空间遥感器次镜多维调节装置的研究

	空间遥感器次镜多维调节装置的研究
其他题名	Research on Multi-dimensional Adjustment Device for Secondary Mirror of Space Remote Sensor
	崔鑫磊
学位类型	硕士
导师	李威
	2015
学位授予单位	中国科学院大学
学位专业	机械工程
关键词	6-ups并联机构次镜多维调节装置运动学模型动力学模型误差运动学参数辨识
摘要	空间遥感器从地面发射到太空的过程中，由于受到发射冲击振动、温度变化、重力释放和气压改变等因素的影响，其光学组件间的相对位置关系可能发生改变。其中，主镜和次镜间相对位置的变化对光学系统的成像性能影响较大，需要设置调整环节，对其进行修正。由于主镜组件的体积和重量通常较大，多数光学系统不对其进行调整，而在次镜组件上设置调整环节，对系统的光学失调进行调整。主、次镜间相对位置的变化情况较为复杂，因此要求次镜调整机构应有多维调节功能。通过分析国外空间遥感器次镜的调节方案，综合考虑本课题中空间遥感器次镜的调节需求，本文确定采用6-UPS并联机构作为次镜的多维调节装置。根据次镜多维调节装置的结构特点，构建了以次镜中心为调节中心的次镜多维调节装置的逆运动学模型，速度和加速度求解模型。基于逆运动学模型，利用Newton法迭代求解次镜多维调节装置的正运动学，通过正运动学模型和逆运动学模型的相互验证，证明正运动学求解方法有效。通过对次镜多维调节装置进行受力分析，利用Newton-Euler法构建了机构的动力学方程。根据机构动力学方程，基于MATLAB/Simulink仿真环境构建次镜多维调节装置的动力学仿真模型，通过PD反馈控制实现机构的正逆动力学的求解。在次镜多维调节装置逆运动学的基础上，通过全微分法构建了机构的误差模型，由误差模型可知：机构位姿误差来源于6个支杆长度误差和12个铰链中心的位置误差，共42个误差项。对误差模型进行蒙特卡洛模拟，分析次镜多维调节装置动平台位姿误差的分布情况。本文通过对次镜多维调节装置的运动学参数辨识的研究，提出了一种快速有效的参数辨识方法，并且给出了参数辨识精度与机构外部测量设备的精度之间一一对应的关系。
其他摘要	When the space remote sensor is launched into space from the Earth, due to vibration, temperature changes, gravity release, air pressure change and other factors, the relative position and orientation relationship between the components of the optical facilities may change. Among them, the change of relative position and orientation relationship between the primary mirror and the secondary mirror has a large influence on the imaging performance of the optical system, so the adjust link is needed to correct it. Because the primary mirror assembly’s size and weight are generally larger, it is not adjusted for the majority of the optical system, and the adjusted link is set on the secondary mirror to correct the optical offset. The change of relative position and orientation relationship between the primary mirror and the second mirror is so complex that the secondary mirror adjustment mechanism should be multi-dimensional adjustment. Through the investigation of foreign space remote sensor secondary mirror adjustment program, considering the requirement of the secondary mirror adjustment, it is determined that this paper use the 6-UPS parallel mechanism as a multi-dimensional adjustment device for secondary mirror. According to the geometry characteristics of the multi-dimensional adjustment device for secondary mirror, the inverse kinematics model that the adjustment center is the center of the secondary mirror is built, the speed and acceleration model is also built. Based on the inverse kinematics model, Newton iterative method is used to solve the forward kinematics of the multi-dimensional adjustment device for secondary mirror. Through the mutual authentication of the forward and inverse kinematics model, it is proved that the forward kinematics solution method is effective. Through the multi-dimensional adjustment device for secondary mirror stress analysis, we use the Newton-Euler method construct the dynamics equation. According to the dynamics equation, Base on MATLAB/Simulink simulation environment, the multi-dimensional adjustment device for secondary mirror dynamics simulation model is constructed. The forward and inverse dynamics are solved by PD feedback control. Base on the 6 multi-dimensional adjustment device for secondary mirror inverse kinematics, the error model is constructed by the total differential method. Through the error model, we can know that the pose error comes from the 6 leg length errors and 12 hinge centers position errors, total 42 error terms. The distribution of the multi-dimensional adjustment device for secondary mirror pose errors can be analyzed by Monte Carlo simulation. Through the research on the multi-dimensional adjustment device for secondary mirror kinematics parameters identification, a fast and effective method of parameters identification is given, and the correspondence relationship between the parameter identification’s accuracy and measuring equipment’s precision outside.
语种	中文
文献类型	学位论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/49299
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	崔鑫磊. 空间遥感器次镜多维调节装置的研究[D]. 中国科学院大学,2015.

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