摘要
从视轴偏心的跟踪架系统的坐标系推导出角速度变换与力矩变换,运用动量定理和动量矩定理分析三轴跟踪机架的运动关系,对轴间的转动惯量耦合、惯性力矩的交叉耦合进行了研究,从理论上给出了它们之间的解析关系,并运用多刚体系统运动理论和拉—欧方程推导出了三轴跟踪架系统的动力学方程。
From the dynamical relation of three - axis Photoelectric Theodolite system whh collimation axis eccentricity, the matrix transformation of angle velocity and moment can be derived from this paper. The kinematics property is analyzed in momentum theorem and angular momentum theorem. Through the analysis of inertia coupling in axes, their resolution equation is gained. The system dynamics model is built using multi- body system theory and Lagrange- Eula equation. The analysis is helpful for Photoelectric Theodolite large - scale space track control.
出处
《机械设计与制造》
北大核心
2006年第11期10-12,共3页
Machinery Design & Manufacture
关键词
三轴跟踪架
运动学
动力学
耦合
Three-axis gimbal
Kinematics
Dynamics
Coupling
