光电跟踪架的运动与动力仿真分析

Kinematics and Dynamics Simulation Analysis of Opto-electronic Tracking Frame

为了检验光电跟踪架的结构是否合理和保证光电跟踪设备精度,对跟踪架的进行了运动和动力学理论分析,根据动量矩定理建立了光电跟踪架的动力学模型,并利用虚拟样机技术对跟踪架分别进行了运动和动力仿真。结果表明:光电跟踪架的机械结构符合要求,在运动范围内不会发生运动干涉;由于俯仰框在三个方向上相对于各个惯性主轴的转动惯量不相等,当跟踪架的俯仰轴系和方位轴系同时以较高的速度和加速度运动时在方位框和俯仰框之间会产生耦合力矩,需要对俯仰部分增加配重以消除或减小耦合力矩,为光电跟踪架的改进设计提供了可靠的理论依据。

In order to verify the rationality of opto-electrical tracking frame＇s mechanical structure and ensure precision of the opto-electrical tracking equipment, the theoretical analysis of kinematics and dynamics was done. The dynamics model of tracking frame was established based on momentum theorem. The kinetic and dynamic simulation of the tracking frame was done using the virtual prototype technology. The results show that mechanical structure of tracking frame is rational The movement interference isn ＇t found but the coupling moment between pitching shafting and azimuth shafting is brought out when pitching shafting and azimuth shafting rotate on high angular velocity or high angular acceleration. It affects the tracking precision of opto-electrical tracking system. The coupling moment between pitching shafting and azimuth shafting is inexistent when pitching shafting has the same moment of inertia relative to inertia principal axis of pitching shafting. So, the coupling moment can be eliminated or decreased by adding accessional weight. It provides credible theory for the opto-electrical tracking frame＇s meliorative design.