CN104163251B - Eight bar interconnection system noncontact satellite platform load pose adjusting means and methods - Google Patents
Eight bar interconnection system noncontact satellite platform load pose adjusting means and methods Download PDFInfo
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Abstract
The present invention discloses a kind of eight bar interconnection system noncontact satellite platform load pose adjusting means and methods, mainly formed by containing the vertical unit of 4 identical vertically-mounted power executors and the horizontal cell of 4 the identical power of being horizontally mounted executors, all 8 power executors are arranged between satellite service cabin and load cabin, and by bolt, both are connected, vertically-mounted power executor arranges relative to Platform center axis circumferentially array with being horizontally mounted power executor, vertically with to be horizontally mounted power executor be interlaced layout, and 8 power executor generally quadrature arrangement.It is zero not affect attitude and make a concerted effort to be the zero basic mechanical principle not producing translation based on resultant moment, combined by the stretching motion of the power executor of these eight bar interconnection system noncontact satellite platform load pose adjusting meanss, it is possible to achieve load translation and rotation six-freedom degree pose regulation.
Description
Technical field
The present invention relates to space technology field, in particular, relate to the load position of a kind of eight bar interconnection system noncontact satellite platforms
Put and attitude regulating mechanism and method.
Background technology
Traditional platform integrated configuration satellite high-precision gesture stability rigidly connected with load is mainly based upon momentum exchange device
Realizing, Typical Representative such as flywheel, it has to move centroid of satellite and does not produce the advantages such as interference, but flywheel high speed rotating is to supporting
Requiring the highest, the vibration that its imbalance causes simultaneously is particularly evident, has a strong impact on satellite LOS point precision and degree of stability, is high
Divide one of main restricting factor of imaging progress.
At present, carry out numerous studies for vibrations of rotating components suppression such as satellite flywheels, mainly have passive and actively two kinds of vibration isolation
Form, is respectively arranged with quality.Passive vibration isolation simple in construction, reliable and stable, and it is not required to be additionally provided the energy and measurement apparatus, but low frequency
Inhibition is poor；Active vibration isolation has better performance in theory, but control system is complicated, poor stability, and has water bed effect
Should, it is exaggerated LF-response.
Contact-type vibrating isolation system performance boost difficulty based on main passive form is big, and limited potential.In consideration of it, development abroad
A kind of noncontact satellite platform configuration, utilizes voice coil motor to form six bar Stewart platforms, during coil electricity, with permanent magnet
Produce magnetic suspension effect, can be under isolation platform disturbed condition, it is achieved the three-axis attitude of load controls, but its all directions attitude control
System coupling is serious, needs to solve the Jacobian matrix of complexity, and when Jacobian matrix is unusual, causes, without solving, being significantly greatly increased
The complexity of spacecraft attitude control system, actual application difficult.
Summary of the invention
For technical problem present in above-mentioned prior art, the present invention provides a kind of eight bar interconnection system noncontact satellite platforms
Load position and attitude regulating mechanism and method, by this load pose adjusting means and method, it is possible to achieve load six degree of freedom
High accuracy is pointed to and is controlled.Can apply to very high accuracy remote sensing satellite, survey of deep space astronomical telescope etc..
For reaching above-mentioned purpose, the technical solution adopted in the present invention is as follows:
A kind of eight bar interconnection system noncontact satellite platform load pose adjusting meanss, mainly include two groups of power actuator units；One group
For vertically-mounted power actuator unit, it is made up of 4 identical vertically-mounted power executor A1, A2, A3 and A4；One
Group is for being horizontally mounted power actuator unit, and it is made up of 4 the identical power that is horizontally mounted executor B1, B2, B3 and B4.
Described power executor refers to be realized a kind of parts of linear telescopic motion by the form such as electrostatic force or electromagnetic force, as permanent magnetism is straight
Line motor etc..
Arranging three-dimensional cartesian coordinate system OXYZ, this coordinate system three coordinate axess OX, OY, OZ are mechanical with satellite platform respectively
Coordinate system is parallel.
The strong executor of institute is arranged between service module and load cabin, and both is connected by bolt, above-mentioned three-dimensional straight
The initial point of angle coordinate system OXYZ is positioned at load cabin barycenter.Wherein, 4 vertically-mounted power executors are arranged in the main power transmission of service module
On path, symmetrically arrange relative to coordinate axes OZ, and be arranged in pairs at face OXZ or the both sides of face OYZ；4 levels
Installing force executor, relative to the circumferential arrangement that coordinate axes OZ is 90 °, is arranged in coordinate axes OX and coordinate axes OY at clothes
In the projection of business cabin power executor's installed surface, and it is interlaced layout with vertically-mounted power executor.8 power executors are overall
For quadrature arrangement, it is parallel to each other between vertically-mounted power executor；It is horizontally mounted power executor's neighboring vertical, is separated by parallel；Perpendicular
Straight installing force executor and being horizontally mounted between power executor is mutually perpendicular to.
Combine by controlling the stretching motion of above-mentioned power executor, it is possible to achieve putting down of eight bar interconnection system noncontact satellite platform load
Dynamic and rotation six-freedom degree pose regulates.
Based on load translation and rotation six-freedom motion demand, vertically-mounted power executor A1, A2, A3 and A4 can be paired
Being arranged in the both sides of face OYZ, its stretching motion direction is parallel with coordinate axes OZ；Being horizontally mounted power executor B1 and B3 can
Being arranged in coordinate axes OX in the projection of service module power executor's installed surface, its stretching motion direction is parallel with coordinate axes OY；
Being horizontally mounted power executor B2 and B4 and may be arranged at coordinate axes OY in the projection of service module power executor's installed surface, it stretches
The direction of motion is parallel with coordinate axes OX.
Based on above-mentioned method for arranging, load along coordinate axes OX direction translation can by vertically-mounted power executor A1, A2, A3,
A4 realizes with being horizontally mounted power executor's B2, B4 aggregate motion.Now, it is desirable to be horizontally mounted power executor B2, B4 and produce
The power output that direction is identical, and require to be horizontally mounted the moment generation around coordinate axes OZ that power executor's B2, B4 power output causes
Number and be zero；The power output simultaneously requiring vertically-mounted power executor A1, A2, A3, A4 produce around coordinate axes OY's
The algebraical sum of the moment around coordinate axes OY that moment and the power output being horizontally mounted power executor B2, B4 cause is zero；Simultaneously
Require that the moment algebraical sum around coordinate axes OX that the power output of vertically-mounted power executor A1, A2, A3, A4 produces is zero.
Based on above-mentioned method for arranging, load along axial coordinate OY direction translation can by vertically-mounted power executor A1, A2, A3,
A4 realizes with being horizontally mounted power executor's B1, B3 aggregate motion.Now, it is desirable to be horizontally mounted power executor B1, B3 and produce
The power output that direction is identical, and require to be horizontally mounted the moment generation around coordinate axes OZ that power executor's B1, B3 power output causes
Number and be zero；The power output simultaneously requiring vertically-mounted power executor A1, A2, A3, A4 produce around coordinate axes OX's
The algebraical sum of the moment around coordinate axes OX that moment and the power output being horizontally mounted power executor B1, B3 cause is zero；Simultaneously
Require that the moment algebraical sum around coordinate axes OY that the power output of vertically-mounted power executor A1, A2, A3, A4 produces is zero.
Based on above-mentioned method for arranging, load along coordinate axes OZ direction translation can by vertically-mounted power executor A1, A2, A3,
A4 aggregate motion realizes.Now, it is desirable to vertically-mounted power executor A1, A2, A3, A4 produce the algebraical sum of power output not
It is zero, and requires that the algebraical sum of the moment around coordinate axes OX that this power output produces is zero, requires what its power output produced simultaneously
Algebraical sum around the moment of coordinate axes OY is also zero.
Based on above-mentioned method for arranging, load along coordinate axes OX direction rotation can by vertically-mounted power executor A1, A2, A3,
A4 aggregate motion realizes.Now, it is desirable to the power output of vertically-mounted power executor A1, A2, A3, A4 produce around coordinate
The moment algebraical sum of axle OX is not zero, and requires that the algebraical sum of this power output is zero, requires that this power output produces around coordinate simultaneously
The moment algebraical sum of axle OY is zero.
Based on above-mentioned method for arranging, load along coordinate axes OY direction rotation can by vertically-mounted power executor A1, A2, A3,
A4 aggregate motion realizes.Now, it is desirable to the power output of vertically-mounted power executor A1, A2, A3, A4 produce around coordinate
The moment algebraical sum of axle OY is not zero, and requires that the algebraical sum of this power output is zero, requires that this power output produces around coordinate simultaneously
The moment algebraical sum of axle OX is zero.
Based on above-mentioned method for arranging, load along coordinate axes OZ direction rotation can by be horizontally mounted power executor B1, B2, B3,
B4 aggregate motion realizes.Now, it is desirable to be horizontally mounted power executor B1, B2, B3, B4 power output produce around coordinate
The moment algebraical sum of axle OZ is not zero, and requires that the algebraical sum along coordinate axes OX and the power in coordinate axes OY direction is zero,
Require that the moment algebraical sum that this power output produces around coordinate axes OX and coordinate axes OY is zero simultaneously.
Eight bar interconnection system noncontact satellite platform load pose adjusting means and the control methods thereof that the present invention provides, it is possible to achieve defend
The translation of spaceborne lotus three axle any direction and rotation, and all directions motion not coupling, do not have any interference the most each other,
Control simple；Simultaneously as use eight stick force executors to combine type of attachment implement six-freedom degree pose regulation, therefore can achievement unit
Part redundancy backup, relatively six bar types of attachment are obviously improved system reliability.The present invention can be used for the superelevation essence of noncontact ultra quiet platform
Degree points to the regulation of payload six-freedom degree pose.
Accompanying drawing explanation
The detailed description with reference to the following drawings, non-limiting example made by reading, the further feature of the present invention, mesh
And advantage will become more apparent upon:
Fig. 1 is the present invention eight bar interconnection system noncontact satellite platform load pose adjusting means structural representation；
Fig. 2 is that load regulates power Actuator configuration schematic diagram along coordinate axes OX direction translational；
Fig. 3 is that load regulates power Actuator configuration schematic diagram along coordinate axes OY direction translational；
Fig. 4 is that load regulates power Actuator configuration schematic diagram along coordinate axes OZ direction translational；
Fig. 5 is along coordinate axes OX direction rotation regulation power Actuator configuration schematic diagram for load；
Fig. 6 is that load rotates regulation power Actuator configuration schematic diagram along coordinate axes OY direction；
Fig. 7 is that load rotates regulation power Actuator configuration schematic diagram along coordinate axes OZ direction.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art and enter
One step understands the present invention, but limits the present invention the most in any form.It should be pointed out that, those of ordinary skill in the art is come
Say, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into the protection of the present invention
Scope.
As shown in Fig. 1～Fig. 7, the eight bar interconnection system noncontact satellite platform load pose adjusting meanss that the present invention provides, mainly
Including service module 100, load cabin 300, power executor A1211, A2212, A3213 of vertically-mounted power actuator unit
And A4214, it is horizontally mounted power executor B1221, B2222, B3223 and B4224 of power actuator unit.
As it is shown in figure 1, mainly include two groups of power actuator units；One group is vertically-mounted power actuator unit, and it is complete by 4
Exactly the same vertically-mounted power executor A1211, A2212, A3213 and A4214 composition；Hold for being horizontally mounted power for one group
Row device unit, it is made up of 4 the identical power of being horizontally mounted executor B1221, B2222, B3223 and B4224.
Described power executor refers to be realized a kind of parts of linear telescopic motion by the form such as electrostatic force or electromagnetic force, such as permanent-magnet linear electricity
Machine etc..
As it is shown in figure 1, arrange three-dimensional cartesian coordinate system OXYZ, this coordinate system three coordinate axess OX, OY, OZ respectively with
Satellite platform mechanical coordinate system is parallel.
As it is shown in figure 1, the strong executor of institute is arranged between service module 100 and load cabin 300, and incite somebody to action both by bolt
Being connected, the initial point of above-mentioned three-dimensional cartesian coordinate system OXYZ is positioned at load cabin 300 barycenter.Wherein, 4 vertically-mounted power
Executor A1211, A2212, A3213 and A4214 are typically located in the main Path of Force Transfer of service module 100, relative to seat
Parameter OZ symmetrically arranges, and is arranged in pairs at face OXZ or the both sides of face OYZ；4 be horizontally mounted power executor B1221,
B2222, B3223 and B4224, relative to the circumferential arrangement that coordinate axes OZ is 90 °, are arranged in coordinate axes OX and seat
Parameter OY is in the projection of service module 100 power executor's installed surface, and is interlaced layout with vertically-mounted power executor.
8 power executor generally quadrature arrangement, are parallel to each other between vertically-mounted power executor；It is horizontally mounted power executor adjacent vertical
Directly, be separated by parallel；Vertically-mounted power executor and being horizontally mounted between power executor is mutually perpendicular to.By controlling above-mentioned eight power
The stretching motion combination of executor, it is possible to achieve the translation of eight bar interconnection system noncontact satellite platform load and rotation six degree of freedom position
Appearance regulates.
Based on load translation and rotation six-freedom motion demand, vertically-mounted power executor A1211, A2212, A3213
With the both sides that A4214 can be arranged in pairs at face OYZ, its stretching motion direction is parallel with coordinate axes OZ；The power of being horizontally mounted is held
Row device B1221 and B3223 may be arranged at coordinate axes OX in the projection of service module 100 power executor's installed surface, and it stretches
The direction of motion is parallel with coordinate axes OY；It is horizontally mounted power executor B2222 and B4224 and may be arranged at coordinate axes OY at clothes
In the projection of business cabin 100 power executor's installed surface, its stretching motion direction is parallel with coordinate axes OX.
As in figure 2 it is shown, based on above-mentioned method for arranging, load can be by vertically-mounted power executor along the translation in coordinate axes OX direction
A1211, A2212, A3213, A4214 and be horizontally mounted power executor's B2222, B4224 aggregate motion realize.This
Time, it is desirable to horizontal force executor B2222, B4224 produce the identical power output in direction, and require horizontal force executor B2222,
The moment algebraical sum around coordinate axes OZ that B4224 power output causes is zero；Require simultaneously vertically-mounted power executor A1211,
The moment around coordinate axes OY that the power output of A2212, A3213, A4214 produces and horizontal force executor B2222, B4224
The algebraical sum of the moment around coordinate axes OY that causes of power output be zero；Require simultaneously vertically-mounted power executor A1211,
The moment algebraical sum around coordinate axes OX that the power output of A2212, A3213, A4214 produces is zero.
As it is shown on figure 3, based on above-mentioned method for arranging, load can be by vertically-mounted power executor along the translation in coordinate axes OY direction
A1211, A2212, A3213, A4214 and be horizontally mounted power executor's B1221, B3223 aggregate motion realize.This
Time, it is desirable to horizontal force executor B1221, B3223 produce the identical power output in direction, and require horizontal force executor B1221,
The moment algebraical sum around axle OZ that B3223 power output causes is zero；Require simultaneously vertically-mounted power executor A1211, A2212,
Moment and horizontal force executor B1221, B3223's around coordinate axes OX that the power output of A3213, A4214 produces is defeated
The algebraical sum of the moment around coordinate axes OX caused of exerting oneself is zero；Require simultaneously vertically-mounted power executor A1211, A2212,
The moment algebraical sum around coordinate axes OY that the power output of A3213, A4214 produces is zero.
As shown in Figure 4, based on above-mentioned method for arranging, load can be by vertically-mounted power executor along the translation in coordinate axes OZ direction
A1211, A2212, A3213, A4214 aggregate motion realizes.Now, it is desirable to vertically-mounted power executor A1211,
A2212, A3213, A4214 produce the algebraical sum of power output and are not zero, and require that this power output produces around coordinate axes OX
The algebraical sum of moment be zero, require that the algebraical sum of the moment around coordinate axes OY that its power output produces also is zero simultaneously.
As it is shown in figure 5, based on above-mentioned method for arranging, load can be by vertically-mounted power executor along the rotation in coordinate axes OX direction
A1211, A2212, A3213, A4214 aggregate motion realizes.Now, it is desirable to vertically-mounted power executor A1211,
The moment algebraical sum around coordinate axes OX that the power output of A2212, A3213, A4214 produces is not zero, and requires this output
The algebraical sum of power is zero, and require that this power output produces the moment algebraical sum around coordinate axes OY is zero simultaneously.
As shown in Figure 6, based on above-mentioned method for arranging, load can be by vertically-mounted power executor along the rotation in coordinate axes OY direction
A1211, A2212, A3213, A4214 aggregate motion realizes.Now, it is desirable to vertically-mounted power executor A1211,
The moment algebraical sum around coordinate axes OY that the power output of A2212, A3213, A4214 produces is not zero, and requires this output
The algebraical sum of power is zero, and require that this power output produces the moment algebraical sum around coordinate axes OX is zero simultaneously.
As it is shown in fig. 7, based on above-mentioned method for arranging, load can be by being horizontally mounted power executor along the rotation in coordinate axes OZ direction
B1221, B2222, B3223, B4224 aggregate motion realizes.Now, it is desirable to be horizontally mounted power executor B1221, B2
222, the moment algebraical sum around coordinate axes OZ that the power output of B3223, B4224 produces is not zero, and requires along coordinate axes
The algebraical sum of the power in OX and coordinate axes OY direction is zero, requires that this power output produces around coordinate axes OX and coordinate axes simultaneously
The moment algebraical sum of OY is zero.
In addition to the above-mentioned concrete method for arranging of power executor be given, it would however also be possible to employ other method for arranging, as vertically-mounted power performs
Device A1211, A2212, A3213 and A4214 can be arranged in pairs at the both sides of face OXZ, its stretching motion direction and seat
Parameter OZ is parallel；It is horizontally mounted power executor B1221 and B3223 to may be arranged at coordinate axes OY and hold in service module 100 power
In the projection of row device installed surface, its stretching motion direction is parallel with coordinate axes OX；It is horizontally mounted power executor B222) and B4
224 may be arranged at coordinate axes OX in the projection of service module 100 power executor's installed surface, its stretching motion direction and coordinate axes
OY is parallel.The thought strategy that these methods realize load translation and rotation is complete with the above-mentioned concrete method for arranging of power executor be given
Exactly the same.
The above embodiment of the present invention, is not that any those skilled in the art are in the essence without departing from the present invention for limiting the present invention
In god and scope, scheme proposed by the invention is made possible variation and amendment by the content that may be by the disclosure above, because of
This, every technology contents without departing from the present invention, any simply repaiied according to what above example made by the technical spirit of the present invention
Change, equivalent variations and modification, belong to protection scope of the present invention.
Claims (10)
1. a bar interconnection system noncontact satellite platform load pose adjusting means, it is achieved load six degree of freedom translation and rotation
Pose regulates, it is characterised in that
The main vertically-mounted power actuator unit being made up of 4 identical vertically-mounted power executor A1, A2, A3, A4
The power that the is horizontally mounted actuator unit composition of be horizontally mounted power executor B1, B2, B3, B4 composition identical with 4, all
Installing force executor is arranged between satellite service cabin and load cabin, and is connected with load cabin by service module by bolt；
Arranging three-dimensional cartesian coordinate system OXYZ, OX, OY, OZ are respectively three coordinate axess, make 4 vertically-mounted power hold
Row device is arranged in the main Path of Force Transfer of service module, symmetrically arranges relative to coordinate axes OZ, and be arranged in pairs at face OXZ or
The both sides of face OYZ；4 are horizontally mounted the circumferential arrangement that power executor is 90 ° relative to coordinate axes OZ, are arranged in seat
Parameter OX and coordinate axes OY is in the projection of service module power executor's installed surface, and hands in mutual with vertically-mounted power executor
Wrong layout；8 installing force executor generally quadrature arrangement, are parallel to each other between vertically-mounted power executor, are horizontally mounted power
Executor's neighboring vertical, is separated by parallel, and vertically-mounted power executor and being horizontally mounted between power executor is mutually perpendicular to.
Eight bar interconnection system noncontact satellite platform load pose adjusting meanss the most according to claim 1, it is characterised in that institute
State three coordinate axess OX, OY, OZ of three-dimensional cartesian coordinate system OXYZ parallel with satellite platform mechanical coordinate system respectively, its
Initial point is positioned at load cabin barycenter.
Eight bar interconnection system noncontact satellite platform load pose adjusting meanss the most according to claim 1, it is characterised in that institute
State vertically-mounted power executor A1, A2, A3 and A4 and be arranged in pairs at the both sides of face OYZ, its stretching motion direction and seat
Parameter OZ is parallel；It is horizontally mounted power executor B1 and B3 and is arranged in the coordinate axes OX throwing at service module power executor's installed surface
On shadow, its stretching motion direction is parallel with coordinate axes OY；It is horizontally mounted power executor B2 and B4 to be arranged in coordinate axes OY and exist
In the projection of service module power executor's installed surface, its stretching motion direction is parallel with coordinate axes OX.
4. a bar interconnection system noncontact satellite platform load pose control method, it is characterised in that use such as claim 1 institute
The adjusting means stated completes, by controlling described vertically-mounted power executor and being horizontally mounted the stretching motion combination of power executor,
Realize eight bar interconnection system noncontact satellite platform load along coordinate axes OX, coordinate axes OY, the six degree of freedom translation of coordinate axes OZ
Position adjustments and rotation attitude regulation.
Eight bar interconnection system noncontact satellite platform load pose control methods the most according to claim 4, it is characterised in that carry
Lotus by vertically-mounted power executor A1, A2, A3, A4 and is horizontally mounted power along the translation position adjustments in coordinate axes OX direction
Executor's B2, B4 aggregate motion realizes, and is horizontally mounted power executor B2, B4 and produces the power output that direction is identical, water simultaneously
The moment algebraical sum around coordinate axes OZ that flat installing force executor's B2, B4 power output causes is zero；The most vertically-mounted power is held
The power output of row device A1, A2, A3, A4 produce around coordinate axes OY moment be horizontally mounted power executor B2, B4
The algebraical sum of the moment around coordinate axes OY that causes of power output be zero, vertically-mounted power executor A1, A2, A3, A4
Power output produce the moment algebraical sum around coordinate axes OX be zero.
Eight bar interconnection system noncontact satellite platform load pose control methods the most according to claim 4, it is characterised in that carry
Lotus by vertically-mounted power executor A1, A2, A3, A4 and is horizontally mounted power along the translation position adjustments in axial coordinate OY direction
Executor's B1, B3 aggregate motion realizes, it is desirable to is horizontally mounted power executor B1, B3 and produces the power output that direction is identical, with
It is zero that Shi Yaoqiu is horizontally mounted the moment algebraical sum around coordinate axes OZ that power executor's B1, B3 power output causes；Requirement simultaneously
The moment around coordinate axes OX that the power output of vertically-mounted power executor A1, A2, A3, A4 produces is held with the power of being horizontally mounted
The algebraical sum of the moment around coordinate axes OX that the power output of row device B1, B3 causes is zero；Require that vertically-mounted power performs simultaneously
The moment algebraical sum around coordinate axes OY that the power output of device A1, A2, A3, A4 produces is zero.
Eight bar interconnection system noncontact satellite platform load pose control methods the most according to claim 4, it is characterised in that carry
Lotus is realized along the translation position adjustments in coordinate axes OZ direction by vertically-mounted power executor's A1, A2, A3, A4 aggregate motion,
Require that the algebraical sum that vertically-mounted power executor A1, A2, A3, A4 produce power output is not zero, require this power output simultaneously
The algebraical sum of the moment around coordinate axes OX produced is zero, requires the moment around coordinate axes OY that its power output produces simultaneously
Algebraical sum is also zero.
Eight bar interconnection system noncontact satellite platform load pose control methods the most according to claim 4, it is characterised in that carry
Lotus is realized along the rotation attitude regulation in coordinate axes OX direction by vertically-mounted power executor's A1, A2, A3, A4 aggregate motion,
Require that the moment algebraical sum around coordinate axes OX that the power output of vertically-mounted power executor A1, A2, A3, A4 produces is not
Zero, require that the algebraical sum of this power output is zero simultaneously, require that this power output produces the moment algebraical sum around coordinate axes OY and is simultaneously
Zero.
Eight bar interconnection system noncontact satellite platform load pose control methods the most according to claim 4, it is characterised in that carry
Lotus is realized along the rotation attitude regulation in coordinate axes OY direction by vertically-mounted power executor's A1, A2, A3, A4 aggregate motion,
Require that the moment algebraical sum around coordinate axes OY that the power output of vertically-mounted power executor A1, A2, A3, A4 produces is not
Zero, require that the algebraical sum of this power output is zero simultaneously, require that this power output produces the moment algebraical sum around coordinate axes OX and is simultaneously
Zero.
Eight bar interconnection system noncontact satellite platform load pose control methods the most according to claim 4, it is characterised in that carry
Lotus can be realized by being horizontally mounted power executor's B1, B2, B3, B4 aggregate motion along the rotation attitude regulation in coordinate axes OZ direction,
Require that the moment algebraical sum around coordinate axes OZ that the power output being horizontally mounted power executor B1, B2, B3, B4 produces is not zero,
Require that the algebraical sum along coordinate axes OX and the power in coordinate axes OY direction is zero simultaneously, require that this power output produces around seat simultaneously
The moment algebraical sum of parameter OX and coordinate axes OY is zero.
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| CN106742070A (en) * | 2016-11-30 | 2017-05-31 | 上海卫星工程研究所 | Possesses the satellite platform of dynamic middle imaging capability |
| CN109178344B (en) * | 2018-06-20 | 2020-05-29 | 上海卫星工程研究所 | Novel magnetic suspension actuator combination layout and high-reliability redundancy design method |
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| CN102155516B (en) * | 2011-01-24 | 2012-05-23 | 北京航空航天大学 | Eight-rod-redundant-configuration and six-degree-of-freedom active vibration control device |
| CN102759927B (en) * | 2012-08-03 | 2014-05-14 | 北京理工大学 | Method for using multistage vibration isolation platform to improve optic loading imaging quality |
| CN103048892A (en) * | 2012-12-19 | 2013-04-17 | 哈尔滨工业大学 | Vibration-isolation platform based on height/horizontal attitude six-dimensional position detection and control |
| CN103453062B (en) * | 2013-08-15 | 2015-06-17 | 华中科技大学 | Zero-rigidity magnetic-suspension active vibration isolator and six-degree-of-freedom vibration isolation system consisting of vibration isolator |
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2014
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