多环架视轴稳定跟踪结构的运动学分析

Kinematics analysis of multi-gimbal structure for stabilization and tracking of LOS

根据视轴稳定跟踪的运动学原理,分析多环架结构的运动特点,指出结构形式的选择依据。采用PIOGRAM图方法,对两轴、三环两轴以及四环两轴结构分别进行讨论,通过角度和角速度的变换关系对环架自锁、跟踪盲区等现象作了运动学阐述,最终得出了各自适用的载体以及目标运动环境。该研究方法同样适用于其他多轴结构,对多环架结构的几何误差分析等也具有参考价值。

The characteristics of the multi-gimbal structures were analyzed based on the kinematics theory of LOS stabilization and tracking, and the selection principle for gimbal structures was given. Using the PIOGRAM method, a typical two-axis gimbal structure, three axes two-gimbal structure and two axes four-gimbal structure were discussed. The problems such as gimbal lock and the blind area of tracking were expatiated by the relationship of angle and rate. The requirements for different platforms and target motions were obtained and they could be used for selecting proper gimbal structure for specific application. The method is also applicable to other multi-axis structure and can be used for analyzing geometric.