模块化可展天线机构展开动力学建模与运动规划  

Deployment Dynamics Modeling and Motion Planning of Modular Deployable Antenna Mechanism

作　　者：田大可 郭振伟 金路[2] 范小东 刘荣强[3] TIAN Dake;GUO Zhenwei;JIN Lu;FAN Xiaodong;LIU Rongqiang(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110168;School of Civil Engineering,Shenyang Jianzhu University,Shenyang 110168;State Key Laboratory for Robotics and System,Harbin Institute of Technology,Harbin 150001)

机构地区：[1]沈阳建筑大学机械工程学院,沈阳110168 [2]沈阳建筑大学土木工程学院,沈阳110168 [3]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《机械工程学报》2023年第17期56-66,共11页Journal of Mechanical Engineering

基　　金：国家自然科学基金重点项目(51835002);中国博士后科学基金面上项目(2019M661126);辽宁省自然科学基金面上项目(2022-MS-278);辽宁省教育厅科学研究面上项目(LJKZ0563)资助项目。

摘　　要：模块化可展开天线具有拓展灵活、通用性好、适应性强等特点,是满足未来天线大口径发展趋势的一种新型航天装备。为掌握模块化可展开天线展开过程的动态特性,提出一种六棱柱模块化可展开天线机构展开动力学建模及运动规划方法。首先,阐述了六棱柱模块化可展开天线的结构组成及展开原理,建立了天线机构数值仿真模型,研制了单模块原理样机,并验证了原理方案的正确性;其次,基于多刚体系统动力学Lagrange方法,建立了天线机构在展开过程的动力学模型,得到了缓释电机驱动力随展开时间的变化规律;最后,开展天线机构展开过程运动规划,建立了天线机构S型运动速度曲线模型。研究结果表明:运动规划减小了天线展开过程始末的速度突变,提高了天线展开过程的平稳性,为该构型天线的展开试验及工程应用提供了一种可供参考的速度控制方案。Modular deployable antenna has the characteristics of flexible expansion,good versatility and strong adaptability.It is a new type of aerospace equipment to meet the future development trend of large-aperture antenna.In order to master the dynamic characteristics of modular deployable antenna,a deployment dynamics model and motion planning method of hexagonal prism modular deployable antenna mechanism is proposed.Firstly,the structure and deployment principle of hexagonal prism modular deployable antenna are expounded,the numerical simulation model of antenna mechanism is established,and the single module prototype is developed,then the correctness of the principle scheme is verified.Secondly,based on the Lagrange method of multi-rigid-body system dynamics,the dynamic model of the antenna mechanism in the deployment process is established,and the variation law of the driving force of the slow-release motor with the deployment time is obtained.Finally,the movement planning of the antenna mechanism during the deployment process is carried out,and the S-shaped movement speed curve model of the antenna mechanism is established.The research results show that the motion planning reduces the sudden change of the speed during the antenna deployment process,improves the stability of the antenna deployment process,and provides a potentially feasible speed control scheme for the deployment test and engineering application of this configuration antenna.

关 键 词：模块化结构 可展开天线 展开动力学 运动规划 

分 类 号：V443[航空宇航科学与技术—飞行器设计]