基于数字孪生的大型天线阵面装配位姿快速调控方法  

Rapid Pose Adjustment Approach for Large Antenna Assembly Based on Digital Twin

作　　者：刘培 蒋群艳 杨嘉华 焦磊[1] 冯展鹰[4] 胡长明[4] 刘庭煜[1,5] 倪中华 LIU Pei;JIANG Qunyan;YANG Jiahua;JIAO Lei;FENG Zhanying;HU Changming;LIU Tingyu;NI Zhonghua(School of Mechanical Engineering,Southeast University,Nanjing 211189;No.5718 Factory of the Chinese PLA,Guilin 541000;School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094;The 14th Research Institute of China Electronics Technology Group Corporation,Nanjing 210039;Advanced Ocean Institue of Southeast University,Nantong 226010)

机构地区：[1]东南大学机械工程学院,南京211189 [2]中国人民解放军第五七一八工厂,桂林541000 [3]南京理工大学机械工程学院,南京210094 [4]中国电子科技集团公司第十四研究所,南京210039 [5]东南大学南通海洋高等研究院,南通226010

出　　处：《机械工程学报》2024年第22期415-426,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金(52475514);国防基础科研重点(JCKY2020210B006);东南大学南通海洋高等研究院重大基金(MP202401);国家重点研发计划(2020YFB1708400)资助项目。

摘　　要：雷达阵面是探测信号发射与接收的直接承载体,大型雷达探测距离可达数百至数千公里,其阵面面型的平面度质量对探测精度甚为重要,所谓“差之毫厘,谬以千里”。传统的面形检测-调控过程繁琐冗长,且精度难以保证。鉴于此,提出一种基于数字孪生的大型雷达阵面装配位姿快速调控方法。首先,针对阵面调整装置作用分布不均的问题,基于面形区域量化方法对阵面进行划分,以子区域为最小调控单位来管理数据和实施位姿调整动作;其次,针对阵面在面形调整过程中受重力影响产生的变形问题,改进基于刚体假设的位姿求解方法,引入变形权重因子优化位姿求解目标函数,实现微变形状态下位姿的求解;最后,提出数据和模型融合的阵面位姿调控方法,利用阵面几何和行为关系对调整装置和阵面位姿变换关系进行求解,通过对子区域位姿调整实现阵面面型整体快速调控。试验结果表明,提出方法可以实现大型雷达阵面整体面形的有效调控,并且装配效率提高了48.9%。Large phased array radar antenna serves as direct carrier for signal transmission and reception,its surface shape errors would largely decrease radar detection precision over long distances.The traditional process of surface shape detection and adjustment is tedious and time-consuming,making it challenging to maintain accuracy.Therefore,a rapid pose adjustment method for the assembly of large radar panels based on digital twins is proposed.Firstly,considering the uneven distribution of the array adjustment device's influence,the surface is divided using a quantification method based on the surface shape region.Sub-regions are managed as the smallest adjustment units to control data and implement pose adjustment actions.Secondly,addressing the deformation issue caused by the gravitational effect during the surface shape adjustment process,an improved pose solution method based on the rigid body assumption is presented.It suggests optimizing the pose solution objective function using deformation weighting factors to achieve the solution of poses under micro-deformation states.Finally,a data and model fusion approach for surface pose adjustment is proposed.The adjustment device and the relationship between the adjustment device and surface pose transformation are solved using the geometric and behavioral relationships of the surface,realizing rapid pose adjustment of the surface.Experimental results demonstrate that the proposed method achieves effective control of the overall aperture shape through local control and increases the assembly efficiency of the radar aperture assembly by 48.9%.

关 键 词：数字孪生 雷达阵面 位姿估计 装配系统 

分 类 号：TH186[机械工程—机械制造及自动化]