on 3/6-SPU type parallel antenna structure system.
2. parallel antenna structure system according to claim 1, it is characterized in that described upper mounting plate (11) is triangle, lower platform (14) is hexagon, and upper triangle differs 60 ° with lower hexagon position, and the installation that is parallel to each other.
3. parallel antenna structure system according to claim 1, it is characterized in that the described antenna structure system mechanism based on 3/6-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 :-5 ° ~ 185 °, orientation: the large rotation angular movement in the hemispherical spatial domain of 0 ° ~ 360 ° (suppose horizontal plane be the angle of pitch be 0 ° or 180 °), realizes the antenna structure system of hemispherical work spatial domain Continuous Tracking.
4. parallel antenna structure system according to claim 1, be hinged by a projection of a ball pivot and described upper mounting plate (11) bottom surface after it is characterized in that the two upper end junctions that described six linear telescopic drive units (12) are adjacent, and often adjacent two lower ends are hinged with a projection of one piece of lower platform (14) upper surface with described each via Hooke's hinge (universal hinge) 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, 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 erection main reflector panel (8), centerbody (10) installs subreflector (7) by a supporting construction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510626192.1A CN105186142A (en) | 2015-09-28 | 2015-09-28 | 3/6-SPU type parallel mechanism based antenna structural system |
| CN201910961579.0A CN110970735A (en) | 2015-09-28 | 2015-09-28 | Antenna structure system based on 3/6-SPU type parallel mechanism |
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| CN201510626192.1A CN105186142A (en) | 2015-09-28 | 2015-09-28 | 3/6-SPU type parallel mechanism based antenna structural system |
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| CN201910961579.0A Division CN110970735A (en) | 2015-09-28 | 2015-09-28 | Antenna structure system based on 3/6-SPU type parallel mechanism |
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| CN105186142A true CN105186142A (en) | 2015-12-23 |
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| CN201510626192.1A Pending CN105186142A (en) | 2015-09-28 | 2015-09-28 | 3/6-SPU type parallel mechanism based antenna structural system |
| CN201910961579.0A Pending CN110970735A (en) | 2015-09-28 | 2015-09-28 | Antenna structure system based on 3/6-SPU type parallel mechanism |
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| US6987492B1 (en) * | 2004-07-14 | 2006-01-17 | L-3 Communications Corporation | Tetrahedral positioner for an antenna |
| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
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| CN104218301A (en) * | 2014-09-03 | 2014-12-17 | 上海创投机电工程有限公司 | 3-UPU two-to-one parallel mechanism antenna structure system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO1998040761A1 (en) * | 1997-03-11 | 1998-09-17 | Orbit Communications, Tracking And Telemetry Ltd. | Satellite tracking 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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2015
- 2015-09-28 CN CN201510626192.1A patent/CN105186142A/en active Pending
- 2015-09-28 CN CN201910961579.0A patent/CN110970735A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6987492B1 (en) * | 2004-07-14 | 2006-01-17 | L-3 Communications Corporation | Tetrahedral positioner for an antenna |
| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
| CN102904017A (en) * | 2012-06-28 | 2013-01-30 | 上海创投机电工程有限公司 | Antenna structure system of parallel mechanism in super-hemisphere working airspace |
| CN104218301A (en) * | 2014-09-03 | 2014-12-17 | 上海创投机电工程有限公司 | 3-UPU two-to-one parallel mechanism antenna structure system |
Non-Patent Citations (1)
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| 戴文伟 等: ""6-3型Stewart平台并联机构的运动学正解"", 《机械设计与制造工程》 * |
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Application publication date: 20151223 |