一种单级控制的高精度指向系统研究

doi:10.12382/bgxb.2022.0292

摘要/Abstract

摘要：

实现高指向精度是单级控制指向系统的主要技术难题,消除指向机构的位置浮动环节可提高其指向精度,为此提出一种单级控制的高精度指向系统。采用一种无位置浮动环节的RPS-SPS并联指向机构,通过研究其传动模型和误差消除算法,验证所提指向系统原理的正确性,进行了原型机研制和实验测试。测试结果表明:在加载和空载两种状态下,原型机的单轴指向误差均不大于0.004°,其合成指向误差均优于0.006°,其指向稳定时间均小于100ms,原型机具备了两轴的指向功能,其工作空间可达到两轴±9°。理论和实验研究均证明了该指向系统的可行性和有效性,研究成果为该单级控制的高精度指向系统的工程应用奠定了技术基础。

关键词: 指向系统, 高精度, 单级控制, 并联机构, 误差消除

Abstract:

Achieving high-pointing accuracy is a primary technical challenge for a single-stage control pointing system. Eliminating the position-floating link of the pointing mechanism can significantly enhance pointing accuracy. A pointing system is proposed in the paper, which uses an RPS-SPS parallel mechanism without the floating position. The transmission theory and error elimination algorithm of this pointing mechanism validate its efficacy. A prototype is built and tested, and the test results show that the uniaxial error of the prototype is not greater than 0.004 °, the synthetic pointing error is not greater than 0.006 °, and the stability time is not greater than 100 ms both under loaded and no-loaded conditions. The prototype has the pointing function in two axes, with a working space of ±9 ° in both axes. The theoretical model and test results confirm the feasibility and effectiveness of the system. The research lays a foundation for the engineering application of a high-precision pointing system with single-stage control.

Key words: pointing system, high-precision, single-stage control, parallel mechanism, error elimination

中图分类号:

V219

杜永刚, 王雪松, 王禺林. 一种单级控制的高精度指向系统研究[J]. 兵工学报, 2023, 44(8): 2477-2485.

DU Yonggang, WANG Xuesong, WANG Yuling. Research on a High-Precision Pointing System with Single-Stage Control[J]. Acta Armamentarii, 2023, 44(8): 2477-2485.

图/表 20

图1 高精度指向系统的组成结构

Fig.1 Configuration of the high-precision pointing system

图2 并联机构的组成

Fig.2 Composition of the parallel mechanism

图3 机构原理图

Fig.3 Schematic diagram of the mechanism

图4 指向机构的控制策略

Fig.4 Control process of the pointing mechanism

图5 指向机构的滚动球轴承

Fig.5 Rolling ball bearing of the pointing mechanism

图6 指向机构的误差消除算法流程

Fig.6 Error elimination algorithm of the pointing mechanism

图7 空间坐标系的定义

Fig.7 Definition of the spatial coordinate system

图8 单分支的矢量定义

Fig.8 Vector definition of single leg

图9 双分支的矢量定义

Fig.9 Vector graph of double legs

表1 指向机构的参数

Table 1 Parameters of the pointing mechanism

a/mm	b/mm	d/mm	α/(°)
388.0	377.0	135.6	120

图10 机构工作空间的仿真结果

Fig.10 Simulation results of the mechanism workspace

图11 单轴误差的仿真结果

Fig.11 Simulation results of uniaxial errors

图12 合成指向误差的仿真结果

Fig.12 Simulation results of synthetic pointing errors

图13 系统原型机的外观照片

Fig.13 Photograph of the prototype

图14 工作空间的测试结果

Fig.14 Test results of the workspace

图15 单轴误差的测试结果

Fig.15 Test results of uniaxial error

图16 合成误差的测试结果

Fig.16 Test results of synthesis error

图17 比较次数的测试结果

Fig.17 Test results of comparison times

图18 稳定时间的测试结果

Fig.18 Test results of stability time

图19 空间坐标系中的指向位置

Fig.19 Pointing position in the spatial coordinate system

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