基于六自由度并联机构的全空域跟踪策略  

The Whole Airspace Tracking Strategy Based on 6-DOF Parallel Mechanism

作　　者：孙泽亮 刘吉成[1] SUN Zeliang;LIU Jicheng

机构地区：[1]上海大学机电工程与自动化学院

出　　处：《计量与测试技术》2023年第2期53-56,共4页Metrology & Measurement Technique

摘　　要：为解决传统串联天线跟踪盲区的问题,提出了一种以六自由度并联机构作为天线座的跟踪系统。在建立六自由度并联机构的运动学模型的基础上,以跟踪过程中姿态转动变化量最小为目标,应用极小范数最小二乘算法,设计一种全空域跟踪策略。仿真和实验计算表明,该策略不需要复杂的寻优过程,即可得到与其他策略相比更小的姿态转动角,跟踪性能更加优越,能真正实现在全空域的连续跟踪运动。In order to solve the problem of tracking blind area of traditional series antenna,a tracking system with 6-DOF parallel mechanism as antenna base is proposed.Based on the kinematic model of a 6-DOF parallel mechanism,a tracking strategy in the whole airspace is designed by using minimal norm least squares algorithm to minimize the change of attitude rotation during tracking.Simulation and experimental calculation show that this strategy does not need complicated optimization process,and can obtain smaller attitude rotation angle compared with other strategies,and the tracking performance is superior,which can truly realize continuous tracking motion in the whole airspace.

关 键 词：并联机构 天线 跟踪策略 极小范数最小二乘解 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP183[自动化与计算机技术—计算机科学与技术]