三轴跟踪平台框架轴的惯量耦合特性研究

Study on the Frame Inertia Coupling of Three-axis Tracking Platform

为了提高制导武器的目标捕获能力,基于刚体力学的相关理论及坐标变换矩阵对某导引头三轴跟踪平台框架间的惯量耦合关系进行了建模与分析。仿真实验结果证实内框架转角γ对中框架轴的耦合转动惯量产生的影响不会超过7×10-5 kg·m2;内框架转角γ和中框架转角β均会对外框架轴的耦合转动惯量产生影响,但影响最大不会超过1×10-4kg·m2。文中的研究为三轴跟踪平台的结构优化和控制系统的设计提供了方法依据。

In order to improve the target acquisition ability of guided weapon,based on the theory of rigid body mechanics and coordinate transformation matrix, the frame inertial coupling relationship of three-axis tracking platform is modeled and analyzed in this paper. Finally, the coupling simulation experiment of the inertia moment for three-axis seeker tracking platform is carried out, and the results show that the influence of the inner pitch frame angle γ on the coupled inertia moment of the central azimuth frame does not exceed 7×10-5 kg·m2. Both the inner pitch frame angle γ and the middle azimuth frame angle β affect the coupling inertia moment of the outer rolling frame axis, but the impact will not exceed 1×10-4 kg·m2. The research results of this paper provide the method basis of the structural optimization and control system design of the three-axis tracking platform.