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船舶、大型无人机等动基座运载器所使用的具有四自由度的天线稳定系统是一个冗余自由度姿态随动系统。为解决该系统在实现卫星跟踪过程中的运动学逆解问题,提出了一种冗余自由度机构恒定速比关节位置算法。首先建立了天线稳定系统与运动运载器及被跟踪卫星之间的姿态转移矩阵关系;随后给出了计算天线运动角速度期望值的方法,利用加权M-P逆求取关节空间速度最优解,在此基础上提出了恒定速比关节位置算法;最后,在典型运动输入条件下,分别对本文算法和加权M-P逆速度积分方法获得的关节位置和姿态误差进行仿真。仿真结果表明,本文方法在跟踪过程中能够保证天线姿态达到期望精度,验证了算法的有效性。
Antenna stabilizing system with four degrees of freedom used by moving base carriers such as ships and large unmanned aerial vehicles is a redundant degree of freedom attitude following system. In order to solve the problem of kinematic inverse of the system in satellite tracking, a joint algorithm of constant velocity ratio of redundant DOF mechanism was proposed. Firstly, the relationship between the attitude stabilization matrix of the antenna stabilization system and the sport vehicle and the satellite being tracked is established. Then the method of calculating the expected value of the angular velocity of the antenna is given. The optimal solution of the space velocity of the joint is obtained by using the weighted MP inverse. Finally, under the condition of typical motion inputs, the joint position and attitude errors obtained by the proposed method and weighted MP inverse velocity integration method are simulated respectively. The simulation results show that the proposed method can ensure that the attitude of the antenna reaches the desired accuracy during the tracking process, and the validity of the algorithm is verified.