机动式地面站全空域精密跟踪指向机构设计理论研究

As the basis of maneuverable ground station, the tracking and pointing mechanism plays an important role for ground measurement of satellites. At present, although in this regard great achievements have been obtained by the researchers in China, there are still challenging issues in innovation design of mechanisms, and the design theory and method to satisfy the performance of static and dynamic constraint, leading to that there remains room for improvement in key technologies and commercialization compared to its development in foreign countries. To meet the demands of precision tracking and pointing mechanism in the whole airspace in the process of building the integrated communication network, this project forces on the topological trajectory of hybrid mechanism, dynamics modeling of rigid-flexible coupling by considering joints clearance, then the integrated design method of high performance joints is investigated, and the lightweight design approach by considering the constraint of the static and dynamic performance is proposed. Based on above-mentioned research works, a prototype will be built and the simulation experiments of tracking and pointing will be carried out to testify the validity and effectiveness of the proposed methods. The outcomes of this project may promote and consolidate our own design theory and methods for the development of tracking and pointing mechanism of maneuverable ground station.

跟踪指向机构作为机动式地面站的基础构成，对于卫星地面测控具有重要作用。目前，虽然国内在跟踪指向机构的设计方面取得了诸多成果，但在可实现全空域跟踪的机构自主创新、满足服役静/动态性能要求的设计理论与方法等方面仍存在若干亟待解决的问题，相关核心技术仍与国外存在一定差距。为此，本项目面向我国建设天地一体化通讯网络进程中对全空域精密跟踪指向机构的重大需求，研究混联跟踪机构构型综合与优选方法，建立考虑运动副间隙的刚/柔耦合动力学模型，探索高性能铰链的一体化设计方法，以及面向静/动态服役特性约束的整机轻量化设计流程，并应用上述研究成果，建造原型样机以验证所提出理论与方法的正确性和有效性。本项目研究成果为我国机动式地面站跟踪指向机构的工程设计和开发奠定理论与技术基础。

面向卫星、飞机、导弹等飞行器测控过程中对跟踪指向地面装备的需求，借助机器人建模方法，从传统跟踪指向机构产生过顶盲区的数学机理的研究出发，首先提出基于Stewart并联机构的跟踪指向机构总体构型方案；其次，建立表征几何误差源与末端误差映射关系的系统误差模型，借助统计学原理构建灵敏度分析指标的前提下，揭示了影响末端误差的敏感误差源及其对应的关键部组件，为高性能铰链的设计和性能控制提供了理论基础；在此基础上，开展了几何误差源辨识方法研究，在测量位姿优选方法研究的基础上，借助最小二乘法，揭示了不同噪声等级对几何误差源辨识结果的影响规律，并针对误差标定提出了一种基于几何误差离线辨识和在线补偿的半在线标定方法，实现了整机精度保障；最后，建立了该机构的刚体动力学模型，为样机工程设计过程中的电机匹配优选奠定了模型基础。在上述研究的基础上，完成了物理样机的研制工作，并将研究成果应用于xx型导弹飞行测试装备的研制，实现了工程应用。