星间链路天线并联精准角跟踪机构设计理论与关键技术研究

项目名称： 星间链路天线并联精准角跟踪机构设计理论与关键技术研究

项目编号： No.51475321

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 宋轶民

作者单位： 天津大学

项目金额： 86万元

中文摘要： 星间链路天线角跟踪机构是中继卫星连续实时跟踪中低轨道目标航天器的使能部件。面向国家航天工程重大需求及星间链路捕获跟踪技术前沿，本项目拟深入开展新一代星间链路天线角跟踪机构的设计理论与关键技术研究。借助Clifford代数等先进数学工具，发明出可实现过顶连续跟踪且具有工程应用价值的并联构型解决方案，形成自主知识产权。计及微重力服役环境并兼顾静/动态特性、自主定位/跟踪控制精度及实时性等需求，深入研究并联构型角跟踪机构尺度/惯性参数集成优化设计、精度设计与运动学标定、机电耦联系统弹性动力学分析，以及基于弹性动力学的高精度跟踪控制策略/算法。在理论研究基础上，研制并联构型角跟踪机构原型样机，搭建微重力模拟环境实验平台，并开展相关实验研究。本项目聚焦新一代中继卫星星间链路天线跟踪指向系统开发，将丰富/完善机器人机构学基础理论研究，引领我国并联机构原创技术工程应用，因而具有重要的科学意义及实用价值。

中文关键词： 跟踪机构；构型综合；动态设计；精度设计；控制策略

英文摘要： The tracking mechanism of the inter orbit link antenna enables the Tracking and Data Relay Satellite (TDRS) to track low/middle earth orbit space vehicles continuously. To meet the requirements of domestic aerospace engineering and focus on the advanced capturing and tracking technology of the inter orbit link, this project will investigate into the optimal design and adaptive control theory of a novel TDRS antenna tracking mechanism. Mainly drawing on the Clifford algebra, a promising solution featuring parallel topology will be proposed to the tracking mechanism. By considering the microgravity working environment and the desired performances of the parallel tracking mechanism, an integrated design methodology will be presented, which includes kinematics design, inertial parameters optimization, accuracy design, kinematic calibration, elasto-dynamics of the electromechanical coupling system, and adaptive control strategy/algorithm for high-accuracy positioning and continuous tracking. Based upon the above-mentioned theoretical research, a physical prototype of the parallel tracking mechanism will be developed. With the help of an experimental platform simulating the microgravity environment, some relevant experiments will be carried out to evaluate practical performances of the prototype. Therefore, this project is of great importance to robotics theory and domestic aerospace engineering, and its expected achievements might guide the development of next generation TDRS antenna tracking system of China.

英文关键词： Tracking Mechanisms;Topology Synthesis;Dynamic design;Accuracy Design;Control Strategy