数传跟踪天线驱动控制建模与仿真

摘要

The high gain antenna was drived with the stepper motor,the harmonic gear and the microstep driver.The overall antenna pointing error shall be 0·1º(3σ)or less.The model of driving antenna was described. On account of the torque model of stepper motor, the nonlinear dynamics model of the harmonic gear and the dynamic model of the microstep driver,as well as the nonlinear model was built,the step response,pointing error and output torque were provided by the proposed model.Comparing with the simulation and experiment results,the math model is correct and reliable. The pointing error is 0·017º(3σ) or less, meeting the requirements for pointing precision.%星载高增益数传跟踪天线一般采用步进电动机和谐波减速器作为驱动源，要求其跟踪执行精度小于0·1º(3氁)。文章以数传跟踪天线机构为研究对象，综合考虑了步进电动机矢量转矩模型、谐波齿轮的非线性动力学模型以及驱动电路动态模型。建立了非线性数字仿真模型，通过仿真计算，得到跟踪机构的单步响应、跟踪精度、输出转矩等运动特性，比较仿真结果和试验结果，对所建模型进行验证。比较结果表明，建立的天线机构驱动模型准确可靠，执行精度小于0·017º(3氁)，满足天线指向精度要求。