A kinematic modeling scheme of three-axis "Satcom-on-the-Move" antenna based on modified Denavit-Hartenberg method

一种基于改进Denavit-Hartenberg方法的三轴"动中通"天线运动学建模方案

¹ School of Power and Energy, Northwestern Polytechnical University, Xi'an 710072, China
² College of Communications Engineering, Army Engineering University of PLA, Nanjing 210007, China

Received: 31 August 2022

Abstract

The current three-axes Satcom-on-the-Move(SOTM) antenna modeling method has some shortcomings, such as low model accuracy, poor portability and so on. In order to solve the above-mentioned shortcomings, a new modified Denavit-Hartenberg(NMDH) kinematics modeling scheme for the three-axes SOTM antenna was proposed. To overcome the modeling difficulties caused by the inherent mechanical structure of the antenna, and meet the requirements of the modified Denavit-Hartenberg(MDH) method, the virtual coordinate system and auxiliary coordinate systems are designed and added respectively on the basis of the MDH method, the forward kinematics model and inverse kinematics solution of the three-axes SOTM antenna are obtained. The correctness of the NMDH modeling scheme is verified by digital simulation. Finally, the system tests are carried out. The test results show that the NMDH modeling scheme proposed in this paper achieves good effect of antenna tracking satellite, and has stronger portability than the system identification modeling method commonly used in engineering.

摘要

为解决目前三轴"动中通"天线建模方法存在的模型精度低、可移植性差等缺点, 提出一种新型改进Denavit-Hartenberg(new modified DH, NMDH)方法三轴"动中通"天线运动学建模方案。为克服天线固有机械结构导致的建模困难, 同时满足改进Denavit-Hartenberg(modified DH, MDH)方法的建模要求, 在MDH方法的基础上, 分别设计加入虚拟坐标系和辅助坐标系, 得到三轴"动中通"天线的正向运动学模型及其逆运动学解。通过数字仿真验证了NMDH建模方案的正确性。系统试验结果表明, 文中提出的NMDH建模方案取得了良好的天线跟踪卫星效果, 并且比工程应用中常用的系统辨识建模方法具有更强的可移植性。