摘要
提出了一种天线实时追踪低轨卫星的并联机构无奇异轨迹规划方法。通过建立并联机构的运动学模型,分析了并联机构杆件与动平台位姿的关系及奇异位形的充分必要条件。计算天线指向低轨卫星的俯仰方向角,然后推导出三次B样条曲线方程表达式。选取能够反映天线运动稳定性的急动度作为优化目标,在仿真实例中,运用免疫算法求解轨迹规划中急动度最优的数学模型,并得到18个位置参数信息。
A singularity-free trajectory planning method for a parallel mechanism with antennas for tracking low-orbit satellites in real time was proposed.The kinematics model of the parallel mechanism was established to analyze the relationship between the position of the parallel mechanism rods and the moving platform and the necessary and sufficient conditions for the singularity.Calculate the elevation angle of the antenna pointing at the LEO satellite, and then derive the cubic B-spline curve equation expression.The jerkiness that can reflect the stability of the antenna motion was selected as the optimization target.In the simulation example, artificial immune algorithm was used to solve the mathematical model with the best jerkiness in trajectory planning and 18 position parameters were obtained.
出处
《计量与测试技术》
2022年第10期78-82,85,共6页
Metrology & Measurement Technique
关键词
并联机构
轨迹规划
B样条曲线
免疫算法
parallel mechanism
trajectory planning
B-spline curve
immune algorithm
