CN110970735A - Antenna structure system based on 3/6-SPU type parallel mechanism - Google Patents
Antenna structure system based on 3/6-SPU type parallel mechanism Download PDFInfo
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- CN110970735A CN110970735A CN201910961579.0A CN201910961579A CN110970735A CN 110970735 A CN110970735 A CN 110970735A CN 201910961579 A CN201910961579 A CN 201910961579A CN 110970735 A CN110970735 A CN 110970735A
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Abstract
The invention relates to a parallel mechanism antenna. The antenna structure system is formed by connecting an antenna reflector with an antenna seat frame, wherein the antenna seat frame is formed by respectively driving six linear telescopic driving devices by six servo motors or hydraulic oil cylinders, the adjacent upper ends of the six linear telescopic driving devices are hinged with the lower surface of the triangular upper platform through a spherical hinge after being converged, the adjacent lower ends of the six linear telescopic driving devices are respectively hinged with the upper surface of the hexagonal lower platform through a Hooke hinge (universal hinge), the positions of the upper platform and the lower platform are separated by 60 degrees, and 6 sets of linear telescopic devices are connected with the upper platform and the lower platform through 3 spherical hinges and 6 universal hinges (Hooke hinges) to form the antenna structure system based on the 3/6-type parallel mechanism. The invention can realize the continuous tracking of the antenna over the top, and can achieve pitching: -5 ° to 185 °, orientation: and the angle of elevation of the antenna at the horizontal plane position is 0 degree to 360 degrees (the angle of elevation of the antenna at the horizontal plane position is assumed to be 0 degree or 180 degrees), so that the continuous tracking of any pose of the hyper-hemispherical working airspace is realized.
Description
Technical Field
The invention relates to an antenna structure system based on an 3/6-SPU type parallel mechanism. The antenna structure system is used for space remote sensing, satellite 'three remote' technology (remote sensing, remote sensing and remote control technology) and satellite communication. The antenna structure system, the servo control system and the feed source feeder system (short for antenna, servo and feed) form an antenna system, so that remote sensing, remote measuring and remote control information acquisition and instruction are realized, and satellite communication information transmission and processing are realized. Especially, the method can acquire telemetering signals and data of effective airspaces of aircrafts such as satellites and carrier rockets, realize a continuous tracking antenna system without overhead blind zones, and satisfactorily solve the problem that the antenna exceeds a hemispherical working airspace, namely pitching: -5 ° to 185 °, orientation: and (3) continuously tracking any pose of 0-360 degrees (assuming that the pitch angle of the antenna at the horizontal plane position is 0 degree or 180 degrees). The technical scheme of the invention belongs to the technical field of mechanical and electrical integration.
Background
The antenna reflector portion generally has: the main reflector panel, the back frame structure, the central body, the counterweight structure, the secondary reflector, the focusing device and the supporting structure or the feedforward supporting structure; the antenna pedestal part generally has: the antenna pedestal comprises an antenna pedestal supporting structure, a driving shaft system, a transmission device, a feeder line, a cable winding device, a data detection and transmission device and a safety protection device.
At present, a classic pitch-azimuth type (EL-AZ type) antenna is adopted by a known aerospace remote sensing and satellite 'three remote' technology (remote sensing, remote sensing and remote control technology) in the world, the pitch-azimuth type antenna has a 'blind cone' area which cannot be continuously tracked through the top of the antenna at the zenith position, the size of the blind cone area (namely the cone apex angle of the blind cone) depends on the distance between the antenna and an aircraft and the horizontal flying speed of the aircraft, the problem of continuous tracking through the top of the low orbit remote sensing antenna is not fully solved so far, the concept of tracking the 'blind cone' through the antenna is introduced, when a target is tracked through a classic pitch-azimuth type antenna seat, the azimuth speed of the antenna is β V/(R ∞epsilon) (wherein V is the horizontal speed of the flying of the target, R is the linear distance from the antenna to the target, epsilon is the elevation angle of the antenna, β is the azimuth speed of the antenna), when the target passes through the vicinity of the zenith of the antenna, the elevation angle of epsilon → 0, β ∈ → infinity, the power of the antenna is a limited driving power, and the antenna can not be driven by the pitch-azimuth type antenna, and the power is limited.
At present, in engineering practice, a 'blind cone' area incapable of 'over-the-top' continuous tracking exists in a pitching-azimuth type (EL-AZ type) antenna at the antenna zenith position, and the 'over-the-top' continuous tracking at the antenna zenith position cannot be realized by adopting a classical pitching-azimuth type antenna. The satellite ground station antenna can be constructed only at a position which avoids the tracking blind area of the satellite orbit passing through the antenna zenith.
The traditional classic remote sensing and telemetry low-orbit satellite antenna design generally adopts a pitching-azimuth type (EL-AZ type) antenna seat, which has a top-passing blind cone area, and the pitching-azimuth type antenna can not continuously track a satellite in an airspace in which the satellite passes the top-passing blind cone area, so that the requirement of continuous work of signals is met.
Disclosure of Invention
The invention aims to provide a parallel mechanism antenna structure system, which realizes a continuous tracking antenna system without an overhead blind area, satisfactorily solves the problem of continuous tracking of any attitude of a hemispherical working space of an antenna and realizes the continuous working requirement of satellite signals and data. Because the inverse solution of the motion equation of the parallel mechanism is easy to solve, the servo control is easy to realize.
In order to achieve the above purpose, the idea of the invention is that: the parallel mechanism has the unique advantages of high rigidity, high precision, high speed, high bearing capacity, simple structure, light weight, convenient control and the like, and the inverse solution of the motion equation of the parallel mechanism is convenient and easy and is easy to realize servo control. The design of the low-orbit satellite antenna applied to remote sensing and remote measuring gives full play to the characteristics of the parallel mechanism. An 3/6-SPU type parallel mechanism is used as an antenna pedestal, six sets of spatial linear telescopic driving devices are connected with an upper platform and a lower platform, the upper ends of the six sets of linear telescopic driving devices are respectively connected with the upper platform through spherical hinges, and the lower ends of the six sets of linear telescopic driving devices are respectively connected with the lower platform through universal hinges (Hooke hinges), so that an antenna pedestal of the parallel mechanism is formed. The 6 sets of linear expansion devices are connected with the upper platform and the lower platform through 3 spherical hinges and 6 universal hinges (Hooke hinges) to realize an 3/6-SPU type mechanism antenna seat frame. The upper platform is connected with various antenna reflectors through flange interfaces, the lower platform is fixed with a foundation, and the lower platform can also be connected with other carrier frames (such as frames of vehicles, ships, aircrafts and the like) to form a mobile antenna system. Through the analysis, the synthesis and the theoretical derivation of a spatial mechanism of an 3/6-SPU type parallel mechanism, the rod length, the telescopic length and the spatial angle of six sets of linear driving devices are reasonably selected, and the working airspace of the antenna can be pitching: -5 ° to 185 °, orientation: the antenna structure system has no singular position problem in the large-range rotation angle motion position of the hyper-hemispherical working airspace of 0-360 degrees (the horizontal plane is assumed to have a pitch angle of 0 degree or 180 degrees), and realizes space remote sensing, remote measurement and continuous tracking of the remote control antenna hyper-hemispherical working airspace. The antenna system formed by the antenna system and the corresponding feed source system and the servo control system realizes the telemetering signals and data of the effective airspace of aircrafts such as satellites, carrier rockets and the like, satisfactorily solves the problem of over-top tracking 'blind area', and realizes a special antenna system without tracking blind area in a hyper-hemispherical working airspace.
According to the inventive concept, the invention adopts the following technical scheme:
a parallel-link antenna structure system comprising an antenna reflector coupled to an antenna mount, wherein the antenna mount is configured to: six servo motors respectively drive six linear telescopic driving devices, two adjacent upper ends of the six linear telescopic driving devices are converged and then hinged with an upper platform through a spherical hinge, the lower ends of the six linear telescopic driving devices are hinged with a lower platform through universal hinges (Hooke hinges), and 6 sets of linear telescopic devices are connected with the upper platform and the lower platform through 3 spherical hinges and 6 universal hinges (Hooke hinges), so that the antenna structure system based on the 3/6-SPU type parallel mechanism is formed.
Two adjacent upper ends of the six linear telescopic driving devices are hinged with a lug on the lower bottom surface of the upper platform through a spherical hinge after being converged, and two adjacent lower ends of the six linear telescopic driving devices are hinged with a lug on the upper surface of a lower platform through a Hooke hinge (universal hinge).
The upper platform triangle and the lower platform are hexagons, and the upper platform triangle and the lower platform are arranged in parallel at a position difference of 60 degrees.
The upper platform is fixedly connected with the antenna reflector, and the lower platform is connected with the foundation frame or the antenna carrier frame.
The structure of the antenna reflector is as follows: a back frame structure is arranged outside the central body, a main reflector panel is arranged on the upper surface of the back frame structure, and the central body and the back frame structure are provided with a secondary reflector and a feed source through a supporting structure.
The invention has the beneficial effects that: the problem that a classical pitching-azimuth (EL-AZ) antenna continuously tracks the satellite in an airspace where the antenna passes through a zenith blind cone area can be satisfactorily solved, and the requirements of continuous work of space remote sensing, satellite remote sensing and remote measuring signals, satellite communication signals and information are realized. And the weight of the antenna structure system with the same caliber and technical index is obviously lower than that of a classical pitching-azimuth type (EL-AZ type) antenna, and is more obvious particularly when the antenna is a large-caliber antenna, and is only 50% -70% of the weight of the pitching-azimuth type (EL-AZ type) antenna, so that the production cost is greatly saved.
Drawings
FIG. 1: is a block diagram of the antenna system.
FIG. 2: is a schematic structural diagram of an 3/6-SPU type parallel mechanism antenna structure system of the present invention.
FIG. 3: is an attitude diagram of the antenna structure system shown in fig. 2 with an antenna pitch angle of-5 deg. (assuming a horizontal plane position with an antenna pitch angle of 0 deg. or 180 deg.).
FIG. 4: is a schematic diagram of an antenna reflector of the antenna structure system of the present invention.
FIG. 5: is a top view of fig. 4.
FIG. 6: is the structure diagram of the antenna frame of the antenna structure system of the invention.
FIG. 7: is a top view of fig. 6.
FIG. 8: is a bottom view of fig. 6.
Detailed Description
A preferred embodiment of the present invention is described below with reference to the accompanying drawings:
fig. 1 shows that the antenna system (1) is composed of an antenna structure system (2), a corresponding feed system (3), a servo control system (4) and corresponding matched electronic equipment, and realizes automatic tracking of a satellite and an aircraft, and transmission, analysis and processing of signals and data of the satellite or the aircraft are completed.
Referring to fig. 2 and 3, the parallel mechanism antenna structure system is composed of an antenna reflector (5) and an antenna pedestal (6).
Referring to fig. 4 and 5, the antenna reflector (5) of the antenna structure system consists of a sub-reflector (feedforward without sub-reflector, only feedback type with sub-reflector) and its supporting structure (7), a main reflector panel (8), a back frame structure (9) and a central body (10).
Referring to fig. 6, 7 and 8, the antenna base frame (6) of the antenna structure system is composed of an upper platform (11), six sets of linear telescopic driving devices (12) and servo motors (13) thereof, a lower platform (14) and a foundation frame (15). The servo control system instructs a servo motor (13) to drive six spatial sets of linear telescopic devices (12) according to the tracking requirement so as to drive the upper platform (11) to realize that the antenna reflector points to the satellite or aircraft to be tracked, and the feed source system realizes signal and information exchange or receiving.
The linear telescopic driving device (12) and the servo motor (13) thereof can be in screw transmission (such as a screw nut transmission mechanism), and a nut thereof is directly driven by the servo motor or is driven to rotate by the transmission device, so that the screw is linearly moved; the servo motor can be directly driven or an oil pump is driven by a transmission device to provide power oil, and the power oil drives the oil cylinder to enable the piston rod to move linearly.
Claims (5)
1. An antenna construction system based on a parallel mechanism of the 3/6-SPU type, formed by an antenna reflector (5) coupled to an antenna mount (6), characterized in that the antenna mount (6) is constructed as follows: six servo motor (13) drive six flexible drive arrangement of straight line (12) respectively, the upper end and an upper mounting plate (11) of these six flexible drive arrangement of straight line (12) are connected through the ball pivot, and the lower extreme is connected through universal hinge (hooke hinge) with a lower mounting plate (14), 6 sets of linear extension device are linked with upper and lower mounting plate through 3 ball pivots and 6 universal hinge (hooke hinge), constitute one kind and based on 3/6-SPU type parallel mechanism antenna, through analysis, calculation and trajectory planning optimize, obtain a set of mechanism structural parameter, make this parallel mechanism antenna structure system can realize that antenna work airspace reaches the pitch: -5 ° to 185 °, orientation: the antenna structure system realizes the continuous tracking of the hyper-hemispherical working airspace through the large-range rotation angle motion of the hyper-hemispherical airspace at 0-360 degrees (assuming that the horizontal plane has a pitch angle of 0 degree or 180 degrees).
2. The system of parallel-link architecture according to claim 1, wherein the upper platform (11) is triangular and the lower platform (14) is hexagonal, the upper and lower triangular and hexagonal being positioned 60 ° apart and being mounted parallel to each other.
3. The antenna structure system of parallel mechanism according to claim 1, wherein two adjacent upper ends of said six linear actuators (12) are hinged to a protrusion on the bottom surface of said upper platform (11) by a spherical hinge, and two adjacent lower ends are hinged to a protrusion on the top surface of a lower platform (14) by a hooke hinge.
4. The parallel-link antenna structure system according to claim 1, wherein the upper platform (11) is fixedly connected to the antenna reflector (5) and the lower platform (14) is connected to the ground frame (15) or the antenna carrier frame.
5. The system of parallel architecture antenna structure according to claim 1, characterized in that the structure of the antenna reflector (5) is: a back frame structure (9) is arranged on the periphery of a central body (10), a main reflector panel (8) is erected on the upper surface of the back frame structure (9), and a secondary reflector (7) is installed on the central body (10) through a supporting structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910961579.0A CN110970735A (en) | 2015-09-28 | 2015-09-28 | Antenna structure system based on 3/6-SPU type parallel mechanism |
| CN201510626192.1A CN105186142A (en) | 2015-09-28 | 2015-09-28 | 3/6-SPU type parallel mechanism based antenna structural system |
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| CN201510626192.1A Division CN105186142A (en) | 2015-09-28 | 2015-09-28 | 3/6-SPU type parallel mechanism based antenna structural system |
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| CN110970735A true CN110970735A (en) | 2020-04-07 |
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| CN201910961579.0A Pending CN110970735A (en) | 2015-09-28 | 2015-09-28 | Antenna structure system based on 3/6-SPU type parallel mechanism |
| CN201510626192.1A Pending CN105186142A (en) | 2015-09-28 | 2015-09-28 | 3/6-SPU type parallel mechanism based antenna structural system |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998040761A1 (en) * | 1997-03-11 | 1998-09-17 | Orbit Communications, Tracking And Telemetry Ltd. | Satellite tracking system |
| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
| CN201194250Y (en) * | 2008-04-21 | 2009-02-11 | 上海大学 | Six degree of freedom parallel mechanism antenna seat |
| 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 |
Family Cites Families (2)
| 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 |
| CN104218301B (en) * | 2014-09-03 | 2019-07-26 | 上海创投机电工程有限公司 | Bis- turn of one shifting type parallel antenna structure system of 3-UPU |
-
2015
- 2015-09-28 CN CN201910961579.0A patent/CN110970735A/en active Pending
- 2015-09-28 CN CN201510626192.1A patent/CN105186142A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998040761A1 (en) * | 1997-03-11 | 1998-09-17 | Orbit Communications, Tracking And Telemetry Ltd. | Satellite tracking system |
| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
| CN201194250Y (en) * | 2008-04-21 | 2009-02-11 | 上海大学 | Six degree of freedom parallel mechanism antenna seat |
| 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 |
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| CN105186142A (en) | 2015-12-23 |
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