高稳定精密跟瞄机构设计与仿真

为实现高精度的空间跟踪瞄准任务,基于宏微动作动器设计了具有振动控制能力的高稳定精密跟瞄机构.跟瞄机构采用6-SPS并联机构构型,可在较大的工作空间内实现高精度指向.结合宏微动作动器的特点设计了具有指向控制、振动抑制和振动隔离能力的跟瞄机构控制系统,振动隔离采用前馈控制,指向和振动抑制部分采用PID控制.利用ADAMS软件进行了频响分析及时域动力学仿真,结果显示跟瞄机构具有较高的指向精度和较好的振动控制能力,可实现扰动环境中的大范围高精度跟瞄功能. 

Design and simulation of highly stable and precise tracking-pointing platform

In order to implement high accuracy space tracking-pointing task,highly stable and precise tracking-pointing mechanism with vibration control ability was designed.The mechanism adopts 6-SPS Stewart configuration.Utilizing macro-micro actuators,high accuracy pointing movement was implemented in large workspace.Combining characteristic of actuator,the control system of this mechanism was designed.The control system has tracking-pointing,vibration suppression and vibration isolation ability.Vibration isolation uses feed forward method.Tracking-pointing and vibration suppression use PID method.Utilizing MSC.ADAMS,frequency response analyze and time domain dynamic simulation of mechanism was finished.The result shows that the mechanism has higher directional precision and better vibration control ability and could implement large scale high precision tracking-pointing function in disturbance environment.