面向大型相控阵雷达平面度控制的6自由度冗余驱动并联机器人研究

In order to achieve the flatness of the large-scale high-frequency phased array radar, it will be divided into a number of super subarrays. Due to the deformation field caused by gravity in different operation conditions, the necessity to adjust the position and orientation on the super subarrays in order to achieve the requirements of the antenna array rigorous flatness emerges. This project employs the 6 DOF redundantly actuated parallel manipulator as adjusting mechanism for each super subarray. In order to achieve the overall flatness of the large phased array radar, the multiple parallel manipulators are commanded to move coordinately, under the premise of ensuring the flatness of each super subarray, to flexibly meet their splicing in various super subarrays between the high-precision position and attitude. This project is aiming at the measuring of redundant internal force and coordinative motion control of the redundantly actuated parallel manipulator. A novel design of the force/displacement integrated sensor based on the compliant translational joint is proposed firstly, which is used to measure the internal redundant force. Then a coordination control strategy is developed according to the measurement of redundant internal driving force. The integrated optimization of structural and control issues is therefore conducted. Finally, simulation technology of the redundantly actuated parallel manipulator is dealt with, which is the base for further development of mechatronic simulation of radar flatness control process. This research will be able to provide an engineering solution to flatness control for large phased array radars.

为保证大型高频相控阵雷达天线阵面的平面度，将其分割为多个超级子阵，采用6自由度冗余驱动并联机器人作为每个超级子阵的位姿调整机构，在优化支撑点的个数及布局、保证每个超级子阵平面度的前提下，控制多个机器人协调拼接超级子阵以满足它们之间的高精度位姿要求，实现雷达阵面的整体平面度。本项目针对冗余驱动并联机器人的冗余内力监测和协调运动控制这两项关键技术，首先提出一种基于柔顺滑移铰的力位一体传感器设计方案，其次研究一种基于冗余驱动内力监测的协调运动控制策略，结合机构的运动学、动力学模型进行冗余驱动并联机器人结构与控制的集成设计，最后探索基于虚拟样机技术的建模与仿真技术，开展雷达平面度控制过程的机电一体化仿真和模型实验，为大型相控阵雷达平面度控制提供技术参考。

相控阵雷达天线是典型的电子装备，其特征是机电耦合、机保障电。为保证大型高频相控阵雷达天线阵面的平面度，基于分布式协同调整思想将其分割为若干个超级子阵，采用6自由度冗余驱动并联机器人作为每个超级子阵的位姿调整机构，在优化支撑点的个数及布局、保证每个超级子阵平面度的前提下，控制多个机器人协调运动拼接超级子阵以满足它们之间的高精度位姿要求，从而实现雷达阵面的整体平面度。本项目针对冗余驱动并联机器人的冗余内力监测和协调运动控制这两项关键技术，提出了一种基于柔顺滑移铰的力位一体传感器设计方案，并进行了样件制造及测试，在线性小变形范围内它能提供恒定刚度便于推力/位移的转换计算，而其柔度饱和特性又能有效化解控制过程中冗余过大对相控阵天线破坏的风险；研究了一种基于冗余驱动内力监测的协调运动控制策略，以调整能量最优为目标，施加柔性并联调整机构的工作空间约束，通过基于最小二乘法的实时递阶优化途径确定天线阵面各超级子阵、各子阵的期望位姿，为了避免触发个别调整机构的工作空间约束，确保调整的协同性。结合机构的运动学、动力学模型进行冗余驱动并联机器人结构与控制的集成设计，最后探索了基于虚拟样机技术的建模与仿真技术，开展了雷达平面度控制过程的机电一体化仿真和局部模型实验，为大型相控阵雷达平面度控制提供技术参考。