可变长支杆式小型双轴摇摆台控制律设计

Control law design of small biaxial swing platform with variable-length struts

传统液压支杆式摇摆台体积大负载能力强,不适合小负载使用。双轴环架式摇摆台精度高,但结构复杂、成本高。根据卫星天线这样的小型负载的摇摆试验要求,提出了一种通过直线步进电机控制支杆长度的新型可变长支杆式双轴摇摆平台方案。该摇摆台结构简单、制作成本低。以单片机为控制器设计了摇摆台的控制方案,推导了摇摆台的摇摆角与支撑杆长度之间的数学关系,并据此提出了可变长支杆式小型双轴摇摆台的控制律,为摇摆台控制软件设计奠定了基础。

The traditional hydraulic struts type swing platform has large volume and load capacity,but it is not suitable for small load.Biaxial ring frame swing platform has the advantage of high precision,but its structure is complex and the cost is high.According to the swing test requirements of small load such as satellite antenna,a new kind of variable-length struts type biaxial swing platform is proposed,and the length of struts is controlled by the linear stepping motor.This control scheme of swing platform is designed by using the single chip microcomputer as the controller,and the relationship model between the swing angle and the length of variable-length struts is derived.The control law is thus designed for this small biaxial swing platform with variable-length struts which can be used as the basis of software design for this swing platform.