后框独立驱动式双框架位标器的指向分析

Pointing Angles Analysis of Two-frame Coordinator Driving by Separated Rear Frame

研究了后框独立驱动式双框架位标器的指向问题。首先建立后框独立驱动式双框架位标器的几何模型,然后利用坐标变换和位标器前后框的空间几何关系、驱动特点,给出位标器前框偏航-俯仰角的计算方法,得到前框指向角与后框驱动角、内框连杆长度及后内环摇臂长度的函数关系,最后通过数值求解,分析前框指向角随后框驱动角的变化趋势。计算结果表明,该形式位标器的指向角不能用后框驱动角简单替代,框架传动形式对指向的影响不可忽略。

The pointing angle of two-frame coordinator driving by separated rear frame is comprehensively considered.The geometrical model of two-frame coordinator driving by separated rear frame is built,The calculation method of the yaw and pitch angles of the front frame of the coordinator is given based on the coordinate transformation and the spatial geometry relation between the front and rear frame,together with the features of the coordinator’s drive system,and the functional relations between the front frame pointing angles and the rear frame driving angles,the length of the inner frame linkage and the length of the back inner ring rocker arm are obtained.By solving the function equation numerically,the change trend of the front frame pointing angles followed by the rear frame driving angles is analyzed.The result shows that the pointing angles of this two-frame coordinator cannot be simply replaced by the rear frame driving angles,and the influence of the type of frame transmission on its pointing cannot be ignored.