摘要
星载多轴联动系统是星载精密跟踪、定位及瞄准系统的关键组成部分,由于其动力学环境的复杂性,载荷特征的提取值得深入研究.分析了搭载于移动平台的多轴联动系统的摩擦力矩来源,提出了适合其的摩擦力矩改进模型;阐述了搭载于移动平台的多轴联动系统产生线绕力矩的原因,给出了基于样机试验的线绕力矩模型;全面分析了搭载于移动平台的多轴联动系统可能产生的陀螺效应,并给出了相应的模型;给出了多载荷耦合作用下的某型多轴系统力学模型,并针对上述三种载荷给出了响应的仿真分析结果.以某型星载多轴系统为案例,系统分析了摩擦力矩、线绕力矩及陀螺效应三种典型载荷,并建立了多载荷作用下的耦合动力学模型.分析结果表明,当摩擦力矩为驱动力矩8%左右时,所引起系统加速度突变值约为其峰峰值的10%;当系统存在线绕力矩时,系统的残余力矩出现突变,突变值约为无线绕力矩时残余力矩的60%;多轴联动系统俯仰轴扰动所引起的速度增量最大约为扰动速度的70%.本文工作可为建立多轴联动系统动力学模型的重要输入条件,为运动学及动力学仿真及试验提供了基础模型和基础数据.
Satellite-based multi-axis system is the key part of precise system for Acquiring,Tracking,Pointing（ATP）.Because of its complex dynamic situations,the characteristics identification of loading is worth studying.The contents include analysis on the resources of friction torque,improved friction torque model,the cable torque model based on certain experiment,research on gyroscopic effect of satellite-based multi-axis system and its model,establishing the dynamic model considering coupled loads and simulation results.The work can supply the input data for dynamics modelling of multi-axis system.Taking certain satellitebased multi-axis system for example,the friction torque,cable torque and gyroscopic effect are studied,and the coupled dynamic model is also given.There are three results as following：the accelaration alteration is 10% of the peak to peak when the friction torque is 8% of driven torque;the residual torque alteration with cable torque are 60% of the residual torque without cable torque;the max incresment of voloctiy results by disturbance of pitch axis is70% of disturbance volocity.The foundational model and data for the simulation and experiment of multi-axis system are also can be provided by this research.
出处
《陕西科技大学学报（自然科学版）》
2016年第1期138-142,共5页
Journal of Shaanxi University of Science & Technology
基金
国家自然科学基金项目(51305246)
陕西省教育厅专项科研计划项目(14JK1107)
陕西科技大学博士科研启动基金项目(BJ13-07)
关键词
多轴联动系统
摩擦
线绕力矩
陀螺效应
multi-axis system
friction
cable torque
gyroscopic effect
