CN109540198A - A kind of parabolic-cylinder antenna expansion reflecting surface ground-testing plant - Google Patents
A kind of parabolic-cylinder antenna expansion reflecting surface ground-testing plant Download PDFInfo
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- CN109540198A CN109540198A CN201811210003.2A CN201811210003A CN109540198A CN 109540198 A CN109540198 A CN 109540198A CN 201811210003 A CN201811210003 A CN 201811210003A CN 109540198 A CN109540198 A CN 109540198A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/10—Radiation diagrams of antennas
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Abstract
The invention belongs to satellite system technical fields, disclose a kind of parabolic-cylinder antenna expansion reflecting surface ground-testing plant, including sub-truss, erecting by overhang and active following control system；The sub-truss is connected by mounting rack with erecting by overhang；The erecting by overhang is made of the passive following device in cylinder direction (lower layer), cambered surface direction active following device (upper layer) and vertical following device (middle layer)；The active following control system includes horizontal active following control system, vertical following control system and power, displacement measuring device.The expansion principle of present invention combination parabolic-cylinder antenna expansion reflecting surface, and the expansion accurate unloading demand of process gravity/gravitational moment, it devises and a kind of active and passive follows the suspension type ground spreading testing equipment being used in combination, precision is higher, for the overall every ground experiment for realizing satellite antenna, strong technical support and engineering practice guarantee are provided.
Description
Technical field
It is interviewed the invention belongs to satellite system technical field more particularly to a kind of parabolic-cylinder antenna expansion reflecting surface
Test equipment.
Background technique
As the important composition structure of satellite system, the accuracy of all data is satellite in satellite antenna expansion test
Smoothly complete the important leverage of space tasks.Therefore, a set of high-precision satellite antenna ground-testing plant is developed with important
Meaning.Space device will receive gravity in ground environment, and in orbit when be in state of weightlessness, therefore satellite day
Line success expansion in space is collapsed and holding balanced steady state is an essential content of the test.For mould
Quasi- satellite antenna true zero-g environment during folding exhibition, the servo-actuated hanging gravity compensation experimental rig of satellite antenna are set
It counts particularly important.
In conclusion problem of the existing technology is:
(1) there are water buoyancy, buoyant gas, the movement of falling object and hanging using wide gravitational compensation method at present
Gravity compensation.And buoyant gas and hanging gravity compensation are most widely used in satellite antenna field
(2) more rare for the expansion rig for testing of large complicated telescopic antenna both at home and abroad at present, application is more
Be air-flotation type developing test device, but such experimental rig is suitable for small size antenna.
(3) air-flotation type experimental rig is costly, precision is low, structure movement is inconvenient, test process is cumbersome.Be difficult to meet with
With the requirement of antenna movement track.
(4) position of centre of gravity migration caused by planform changes during spaceborne large-scale antenna expansion is to be difficult to realize
Compensation, using air-flotation type can only carry out plane emulation and to experimental enviroment requirement it is very high, for large-scale satellite antenna, air-flotation type
It is difficult to repeated loading and unloading and repeats to test, expend huge.
Solve the difficulty and meaning of above-mentioned technical problem:The present invention provides a kind of microgravity large sizes to roll over exhibition day thread test
Device, solve the problems, such as how in ground surface environment culminant star antenna in space orbit not by gravity, and the apparatus structure design
Rationally, structure is reliable, stability is high, the folding exhibition test requirements document of Large-scale satellite antenna microgravity can be achieved.
Summary of the invention
In view of the problems of the existing technology, it is interviewed the present invention provides a kind of parabolic-cylinder antenna expansion reflecting surface
Test equipment.
The invention is realized in this way a kind of parabolic-cylinder antenna expansion reflecting surface ground-testing plant includes support purlin
Frame, erecting by overhang and active following control system；
The sub-truss is connected by mounting rack with erecting by overhang；
The erecting by overhang is by the passive following device in cylinder direction (lower layer), cambered surface direction active following device (upper layer)
It is formed with vertical following device (middle layer)；
The active following control system includes horizontal active following control system, vertical following control system and power, position
Measuring system.
Further, the sub-truss using it is detachable splicing unit form truss element composition, including truss and
Pedestal；The truss is made of multiple sliceable and detachable unit, unit size are as follows: and 800mm × 800mm ×
800mm shares 350 truss elements；The unit is made of straight-bar, brace and connecting ball head；Using double at the top of the truss
Layout layer；The pedestal is made of frame, idler wheel, brake block and standing screw, shares 8 pedestals.
Further, the passive following device in cylinder direction is located at the bottom of erecting by overhang, passive following device it is upper
End is connected by drag-line and vertical following device, and lower end is connected by drag-line and antenna suspension centre, is equipped with 9 groups altogether and is passively followed dress
It sets, every group of passive following device is made of cylindrical guide, sliding block, square tube, bracket and angular encoder, and angular encoder is logical
Bracket is crossed to be mounted on intermediate sliding block.
Further, cambered surface direction following device is located at entire erecting by overhang top layer, by upper layer mounting rack, level
Adjustable column, guide rail installation square tube, guide rail, sliding block, sliding beam, driving motor, synchronous belt transmission device composition；The upper layer peace
It shelves and shares 5, the sliding beam is equipped with 8, and fixed beam is equipped with 1；The sliding beam upper surface couples with sliding block, following table
Face is used to install the active following device of vertical direction, and quantity is corresponding with the passive following device in cylinder direction；The sliding beam with
Synchronous belt transmission device is fixed, and is driven by driving motor and is realized that suspension centre is moved along following for cambered surface direction, and a sliding beam
Driving is completed using two sets of synchronous belt transmission devices.
Further, the vertical following device uses separation design, and ladder-like distribution includes driving transposition and suspension centre
Device, driving device are made of servo motor, worm and gear (right-angle reduction device), steel wire storage wheel, and lifting-point device is by pulley
The components such as group, buffer spring, force snesor, wirerope, erection support composition；Steel cord ends are passively followed with cylinder direction
The bracket of device connects, and passes through motor folding and unfolding wirerope；The pulling force of drag-line is converted into the pressure of sensor, pressure by pulley blocks
Sensor measurement lineoutofservice signal pull provides feedback signal for vertical following device, and the effect of buffer spring is to avoid mutation power,
Guarantee control precision；Every group of passive following device uses 2 groups of vertical direction active following devices.
Further, the control structure of the horizontal direction of the active following control system are as follows: obliquity sensor measures hang spring
Angle between vertical direction, angle are compared with desired vertical calibration angle (natural vertical angle), and deviation is made
For input, is moved, reduced by desired rule by the electric motor actuator that suitable control law controls suspention translation mechanism
Deviation, it is final that hang spring is kept to keep vertical.
Further, the control structure of the vertical direction of the active following control system are as follows: force sensor measuring hang spring is drawn
Power is compared with desired counterweight forces, and deviation controls suspention rolling-up mechanism by suitable control law and draw as input
Dynamic hang spring reduces the deviation between desired counterweight forces, final that hang spring pulling force is kept to be equal to counterweight forces.
Further, the electric-control system of the active following control system is by power supply and distribution unit, data acquisition unit, motor
Driving unit and servo antrol unit.
Advantages of the present invention and good effect are as follows: the expansion principle of reflecting surface is unfolded in present invention combination parabolic-cylinder antenna,
And the expansion accurate unloading demand of process gravity/gravitational moment, it devises and a kind of active and passive follows the suspension type being used in combination
Ground spreading testing equipment, precision is higher, and the straightness of vertical following device is at 20 millimeters hereinafter, the water of horizontal following device
Pingdu is at 10 millimeters hereinafter, the starting angle threshold of active following device fluctuates within 1.3 ° away from required value ranges.Such dress
It sets and is of great significance for the development of satellite system, for the overall every ground experiment for realizing satellite antenna, provide strong
Technical support and engineering practice guarantee.
Detailed description of the invention
Fig. 1 is the overall configuration of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Figure；
Fig. 2 is the system composition of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Figure；
Fig. 3 is the expansion reflection of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
The operating process of face ground-testing plant；
Fig. 4 is the horizontal direction of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Motion control structure；
Fig. 5 is the vertical direction of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Motion control structure；
Fig. 6 is the parabolic cylinder of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Antenna is unfolded reflecting surface unfolded state and hangs form figure；
Fig. 7 is the parabolic cylinder of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Antenna is unfolded reflecting surface rounding state and hangs form figure；
Fig. 8 is the envelope size of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Scheme a；
Fig. 9 is the envelope size of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Scheme b；
Figure 10 is the sub-truss of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Structure chart；
Figure 11 is the Xing frame unit of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Figure；
Figure 12 is the understructure of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Figure；
Figure 13 is the erecting by overhang of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Mechanism composition figure；
Figure 14 is that the cylinder of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention is passive
Following device figure；
Figure 15 is the angular coding of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Device installation form figure；
Figure 16 is the cambered surface direction of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Active following device structure chart；
Figure 17 is the cambered surface direction of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Active following device structure composition figure；
Figure 18 is the cambered surface direction of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
The structure type figure a of active following device；
Figure 19 is the cambered surface direction of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
The structure type figure b of active following device；
Figure 20 is the driving device of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Using step profile；
Figure 21 is the electric-control system of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Basic composition；
Figure 22 is the servo-actuated control of power of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
System composition figure processed；
Figure 23 is the horizontal-shift of parabolic-cylinder antenna expansion reflecting surface ground-testing plant provided in an embodiment of the present invention
Following control system composition figure；
In figure: 1, sub-truss；2, erecting by overhang；3, active following control system；4, mounting rack；5, cylinder direction quilt
Dynamic following device；6, cambered surface direction active following device；7, vertical following device composition；8, cylindrical guide；9, sliding block；10, side
Pipe；11, bracket；12, angular encoder；13, swing rod；14 upper layer mounting racks；15, Level tune column；16, guide rail installs square tube；
17, guide rail；18, sliding beam；19, driving motor；20, synchronous belt transmission device.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to this hair
It is bright to be further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention.
Application principle of the invention is further described with reference to the accompanying drawing.
As depicted in figs. 1 and 2, parabolic-cylinder antenna expansion reflecting surface ground-testing plant includes sub-truss 1, hanging
Device 2 and active following control system 3；
The sub-truss 1 is connected by mounting rack 4 with erecting by overhang 2；
The major function of the erecting by overhang 2 is to follow the movement of antenna suspension centre horizontal direction and vertical direction, and realize
The unloading of gravity and gravitational moment is by the passive following device 5 (lower layer) in cylinder direction, cambered surface direction active following device 6 (upper layer)
It is formed with vertical following device 7 (middle layer)；
The active following control system 3 include horizontal active following control system, vertical following control system and power,
Displacement measuring device.
As the preferred embodiment of the present invention, the sub-truss 1 is using the detachable truss list for splicing unit form
Member composition, including truss and pedestal；The sub-truss 1 is made of multiple sliceable and detachable unit, unit size
Are as follows: 800mm × 800mm × 800mm shares 350 truss elements；The unit is made of straight-bar, brace and connecting ball head；
Using the double-deck layout at the top of the truss；The pedestal is made of frame, idler wheel, brake block and standing screw, shares 8 bottoms
Seat.
As the preferred embodiment of the present invention, the passive following device 5 in cylinder direction is located at the most lower of erecting by overhang 2
End, the upper end of passive following device are connected by drag-line and vertical following device, and lower end is connected by drag-line and antenna suspension centre,
It is equipped with 9 groups of passive following devices altogether, every group of passive following device is by cylindrical guide 8, sliding block 9, square tube 10, bracket 11 and angle
Encoder 12 forms, and angular encoder 12 is mounted on intermediate sliding block 9 by bracket 11, realizes drag-line by swing rod 13
Along the measurement of the angular displacement in cambered surface direction.
As the preferred embodiment of the present invention, cambered surface direction following device 6 is located at entire erecting by overhang top layer,
By upper layer mounting rack 14, Level tune column 15, guide rail installation square tube 16, guide rail 17, sliding block 9, sliding beam 18, driving motor 19,
Synchronous belt transmission device 20 forms；The upper layer mounting rack 14 shares 5, and the sliding beam 18 is equipped with 8, and fixed beam is equipped with 1
It is a；18 upper surface of sliding beam couples with sliding block 9, and lower surface is used to install the active following device of vertical direction, quantity with
The passive following device in cylinder direction is corresponding；The sliding beam 18 is fixed with synchronous belt transmission device 20, is driven by driving motor 19
It is dynamic to realize that suspension centre is moved along following for cambered surface direction, and a sliding beam 18 is completed to drive using two sets of synchronous belt transmission devices 19
It is dynamic.
As the preferred embodiment of the present invention, the vertical following device 7 uses separation design, ladder-like distribution, packet
The transposition containing driving and lifting-point device, driving device are made of servo motor, worm and gear (right-angle reduction device), steel wire storage wheel,
Lifting-point device is made of components such as pulley blocks, buffer spring, force snesor, wirerope, erection supports；Steel cord ends and column
The bracket of the passive following device in face direction connects, and passes through motor folding and unfolding wirerope；The pulling force of drag-line is converted into sensing by pulley blocks
The pressure of device, pressure sensor measuring steel wire rope tension provide feedback signal, the effect of buffer spring for vertical following device
It is to avoid mutation power, guarantees control precision；Every group of passive following device uses 2 groups of vertical direction active following devices.
As the preferred embodiment of the present invention, the control structure of the horizontal direction of the active following control system 3 are as follows:
Obliquity sensor measures the angle between hang spring and vertical direction, angle and desired vertical calibration angle (natural vertical angle
Degree) it is compared, deviation controls the electric motor actuator of suspention translation mechanism on schedule as input, by suitable control law
The rule of prestige is moved, and deviation is reduced, final that hang spring is kept to keep vertical.
As the preferred embodiment of the present invention, the control structure of the vertical direction of the active following control system 3 are as follows:
Force sensor measuring hang spring pulling force, is compared with desired counterweight forces, and deviation passes through suitable control law as input
Control suspention rolling-up mechanism pulls hang spring, and the deviation between reduction and desired counterweight forces finally keeps hang spring pulling force to be equal to and matches
Gravity.
As the preferred embodiment of the present invention, the electric-control system of the active following control system 3 by power supply and distribution unit,
Data acquisition unit, electric-motor drive unit and servo antrol unit.
Specific embodiment is further described application principle of the invention below.
1, parabolic-cylinder antenna expansion reflecting surface ground-testing plant composition
It is accurately unloaded in conjunction with the expansion principle of parabolic-cylinder antenna expansion reflecting surface, and expansion process gravity/gravitational moment
Load demand devises and a kind of active and passive follows the suspension type ground spreading testing equipment being used in combination, the ground-testing plant
It is made of sub-truss, erecting by overhang and active following control system, as shown in Figure 2；
Erecting by overhang is made of horizontal following device and vertical following device, wherein horizontal following device is divided into actively again
It follows and passively follows.Active following control system include horizontal active following control system, vertical following control system and
Power, angle displacement measurement etc..
The specific structure composition that reflecting surface ground-testing plant is unfolded in parabolic-cylinder antenna is as shown in Figure 1.Parabolic cylinder day
Reflecting surface unfolded state hanging form is unfolded for line as shown in fig. 6, parabolic-cylinder antenna expansion reflecting surface rounding state hangs form
As shown in fig. 7, reflecting surface ground-testing plant envelope size is unfolded in parabolic-cylinder antenna are as follows: 18485 × 16085 ×
12000mm, as shown in Figure 8,9.
2, the operating process of parabolic-cylinder antenna expansion reflecting surface ground-testing plant is following (as shown in Figure 10):
2.1 expansion preparation stages
The suspension centre end that the selected suspension centre of reflecting surface and ground-testing plant is unfolded is connected by antenna installation, each by measuring
The power of drag-line is adjusted the position of fixing end, height, angle, and antenna expansion starting point is fixed with supporting tool, is
Expansion test is prepared；
Each sling point pulling force debugging, working condition detection work abnormal, judge failure and handle；
Encoder tilt angle debugging, working condition detection, works abnormal, judges failure and handle.
2.2 expansion reflecting surface stages of deployment
The expansion process of reflecting surface, the expansion campaign comprising horizontal and vertical three directions is unfolded, and three directions are simultaneously
Expansion, wherein horizontal movement includes cylinder direction and cambered surface direction two degree-of-freedom motion again.
Cylinder is followed using passively following, and sliding block adjusts hoisting point position passively under drag-line active force to follow antenna phase
Answer hoisting point position.
Cambered surface is followed using actively following, and measures the angular displacement that drag-line monitors cambered surface direction, control by angular encoder
Antenna is unfolded along cambered surface direction, and whether system monitoring expansion is normal during expansion, is judged, expansion is abnormal, judges event
Hinder and handle, until normal expansion；
It is followed vertically using actively following, cable tension is measured by pressure sensor, control antenna is along the vertical direction
Expansion, whether system monitoring expansion is normal during expansion, is judged, expansion is abnormal, judges failure and handles, until
Normal expansion.
2.3 expanding in place
Expansion reflecting surface expands in place, motor position locking.
3, equipment mechanism detailed design
3.1 sub-truss
Braced frame is used to support the gravitational load of hangar system equilibrium product and the weight of total experimental rig ontology,
Braced frame main body is made of truss element, using detachable splicing unit form, sees Figure 11.
Sub-truss totality envelope size are as follows: 18.5m × 16.1m × 12.0m, including truss and pedestal (Figure 11), truss
It is made of multiple sliceable and detachable unit, unit size are as follows: 800mm × 800mm × 800mm, each unit have directly
Bar, brace and connecting ball head composition, as shown in figure 12.Since sub-truss entirety span is big, layer cloth is used at the top of truss
Office, there are about 350 truss elements to form for experimental rig.Pedestal is made of frame, idler wheel, brake block and standing screw, such as Figure 13
Shown, whole device uses 8 pedestals altogether.
3.2 erecting by overhang
The major function of ground-testing plant erecting by overhang is to follow the fortune of antenna suspension centre horizontal direction and vertical direction
It is dynamic, and realize the unloading of gravity and gravitational moment.Erecting by overhang is by the passive following device in cylinder direction (lower layer), cambered surface direction master
Dynamic following device (upper layer) and vertical following device composition (middle layer) (Figure 14), erecting by overhang pass through mounting rack and sub-truss
Connection.
1) the passive following device in cylinder direction
According to the expansion principle of parabolic-cylinder antenna it can be found that selected antenna suspension centre is along day during antenna expansion
5 suspension centres of each column in terminal face direction have an identical feature, i.e. the height of 5 points in the vertical direction is identical always, edge
Position where the suspension centre of cambered surface direction is in always on same straight line, but along cylinder direction, 5 suspension centres can be with the exhibition of antenna
It opens and is gradually distance from.So according to the characteristic of selected suspension centre, in cambered surface direction and vertical direction to the suspension centre for having same characteristics
Unified hanging is completed using same device, following for suspension centre is realized using passive following device along cylinder.
Passive following device is located at the bottom (Figure 14) of erecting by overhang, can reduce additional friction force to the greatest extent
And inertia force, reduce tracking error.Selected 81 suspension centres 9 arrange totally along cylinder direction, so sharing 9 groups passively follows dress
It sets.
Every group of passive following device (Figure 15) is made of cylindrical guide, sliding block, square tube, bracket and angular encoder.According to
The expansion principle of antenna, centrally located suspension centre sliding block is fixed, remaining 4 suspension centre sliding block with antenna expansion
It is moved along cylindrical guide to two sides.Passive following device upper end is connected by drag-line and vertical following device, and lower end passes through drag-line
It is connected with antenna suspension centre.
It is big using two suspension centre spans since the length of cylinder directional aerial is 12m, by two brackets, four are hung
Point is merged into two suspension centres, increases the rigidity of square tube, reduces amount of deflection.In order to increase the synchronism of vertical direction following device, quilt
The suspension centre being arranged on dynamic following device should not be excessive.Bracket is made of 2 aluminum profiles and 3 hinges.
Movement due to 5 suspension centres along antenna expansion cambered surface direction is consistent, and an angular coding is only arranged in setting herein
Device.Angular encoder is mounted on intermediate slider by bracket, realizes drag-line along the survey of the angular displacement in cambered surface direction by swing rod
Amount, is shown in Figure 16, the measured value Real-time Feedback of angular encoder arrives the control system of cambered surface following device, for cambered surface direction with
Feedback information is provided with movement.
2) cambered surface direction active following device
Cambered surface direction following device is located at entire erecting by overhang top layer, in order to realize that the expansion of antenna three-dimensional is hung in the process
Point follows, and erecting by overhang has used the components such as a large amount of guide rail, profile, and additional friction force and inertia force are big, parabolic cylinder
The deploying force of antenna is difficult to overcome these additive factors and complete expansion movement, so along the cambered surface direction of antenna expansion
Using active following device.
Cambered surface direction active following device (Figure 17) mainly by upper layer mounting rack, Level tune column, guide rail installation square tube,
Guide rail, sliding block, sliding beam, driving motor, synchronous belt transmission device composition, as shown in Figure 18,.Mounting rack will entirely hang dress
It sets and couples with sub-truss, Level tune column is for adjusting guide rail level height.
Length of the parabolic-cylinder antenna along cylinder direction is 12m, and span is larger, in addition the weight of entire antenna and additional
The quality of components is all the load of active following device, in order to increase the overall stiffness of hanging, reduce deflection deformation, setting
5 mounting racks.
Sliding beam upper surface couples with sliding block, and lower surface is used to install the active following device of vertical direction, quantity with
The passive following device in cylinder direction is corresponding, since suspension centre where antenna expansion starting point is not subjected to displacement variation, institute along cambered surface direction
8 sliding beams, 1 fixed beam is arranged.Sliding beam is fixed with synchronous belt, realizes suspension centre along cambered surface direction by motor driven
Follow movement.Since sliding beam is longer, a sliding beam completes driving using two sets of transmission devices.
3) vertical direction active following device
The function of vertical following device is to follow the movement of antenna suspension centre vertical direction, provides equilibrant force to antenna suspension centre
Unload carrying force and gravitational moment.Its working principle: force snesor real-time monitoring rope pull makes pulling force by motor folding and unfolding rope
The gravity of equilibrium product realizes feedback control, when lineoutofservice signal pull increases, puts wirerope by control motor rotation, on the contrary
Then rope closing controls the pulling force of wirerope in error range.
Since space limits, vertical following device (Figure 19,20) uses separation design, includes driving transposition and suspension centre
Device, driving device are made of servo motor, worm and gear (right-angle reduction device), steel wire storage wheel, and lifting-point device is by pulley
The components such as group, buffer spring, force snesor, wirerope, erection support composition, steel cord ends are passively followed with cylinder direction
The bracket of device connects, and by motor folding and unfolding wirerope, makes the gravity of the tension balanced product of wirerope.Pulley blocks are by drag-line
Pulling force be converted into the pressure of sensor, pressure sensor measuring steel wire rope tension provides feedback letter for vertical following device
Number, the effect of buffer spring is to avoid mutation power, guarantees control precision.
In order to realize the movement that follows of the passive following device entirety vertical direction in cylinder direction, every group of passive following device
Using 2 groups of vertical direction active following devices.Since suspension centre can small, the driving of vertical direction active following device using space
Device uses ladder-like distribution (Figure 21), avoids interfering between suspension centre.
4, ground-testing plant Control System Design
4.1 control system functions
Electric-control system mainly realizes control, power load control and the system expansion of the stroke in antenna folding exhibition whole flow process
Power servo antrol in the process；Realize include order send, the necessary human-computer interaction such as condition monitoring and prompting, fault diagnosis；
Realize the functions such as system parameter setting, assistant resetting.
4.2 control system basic schemes
It mainly includes the translational motion of horizontal plane and the movement of gravity direction that process, which is unfolded, in antenna, while gravity direction is wanted
Consider gravitational equilibrium.Therefore the hang spring that hanging control system needs to control suspension platform keeps gravity direction, while needing to control
Suspension platform follows antenna horizontal motion；In addition the movement for following antenna gravity direction is realized in the up and down motion of control hang spring
And gravitational equilibrium.Suspention control system can use various ways, it is contemplated that the flexibility and cost of system design are mainly adopted
With the servo antrol mode based on servo motor.
The control structure of horizontal direction is as shown in figure 22, and obliquity sensor measures the angle between hang spring and vertical direction,
Angle is compared with desired vertical calibration angle (natural vertical angle), and deviation is as input, by suitably controlling
The electric motor actuator of rule control suspention translation mechanism is moved by desired rule, reduces deviation, final that hang spring is kept to keep
Vertical.
The control structure of vertical direction is as shown in figure 23, force sensor measuring hang spring pulling force, carries out with desired counterweight forces
Compare, deviation controls suspention rolling-up mechanism by suitable control law and pull hang spring, reduction is matched with desired as input
Deviation between gravity, it is final that hang spring pulling force is kept to be equal to counterweight forces.When specific antenna movement, motor driven rolling-up mechanism is received
Draw hang spring servo-actuated, making hang spring tensioning is expected counterweight forces.When the component motion on antenna is oriented, hang spring tensile force becomes smaller,
Motor is needed to rotate forward tightening hang spring；When antenna has downward component motion, hang spring tensile force becomes larger, and motor, which needs to invert, to be loosened
Hang spring.
4.3 control systems composition
Control system is mainly using the industrial control computer with input/output interface circuit as basic control unit
Part constitutes full digital Control System of Microcomputer with servo controller, ac servo amplifier and electrical control gear etc..Mainly
It is made of control computer, sensor, motor and the part such as relevant speed reducer and driving amplifier.
The take down the exhibits control of following control system of system is mainly horizontal-shift and two kinds of vertical force it can be seen from scheme
The control of type.
The servo-actuated electric control part of horizontal direction is other essentially identical in addition to sensor difference.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. reflecting surface ground-testing plant is unfolded in a kind of parabolic-cylinder antenna, which is characterized in that parabolic-cylinder antenna expansion is anti-
The face ground-testing plant of penetrating includes sub-truss, erecting by overhang and active following control system；
The sub-truss is connected by mounting rack with erecting by overhang；
The erecting by overhang is by the passive following device in cylinder direction, cambered surface direction active following device and vertical following device group
At；
The active following control system includes horizontal active following control system, vertical following control system and power, displacement survey
Measure device.
2. reflecting surface ground-testing plant is unfolded in parabolic-cylinder antenna as described in claim 1, which is characterized in that the support purlin
Frame is formed using the truss element of detachable splicing unit form, including truss and pedestal；The truss is spelled by multiple
It connects and is formed with the unit of detachable, unit size are as follows: 800mm × 800mm × 800mm shares 350 truss elements；The list
Member is made of straight-bar, brace and connecting ball head；Using the double-deck layout at the top of the truss；The pedestal is by frame, idler wheel, brake
Piece and standing screw composition, share 8 pedestals.
3. reflecting surface ground-testing plant is unfolded in parabolic-cylinder antenna as described in claim 1, which is characterized in that the cylinder side
It is located at the bottom of erecting by overhang to passive following device, the upper end of passive following device passes through drag-line and vertical following device phase
Connection, lower end are connected by drag-line and antenna suspension centre, are equipped with 9 groups of passive following devices altogether, and every group of passive following device is led by cylinder
Rail, sliding block, square tube, bracket and angular encoder composition, and angular encoder is mounted on intermediate sliding block by bracket.
4. reflecting surface ground-testing plant is unfolded in parabolic-cylinder antenna as described in claim 1, which is characterized in that the cambered surface side
It is located at entire erecting by overhang top layer to following device, square tube, guide rail, cunning is installed by upper layer mounting rack, Level tune column, guide rail
Block, sliding beam, driving motor, synchronous belt transmission device composition；The upper layer mounting rack shares 5, and the sliding beam is equipped with 8
A, fixed beam is equipped with 1；The sliding beam upper surface couples with sliding block, and the active that lower surface is used to install vertical direction follows
Device, quantity are corresponding with the passive following device in cylinder direction；The sliding beam is fixed with synchronous belt transmission device, passes through driving electricity
Machine driving realizes that suspension centre is moved along following for cambered surface direction, and a sliding beam is completed to drive using two sets of synchronous belt transmission devices
It is dynamic.
5. reflecting surface ground-testing plant is unfolded in parabolic-cylinder antenna as described in claim 1, which is characterized in that it is described vertically with
Separation design is used with device, ladder-like distribution, comprising driving transposition and lifting-point device, driving device is by servo motor, snail
Worm and gear, steel wire storage wheel composition, lifting-point device is by portions such as pulley blocks, buffer spring, force snesor, wirerope, erection supports
Part composition；Steel cord ends are connect with the bracket of the passive following device in cylinder direction, pass through motor folding and unfolding wirerope；Pulley blocks will
The pulling force of drag-line is converted into the pressure of sensor, and pressure sensor measuring steel wire rope tension provides feedback for vertical following device
Signal, the effect of buffer spring are to avoid mutation power, guarantee control precision；Every group of passive following device uses 2 groups of vertical directions
Active following device.
6. reflecting surface ground-testing plant is unfolded in parabolic-cylinder antenna as described in claim 1, which is characterized in that the active with
With the control structure of the horizontal direction of control system are as follows: obliquity sensor measures the angle between hang spring and vertical direction, angle
It is compared with desired vertical calibration angle, deviation controls suspention translation mechanism as input, by suitable control law
Electric motor actuator is moved by desired rule, reduces deviation, final that hang spring is kept to keep vertical.
7. reflecting surface ground-testing plant is unfolded in parabolic-cylinder antenna as described in claim 1, which is characterized in that the active with
With the control structure of the vertical direction of control system are as follows: force sensor measuring hang spring pulling force is compared with desired counterweight forces,
Its deviation as input, by suitable control law control suspention rolling-up mechanism pull hang spring, reduce with desired counterweight forces it
Between deviation, it is final that hang spring pulling force is kept to be equal to counterweight forces.
8. reflecting surface ground-testing plant is unfolded in parabolic-cylinder antenna as described in claim 1, which is characterized in that the active with
With the electric-control system of control system by power supply and distribution unit, data acquisition unit, electric-motor drive unit and servo antrol unit.
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| CN112061432A (en) * | 2020-09-25 | 2020-12-11 | 西安电子科技大学 | Parabolic cylinder antenna low-gravity unfolding test bed based on curved guide rail |
| CN112103615A (en) * | 2020-09-16 | 2020-12-18 | 深圳市威富通讯技术有限公司 | Antenna automatic folding and unfolding leveling device and antenna leveling method |
| CN112416028A (en) * | 2020-11-12 | 2021-02-26 | 上海卫星装备研究所 | Multi-point hanging constant force joint adjustment control method and system |
| CN113219261A (en) * | 2021-03-29 | 2021-08-06 | 西安电子科技大学 | Modular deployable antenna ground deployment test system, control method and application |
| CN113725625A (en) * | 2021-07-30 | 2021-11-30 | 西安空间无线电技术研究所 | System and method for unfolding and unloading ultra-long parabolic cylinder antenna |
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