| 偏轴反射镜平台视轴稳定技术及建模分析 |
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| 引用本文： | 宋江鹏,孙广利,周荻,李丹.偏轴反射镜平台视轴稳定技术及建模分析[J].红外与激光工程,2015,44(8):2484-2490. |
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| 作者姓名： | 宋江鹏 孙广利 周荻 李丹 |
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| 作者单位： | 1.哈尔滨工业大学 控制科学与工程系,黑龙江 哈尔滨 150001; |
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| 摘 要： | 常规反射镜平台采用方位/俯仰型两框架结构形式,探测器视轴平行于外框架旋转轴。区别于常规反射镜平台,偏轴反射镜平台不再遵循探测器视轴与外框架旋转轴平行的原则,其视轴角速度具有强耦合和非线性的特点。主要研究了这类偏轴反射镜平台的运动学、动力学建模和视轴稳定机理。首先,采用虚拟整体稳定平台技术推导平台运动学方程,并确定了虚拟平台框架类型的选取原则。在此基础上推导了完整的视轴坐标系动力学模型。然后,对载体运动耦合机制进行了分析并给出了控制框图。最后,对视轴运动特性进行仿真分析。仿真结果表明,该平台在视轴指向、力矩耦合等方面具有不同于常规反射镜平台的特性,且由视轴运动非线性引起的视轴交叉耦合力矩大于惯量耦合力矩。
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| 关 键 词： | 偏轴反射镜 虚拟整体稳定 运动学模型 动力学模型 |
| 收稿时间： | 2014-12-05 |
Line-of-sight stabilization and modeling analysis of bias shafting mirror platform |
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| Affiliation: | 1.Department Control Science and Engineering,Harbin Institute of Technology,Harbin 150001,China;2.Tianjin Jinhang Institute of Technical Physics,Tianjin 300308,China |
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| Abstract: | The conventional mirror stabilized platform consists of two-axis azimuth-elevation gimbal axes and the sensor input Line-of-sight (LOS) is always oriented parallel to the outer gimbal axis. Compared with conventional mirror platform, the bias shafting mirror gimbal axis can have an arbitrary orientation with respect to the sensor LOS, and the resulting LOS kinematics are both axis-coupled and non-linear. The primary purpose of this paper is to study LOS kinematics and dynamic modeling of this bias shafting mirror. Firstly, the artificial mass stabilization platform method was proposed to derive LOS kinematics. Meanwhile, the artificial platform gimbal type was determined to derive equations of dynamics. And a complete dynamics model was presented based on LOS coordinate system. Then, the carrier motion coupling was analyzed and system control block diagrams were developed. Lastly, simulation results show that the characteristics of LOS pointing and torque coupling is different between the bias shafting and conventional mirror platform. |
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