CN106250609B - A kind of heavy caliber annular reflector distribution type non-linear driving method of deploying - Google Patents
A kind of heavy caliber annular reflector distribution type non-linear driving method of deploying Download PDFInfo
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- CN106250609B CN106250609B CN201610605499.8A CN201610605499A CN106250609B CN 106250609 B CN106250609 B CN 106250609B CN 201610605499 A CN201610605499 A CN 201610605499A CN 106250609 B CN106250609 B CN 106250609B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
- H01Q15/14—Reflecting surfaces; Equivalent structures
- H01Q15/18—Reflecting surfaces; Equivalent structures comprising plurality of mutually inclined plane surfaces, e.g. corner reflector
- H01Q15/20—Collapsible reflectors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/04—Constraint-based CAD
Abstract
A kind of heavy caliber annular reflector distribution type non-linear driving method of deploying, comprises the following steps that one, calculates the nonlinear object torque for obtaining annular reflector hinge, and obtain distal end hinge output torque TfarWith proximal end hinge output torque Tnear；Two, the corresponding relationship for obtaining driving gear corner and driven gear corner at the hinge of distal end at the hinge of distal end is calculatedThe corresponding relationship of driving gear corner and driven gear corner at the hinge of proximal end at the hinge of proximal endThree, the transmission ratio for being driven driven gear and driving gear at when proximal end hinge of driven gear and driving gear at the distal end hinge under any time is calculated；Four, according to transmission ratio ifar, transmission ratio inearIt calculates separately and obtains corresponding gear train.Present invention optimizes Energy distribution of system during expansion, and reduce motor output energy during expansion, to reduce deploying force.
Description
Technical field
The present invention relates to a kind of method of deploying of annular reflector, in particular to a kind of heavy caliber annular reflector cloth
Non-linear drive method of deploying.
Background technique
In recent years, micropower signal is received to detect, next-generation mobile communications satellite, reconnaissance spacecraft, data relaying are defended
Magnitude proposes the urgent need to the netted expandable antenna reflector of heavy caliber.In all kinds of net-shape antenna schemes, annular purlin
Posture deployable antenna with its structure type, receive than big, light-weight, easy realization heavy caliber reflecting surface by simple, high reliablity, exhibition
Feature becomes the large-scale spaceborne optimal structure type of deployable antenna at present.Typical annular truss-like deployable antenna is beauty
The Astromesh configuration that Northrop Grumman company of state proposes, is made of wire side system and circumferential annular expandable truss,
Wherein annular expandable truss is made of several parallelogram elements 0, as shown in Figure 1.In structure, antenna is in satellite launch
It collapses to reduce storage space；After entering the orbit, annular expandable truss is unfolded in driver rail and wire side is driven to be unfolded from state is collapsed
For operating conditions.The in-orbit success expansion of antenna is to determine the key point of satellite task success or failure.
As shown in Figure 1, loop aerial mainly passes through the driving of the motor 1 in expandable truss through unit diagonally opposing corner line bar
Dynamic ropes in part realize expansion.In view of under antenna rounding state, there are dead points for dynamic ropes driving, in the oblique right of each unit
The inner application preloading spring formula passive matrix device of expansion hinge 2 at linea angulata carries out motor after making reflector flick go-no-go again
Driving expansion, while expansion power-assisted is provided during motor expansion.
For the annular truss formula antenna of similar Astromesh configuration, engineering test and emulation show existing deployment schemes
In the presence of asynchronous problem is obviously unfolded.Itself main reason is that, at present centralization driving method under, motor driving force is through dynamic ropes
When transmitting to each unit, every by a unit tension, there are friction losses.Tension is from motor side distally unit since in this way
It unit can decay one by one when transmitting, the unit close apart from motor is caused first to be unfolded, be unfolded after the unit remote apart from motor.
Meanwhile in terms of whole system energy utilization angle, deployment schemes input energy utilization rate is low at present.Wherein, in bullet
Spring drives the stage, and the linear initial output torque of whirlpool spring is big, and wire side is loose and locked without unit at this time, required for system
Input energy is smaller, and most of energy that whirlpool spring is inputted is wasted；In the motor driven stage, in expansion latter stage expansion distant place list
It is tensioned when first along with wire side, needs to concentrate input energy, and motor is longer by dynamic ropes Path of Force Transfer at this time, friction causes
The tension for being transferred to distal end driving rope significantly reduces, so that required expansion power is excessive, energy loss is big.
Summary of the invention
The technical problems to be solved by the present invention are: overcome the deficiencies in the prior art, the invention proposes a kind of heavy calibers
Annular reflector distribution type non-linear drives method of deploying, optimizes Energy distribution of system during expansion, and reduce exhibition
Motor exports energy in open procedure, to reduce deploying force.
The technical scheme adopted by the invention is that: a kind of heavy caliber annular reflector distribution type non-linear driving expansion side
Method comprises the following steps that
Step 1: calculating the nonlinear object torque for obtaining annular reflector hinge, and obtain distal end hinge output torque
TfarWith proximal end hinge output torque Tnear: Tfar=step (Ts,θs,Td,θd)、Tnear=step (Ts,θs,Td/2,θd)；
Wherein, torque TsThe minimum torque of moment hinge is unfolded from rounding state for truss element；TdIt is last for deployable antenna
Maximum moment required for two units；θsFor torque TsThe corresponding expanded angle upper limit；θdFor torque TdUnder corresponding expanded angle
Limit；Proximal end hinge refers to the hinge at mounting position of motor, the hinge on the hinge finger ring shape reflector of distal end at motor farthest point
Chain；
Step 2: the conservation of energy according to distal end hinge, proximal end hinge is public in Meshing Process of Spur Gear under any time t
Formula:
It calculates separately and obtains driving tooth rotation at the hinge of distal end
Angle ψfarWith driven gear corner at the hinge of distal endCorresponding relationshipDriving gear corner ψ at the hinge of proximal endnear
With driven gear corner at the hinge of proximal endCorresponding relationship
Wherein, T0(ψfar) it is linear whirlpool spring output torque at driving gear input torque, with distal end hinge at the hinge of distal end
It is equal；T0(ψnear) it is driving gear input torque at the hinge of proximal end, it is equal with spring output torque in whirlpool linear at the hinge of proximal end；For driven gear output torque at the hinge of distal end, with distal end hinge output torque TfarIt is equal；For proximal end hinge
Locate driven gear output torque, with proximal end end hinge output torque TnearIt is equal；
Step 3: calculating the transmission ratio of driven gear and driving gear at the distal end hinge under any time
And at the hinge of proximal end driven gear and driving gear transmission ratio
Step 4: according to transmission ratio ifar, transmission ratio inearIt calculates separately and obtains corresponding gear train；Close to proximal end hinge
Hinge at installation with transmission ratio inearCorresponding gear train, installation and transmission ratio i at the hinge of distal end hingefarIt is corresponding
Gear train；It is θ that each truss element of motor driven, which is expanded to expanded angle,dAfterwards, distal end hinge first drives and is connected with distal end hinge
Truss element expansion, proximal end hinge drive again the truss element being connected with proximal end hinge be unfolded, then drive proximal end hinge and
Transition truss element between the hinge of distal end, until annular reflector is fully deployed.
Specific step is as follows for the nonlinear object torque of acquisition annular reflector hinge:
(1) when i-th across as one be finally unfolded across when, calculate obtain annular reflector wire side elastic potential energy E travelling with the exhibits on an exhibition tour
Open angle, θiChange curve；Wherein, two truss elements adjacent on annular reflector are one across expanded angle θiFor hinge
The supplementary angle of the angle of cross bar and vertical pole；I=1,2 ..., N/2；N is unit sum, is positive integer；
(2) it calculates and obtains the i-th across hinge driving moment TiWith expanded angle θiChange curve:And it obtains
Take i-th across as one be finally unfolded across when required maximum moment:
(3) maximum moment T required for obtaining deployable antenna most latter two unit is calculateddAre as follows:It can then obtain
Obtain hinge nonlinear object torque T:T=step (T in distributed drive schemes,θs,Td,θd)。
The installation method that the gear train of acquisition is calculated in the step 4 is as follows: according to proximal end hinge on annular reflector
Annular reflector upper hinge is divided into two parts, whole hinges of proximal end hinge side by the diameter vertical with the line of distal end hinge
It is respectively mounted and transmission ratio inearCorresponding gear train, whole hinges of distal end hinge side are respectively mounted and transmission ratio ifarIt is corresponding
Gear train.
The torque TsRange be >=1Nm.
The advantages of present invention is compared with prior art is:
(1) a kind of heavy caliber annular reflector distribution type non-linear proposed by the present invention drives method of deploying, according to netted
Antenna energy characteristics of demand is designed the power output of hinge；And hinge power output is distributed, so that the preferential exhibition in distal end
It opens；By the energy utilization during optimization antenna expansion, motor driving force acting is reduced, to reduce antenna expansion power.
(2) hinge still uses Hookean spring to provide input energy for driving hinge in the present invention, does not change hinge input
Gross energy, that is, do not need to increase Hookean spring rigidity to meet existing bulk constraint；Meanwhile hinge is non-linear defeated
Torque uses and carries out conversion realization to linear torsional spring output torque out.
(3) distributed method of deploying proposed by the present invention, is suitable for bigbore annular truss formula antenna and is unfolded, facilitate
20m or more heavy caliber loop aerial motor driving force is greatly reduced, improves expansion reliability；Slightly change can also be used for large umbrella
The expansion of shape radial direction ribbed antenna.
Detailed description of the invention
Fig. 1 is loop aerial structure and actuating device of the spring distribution schematic diagram.
Fig. 2 is hinge non-linear drive torque schematic diagram in the present invention.
Fig. 3 is the non-linear drive schematic device based on 4 grades of non-circular gears in the present invention.
Fig. 4 is the non-linear hinge driving moment schematic diagram that application example determines in the present invention.
Fig. 5 is application example hinge driving force distributed schematic diagram in the present invention.
Specific embodiment
A kind of heavy caliber annular reflector distribution type non-linear proposed by the present invention drives method of deploying, needs basis first
The practical wire side expansion power of loop aerial determines hinge output torque characteristic, it is later determined that different location hinge output torque in antenna
Size.Specifically comprise the following steps:
Step 1: determining hinge output torque characteristic
Feature is unfolded according to wire side antenna, antenna is maximum in the driving force that last stages of deployment needs, and curve in Fig. 2 is presented
Initial characteristic small, the expansion later period is big shown in b.Meanwhile to ensure that the enough deployable antennas of latter stage output torque are being unfolded in hinge,
It is required that each hinge output torque need to meet can be unfolded most latter two unit (by two neighboring unit be known as one across).
When i-th across as one be finally unfolded across when, calculate obtain annular reflector wire side elastic potential energy E with the angle of spread
Spend θiChange curve；I is positive integer (setting unit sum as N, then i=1,2 ..., N/2, N are positive integer)；
Under in-orbit agravic environment, when adjacent to expansion, hinge driving force work done is converted mainly into the bullet of wire side storage
Property potential energy.If the i-th across hinge driving moment is Ti, define expanded angle θiFor the supplementary angle of hinge cross bar and vertical pole angle, open up completely
Expanded angle is pi/2 when opening.Then the i-th across hinge driving moment and wire side potential energy E relationship are as follows:
For the wire side that structural parameters determine, wire side potential energy changes with truss change of configuration during expansion.Then
Can be according under different expanded angles, the elastic potential energy E of wire side is with expanded angle θiChange curve, and according to formula (1) obtain power
Square TiWith expanded angle θiRelationship, and obtain i-th across as one be finally unfolded across when required maximum moment Tdi:
Then maximum moment T required for deployable antenna most latter two unitdAre as follows:
If TsRequired minimum torque (T is flicked from complete rounding state for truss elements>=1Nm), then it is bent in Fig. 2
Hinge output torque characteristic T can be expressed with step function (batten) in the driving of distribution shown in line b are as follows:
T=step (Ts,θs,Td,θd) (4)
In formula, θsFor torque TsThe corresponding expanded angle upper limit；θdFor torque TdCorresponding expanded angle lower limit.
Step 2: hinge power output is distributed
In order to realize that far-end unit is preferentially unfolded, far-end unit chain maximum output torque is designed as the one of proximal end unit
Times, then distal end hinge and proximal end hinge output torque characteristic T in distributed deployment schemesfar、TnearStep function (batten) can be used
Expression are as follows:
Tfar=step (Ts,θs,Td,θd) (5)
Tnear=step (Ts,θs,Td/2,θd) (6)
Wherein, as shown in figure 5, proximal end hinge refers to the hinge at mounting position of motor c；Distal end hinge refers to that proximally hinge rises
The diametrically hinge at the f of line direction.
Step 3: hinge nonlinear object torque factor is realized
Above-mentioned gained hinge nonlinear object torque can pass through a kind of " space based on non-circular gear of the patents such as Zhao Zhihua
Driver is unfolded in net-shape antenna passive type " in scheme realize that implementation method is by increasing single-stage or more to linear torsional spring
Grade noncircular gear pair conversion output is realized.Non-linear drive device based on 4 grades of non-circular gears is as shown in figure 3, mainly by linear
Scroll spring 3, driving gear 4, level Four noncircular gear pair 5~8 and driven gear 9 form；Wherein, linear scroll spring 3 is hinge
Chain provides input energy, and scroll spring 3 is converted to linear input torque by driving gear 4, and noncircular gear pair 5~8 is according to spy
The non-circular gear engagement of stable drive ratio function requirements design, it is non-linear required for the linear torque of driving gear 4 is converted to
Torque.
The key of noncircular gear pair pitch curve design is the determination of transmission ratio function, and gear ratio calculation method is given below.
In Meshing Process of Spur Gear under any time t, according to distal end hinge, the conservation of energy formula of proximal end hinge:
It is calculated separately according to above formula and obtains driving gear corner ψ at the hinge of distal endfarWith driven gear corner at the hinge of distal endCorresponding relationshipDriving gear corner ψ at the hinge of proximal endnearWith driven gear corner at the hinge of proximal end
Corresponding relationship
Wherein, T0(ψfar) it is linear whirlpool spring output torque at driving gear input torque, with distal end hinge at the hinge of distal end
It is equal；T0(ψnear) it is driving gear input torque at the hinge of proximal end, it is equal with spring output torque in whirlpool linear at the hinge of proximal end；For driven gear output torque at the hinge of distal end, with distal end hinge output torque TfarIt is equal；For proximal end hinge
Locate driven gear output torque, with proximal end end hinge output torque TnearIt is equal；
Calculate the transmission ratio of driven gear and driving gear at the distal end hinge under any timeAnd
The transmission ratio of driven gear and driving gear at the hinge of proximal end
Step 4: according to transmission ratio ifar, transmission ratio inearCorresponding non-circular gear system is separately designed, so that realizing will show
There is the Linear Driving torque in scheme to be converted to non-linear drive torque；Installation and transmission ratio at the hinge of proximal end hinge
inearCorresponding gear train, installation and transmission ratio i at the hinge of distal end hingefarCorresponding gear train.According to anti-with annular
Annular reflector upper hinge is divided into two parts, proximal end hinge by the proximal end hinge diameter vertical with the line of distal end hinge in emitter
Whole hinges of side are respectively mounted and transmission ratio inearWhole hinges of corresponding gear train, distal end hinge side are respectively mounted and pass
It is dynamic to compare ifarCorresponding gear train.After motor power-up expansion, each truss element of motor driven is slowly unfolded, when each truss element exhibition
Angle of release degree is close to θdWhen, hinge output torque increases sharply, and under the big driving moment effect of distal end hinge, connects with distal end hinge
The truss element connect is first unfolded, and the truss element being connected with proximal end hinge is then unfolded, between distal end hinge and proximal end hinge
Transition truss element is finally unfolded.
Embodiment:
By taking unit number is 30, expansion bore is the Astromesh loop aerial of 16m as an example.If the linear whirlpool that hinge uses
The corresponding initial torque 4Nm of spring, torque is 2Nm after expansion, and I is change curve of the hinge driving moment with expanded angle in Fig. 4,
II, III are respectively the proximally and distally nonlinear spring output torque characteristic for using formula (4), (5) to determine.
According to " a method of driver is unfolded in the spatial networks antenna passive type based on non-circular gear " in, it can be designed
The conversion equipment engaged using 4 grades of non-circular gears realizes the conversion to existing linear torsional spring power.
Fig. 5 is element number and proximally and distally hinge driving force distributed, c are mounting position of motor, unit 7 in the d of region
~22 hinge driving moment curves are curve II in Fig. 4, unit 0~6,23~29 hinge driving moment curve of unit in the e of region
For curve III in Fig. 4.First it is unfolded using program far-end unit, the motor driving force that the expansion of all units needs is emulated into knot
Fruit is 17.7N；As a comparison, when normal linear spring is housed, motor end unit is first unfolded, the electricity that the expansion of all units is needed
Machine driving force simulation result is 403N.Contrast simulation as a result, motor driving force needed for this patent proposed scheme much smaller than general
Logical Hookean spring operating condition, absolutely proves the validity of this patent scheme.
What description of the invention was not described in detail partly belongs to the common knowledge of those skilled in the art.
Claims (4)
1. a kind of heavy caliber annular reflector distribution type non-linear drives method of deploying, which is characterized in that comprise the following steps that
Step 1: calculating the nonlinear object torque for obtaining annular reflector hinge, and obtain distal end hinge output torque TfarWith
Proximal end hinge output torque Tnear: Tfar=step (Ts,θs,Td,θd)、Tnear=step (Ts,θs,Td/2,θd)；
Wherein, torque TsThe minimum torque of moment hinge is unfolded from rounding state for truss element；TdFor deployable antenna most latter two
Maximum moment required for unit；θsFor torque TsThe corresponding expanded angle upper limit；θdFor torque TdCorresponding expanded angle lower limit；
Proximal end hinge refers to the hinge at mounting position of motor, the hinge on the hinge finger ring shape reflector of distal end at motor farthest point；
Step 2: in Meshing Process of Spur Gear under any time t, according to distal end hinge, the conservation of energy formula of proximal end hinge:
It calculates separately and obtains driving tooth rotation at the hinge of distal end
Angle ψfarWith driven gear corner at the hinge of distal endCorresponding relationshipDriving gear corner ψ at the hinge of proximal endnear
With driven gear corner at the hinge of proximal endCorresponding relationship
Wherein, T0(ψfar) it is driving gear input torque at the hinge of distal end, it is equal with spring output torque in whirlpool linear at the hinge of distal end；
T0(ψnear) it is driving gear input torque at the hinge of proximal end, it is equal with spring output torque in whirlpool linear at the hinge of proximal end；
For driven gear output torque at the hinge of distal end, with distal end hinge output torque TfarIt is equal；At the hinge of proximal end
Driven gear output torque, with proximal end end hinge output torque TnearIt is equal；
Step 3: calculating the transmission ratio of driven gear and driving gear at the distal end hinge under any time
And at the hinge of proximal end driven gear and driving gear transmission ratio
Step 4: according to transmission ratio ifar, transmission ratio inearIt calculates separately and obtains corresponding gear train；Close to the hinge of proximal end hinge
Place's installation and transmission ratio inearCorresponding gear train, installation and transmission ratio i at the hinge of distal end hingefarCorresponding gear
System；It is θ that each truss element of motor driven, which is expanded to expanded angle,dAfterwards, distal end hinge first drives the truss being connected with distal end hinge
Unit expansion, proximal end hinge drive the truss element being connected with proximal end hinge to be unfolded again, and proximal end hinge and distal end is then driven to cut with scissors
Transition truss element between chain, until annular reflector is fully deployed.
2. a kind of heavy caliber annular reflector distribution type non-linear according to claim 1 drives method of deploying, feature
It is, specific step is as follows for the nonlinear object torque of acquisition annular reflector hinge:
(1) when i-th across as one be finally unfolded across when, calculate obtain annular reflector wire side elastic potential energy E with the angle of spread
Spend θiChange curve；Wherein, two truss elements adjacent on annular reflector are one across expanded angle θiFor hinge cross bar
With the supplementary angle of the angle of vertical pole；I=1,2 ..., N/2；N is unit sum, is positive integer；
(2) it calculates and obtains the i-th across hinge driving moment TiWith expanded angle θiChange curve:And obtain i-th
Across as one be finally unfolded across when required maximum moment:
(3) maximum moment T required for obtaining deployable antenna most latter two unit is calculateddAre as follows:It then can get and divide
Hinge nonlinear object torque T:T=step (T in cloth drive schemes,θs,Td,θd)。
3. a kind of heavy caliber annular reflector distribution type non-linear according to claim 1 or 2 drives method of deploying, special
Sign is that the installation method that the gear train of acquisition is calculated in the step 4 is as follows: according to proximal end hinge on annular reflector
Annular reflector upper hinge is divided into two parts, whole hinges of proximal end hinge side by the diameter vertical with the line of distal end hinge
It is respectively mounted and transmission ratio inearCorresponding gear train, whole hinges of distal end hinge side are respectively mounted and transmission ratio ifarIt is corresponding
Gear train.
4. a kind of heavy caliber annular reflector distribution type non-linear according to claim 1 or 2 drives method of deploying, special
Sign is, the torque TsRange be >=1Nm.
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| CN107944139B (en) * | 2017-11-23 | 2021-04-13 | 西安空间无线电技术研究所 | Parametric modeling method for mesh reflector antenna |
| CN110953306B (en) * | 2019-12-17 | 2021-06-18 | 清华大学 | Non-linear spring mechanism based on non-circular planetary gear |
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