基于球齿轮传动的新型指向平台系统研究
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摘要
指向平台技术在航天和军工方面具有广泛应用，受到了众多学者的关注。我国深空探测、光通信、激光武器等新技术的飞速发展，对指向平台提出了更高的技术要求。受平台结构形式、驱动形式、传感器以及技术水平等因素制约，现有的指向平台在负载能力、体积重量、指向精度等方面存在一定的不足。因此，研制负载能力强、指向精度高且体积和重量小的指向平台对推动指向平台的技术发展具有重要意义。
论文来源于国家部委预研项目“基于球齿轮传动的新型指向机构技术研究”。文章在总结现有指向平台优缺点的基础上，提出了一种新型指向平台设计方案。围绕该设计方案，论文进行了结构设计与分析、运动学和动力学建模研究、误差分析以及运动控制系统等方面的研究。主要研究内容如下：
1.提出了基于球齿轮传动的新型指向平台系统设计方案。总结了现有指向平台的特点，指出其存在的不足。在此基础上，提出新型指向平台设计方案：采用宏动指向平台和微动指向平台相结合的二级指向平台形式；采用球齿轮齿盘传动和XY轴结构设计宏动指向平台；采用柔性铰链传动设计微动指向平台。对球齿轮齿盘传动以及碟形弹簧进行了设计与分析；对柔性铰链构型进行了改进设计，计算了其柔度和运动精度，进行了有限元验证，并对其性能进行了数值分析和比较。在此基础上设计了二维柔性铰链和微动指向平台。
2.建立了新型指向平台的运动学和动力学模型。在分析球齿轮齿盘传动、XY轴结构形式的基础上，建立了宏动指向平台的运动学模型，并采用拉格朗日方程法建立了其动力学模型，并分别对其模型进行了仿真验证；在对微动指向平台结构进行一定简化的基础上，建立了微动指向平台的运动学模型，采用拉格朗日方程法建立其动力学模型，并进行了仿真验证。
3.对新型指向平台的误差问题进行了研究。分析了指向平台的误差源，在运动学模型基础上，采用多体系统运动学方法建立了新型指向平台的误差模型。为进一步提高其指向精度，对部分结构的弹性变形等因素进行了详细分析。在上述误差模型的基础上，对系统指向误差进行了仿真研究，采用最小二乘法进行参数辨识，并对其补偿结果进行了仿真分析和验证。
4.建立了新型指向平台的运动控制系统。提出了指向平台运动分层控制系统的总体方案，并对其硬件和软件设计进行了说明。根据动力学理论模型，推导了指向平台的被控模型。在此基础上，考虑前文建立的指向平台误差模型和系统非线性强耦合特性，设计了包含误差补偿器的BP网络PID解耦控制器，进行了控制系统仿真分析。
5.建立了多套新型指向平台的原理样机并进行了相关的试验工作。为选择合适的设计方案，建立了采用不同驱动形式和传动形式的新型指向平台原理样机四套，并对其优缺点进行了详细分析和比较；在确定设计方案的基础上，对文中研究的指向平台进行了试验与分析，验证了文中的理论分析结果和原理样机的部分性能指标。
The technology of pointing platform is used widely in spaceflight and militaryindustry, and it attracts more and more attention of technologists. With the rapidlydevelopment of our project of exploring the deep space, laser communication, and laserweapons, the technology requirement for pointing platform system is improved.Restricted by the structure, driver motor, sensors, and the technology level, pointingplatform can not meet the requirements very well. Consequently, it is important toresearch on the novel pointing platform system with big load capability, precisionpointing capability, and small volume and weight.
This paper is supported by the general equipement department pre research project“research on the novel pointing mechanism based on spherical gears”. After thesummarization of the existent pointing platform, a novel pointing platform designationis presented in this paper. Based on this designation, the structure designation andanalysis, kinematics and dynamics modeling, pointing error analysis, and movementcontrol system are discussed in this paper. The main contents are as follows:
1. A novel pointing platform designation based on spherical gear transmission ispresented in this paper. Summarize the charicteristics of the existent pointing platformsand indicate the limitation of them. Then the desination of a novel pointing platform ispresented: the form of two stages, macro and micro pointing platform, is adopted, thespherical gear transmission and XY axis structure are adopted to design the macropointing platform, and the flexure hinge transmission is adopted to design the micropointing platform. The spherical gear and the dish spring are designed and analyzed.The flxure hing designation is improved, its compliance and rotate precison areanalyzed and verified through finite element analysis, and its performance is simulatednumerically. Based on the analysis of the flexure hinge, the flexure hinge with tworotate dimensions and the micro pointing platform are designed.
2. Kinematics model and dynamics model of the novel pointing platform areestablished in this paper. Based on the analysis of the spherical gear transmission andthe XY axis structure, the kinematics model of macro pointing platform is established,the dynamics model is also established with Lagrange equation method, and the modelsare verified through simulation analysis. After several simplifications, the kinematicsmodel of the micro pointing platform is established, its dynamics model is alsoestablished with the Lagrange equation method, and the models are verified throughsimulation analysis.
3. The error of the novel pointing platform is analyzed in this paper. The sources oferrors are discussed. Based on multibody kinematics method and the kinematics modelestablished, the error model of the pointing platform is established. To improve the precison of the pointing platform, elastic deformations of some parts are analyzed.Based on the error model of the pointing platform, the error is calculated, the errorparameters are recognized with the least squre method, and the result is verified throughsimulation analysis.
4. The movement control system is established in this paper. The layeredcontrolsystem scheme is presented, and the designation of the hardware and software isindicated. Based on the dynamics model, the control model of the system is deduced.Considering the error model established in this paper and the nonlinear and strongcoupling characteristics of the system, the PID dismiss-coupling controller with BPneural network including error compensation is presented, and it is verified throughcontrol system simulation analysis.
5. Several testing novel pointing platforms are constructed, and several tests areconducted. Four different testing pointing platforms are established and compared withthe structure and the driver form to choose the best desination. Based on the bestdesignation, the pointing platform is tested and then analyzed. The theoretic conclusionsdeduced in this paper and some requirements for the pointing platform are verified.
论文来源于国家部委预研项目“基于球齿轮传动的新型指向机构技术研究”。文章在总结现有指向平台优缺点的基础上，提出了一种新型指向平台设计方案。围绕该设计方案，论文进行了结构设计与分析、运动学和动力学建模研究、误差分析以及运动控制系统等方面的研究。主要研究内容如下：
1.提出了基于球齿轮传动的新型指向平台系统设计方案。总结了现有指向平台的特点，指出其存在的不足。在此基础上，提出新型指向平台设计方案：采用宏动指向平台和微动指向平台相结合的二级指向平台形式；采用球齿轮齿盘传动和XY轴结构设计宏动指向平台；采用柔性铰链传动设计微动指向平台。对球齿轮齿盘传动以及碟形弹簧进行了设计与分析；对柔性铰链构型进行了改进设计，计算了其柔度和运动精度，进行了有限元验证，并对其性能进行了数值分析和比较。在此基础上设计了二维柔性铰链和微动指向平台。
2.建立了新型指向平台的运动学和动力学模型。在分析球齿轮齿盘传动、XY轴结构形式的基础上，建立了宏动指向平台的运动学模型，并采用拉格朗日方程法建立了其动力学模型，并分别对其模型进行了仿真验证；在对微动指向平台结构进行一定简化的基础上，建立了微动指向平台的运动学模型，采用拉格朗日方程法建立其动力学模型，并进行了仿真验证。
3.对新型指向平台的误差问题进行了研究。分析了指向平台的误差源，在运动学模型基础上，采用多体系统运动学方法建立了新型指向平台的误差模型。为进一步提高其指向精度，对部分结构的弹性变形等因素进行了详细分析。在上述误差模型的基础上，对系统指向误差进行了仿真研究，采用最小二乘法进行参数辨识，并对其补偿结果进行了仿真分析和验证。
4.建立了新型指向平台的运动控制系统。提出了指向平台运动分层控制系统的总体方案，并对其硬件和软件设计进行了说明。根据动力学理论模型，推导了指向平台的被控模型。在此基础上，考虑前文建立的指向平台误差模型和系统非线性强耦合特性，设计了包含误差补偿器的BP网络PID解耦控制器，进行了控制系统仿真分析。
5.建立了多套新型指向平台的原理样机并进行了相关的试验工作。为选择合适的设计方案，建立了采用不同驱动形式和传动形式的新型指向平台原理样机四套，并对其优缺点进行了详细分析和比较；在确定设计方案的基础上，对文中研究的指向平台进行了试验与分析，验证了文中的理论分析结果和原理样机的部分性能指标。
The technology of pointing platform is used widely in spaceflight and militaryindustry, and it attracts more and more attention of technologists. With the rapidlydevelopment of our project of exploring the deep space, laser communication, and laserweapons, the technology requirement for pointing platform system is improved.Restricted by the structure, driver motor, sensors, and the technology level, pointingplatform can not meet the requirements very well. Consequently, it is important toresearch on the novel pointing platform system with big load capability, precisionpointing capability, and small volume and weight.
This paper is supported by the general equipement department pre research project“research on the novel pointing mechanism based on spherical gears”. After thesummarization of the existent pointing platform, a novel pointing platform designationis presented in this paper. Based on this designation, the structure designation andanalysis, kinematics and dynamics modeling, pointing error analysis, and movementcontrol system are discussed in this paper. The main contents are as follows:
1. A novel pointing platform designation based on spherical gear transmission ispresented in this paper. Summarize the charicteristics of the existent pointing platformsand indicate the limitation of them. Then the desination of a novel pointing platform ispresented: the form of two stages, macro and micro pointing platform, is adopted, thespherical gear transmission and XY axis structure are adopted to design the macropointing platform, and the flexure hinge transmission is adopted to design the micropointing platform. The spherical gear and the dish spring are designed and analyzed.The flxure hing designation is improved, its compliance and rotate precison areanalyzed and verified through finite element analysis, and its performance is simulatednumerically. Based on the analysis of the flexure hinge, the flexure hinge with tworotate dimensions and the micro pointing platform are designed.
2. Kinematics model and dynamics model of the novel pointing platform areestablished in this paper. Based on the analysis of the spherical gear transmission andthe XY axis structure, the kinematics model of macro pointing platform is established,the dynamics model is also established with Lagrange equation method, and the modelsare verified through simulation analysis. After several simplifications, the kinematicsmodel of the micro pointing platform is established, its dynamics model is alsoestablished with the Lagrange equation method, and the models are verified throughsimulation analysis.
3. The error of the novel pointing platform is analyzed in this paper. The sources oferrors are discussed. Based on multibody kinematics method and the kinematics modelestablished, the error model of the pointing platform is established. To improve the precison of the pointing platform, elastic deformations of some parts are analyzed.Based on the error model of the pointing platform, the error is calculated, the errorparameters are recognized with the least squre method, and the result is verified throughsimulation analysis.
4. The movement control system is established in this paper. The layeredcontrolsystem scheme is presented, and the designation of the hardware and software isindicated. Based on the dynamics model, the control model of the system is deduced.Considering the error model established in this paper and the nonlinear and strongcoupling characteristics of the system, the PID dismiss-coupling controller with BPneural network including error compensation is presented, and it is verified throughcontrol system simulation analysis.
5. Several testing novel pointing platforms are constructed, and several tests areconducted. Four different testing pointing platforms are established and compared withthe structure and the driver form to choose the best desination. Based on the bestdesignation, the pointing platform is tested and then analyzed. The theoretic conclusionsdeduced in this paper and some requirements for the pointing platform are verified.
引文
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