Dynamic Effects Analysis Of Atellite-carried Antenna Considering Nonlinear Friciton And Flexible In Joints

The satellite-carried antenna with wave beam can be fixed on the global point positioning, tracking moving objects in order to achieve a number between fixed and moving objects in continuous large-capacity communication, which requires board has a spot beam antenna High precision pointing and tracking. Satellite is a satellite base and satellite antenna formed through the rotary joint connected to the multi-body system, rotary joints is a satellite positioning and tracking the completion of the implementing agency, but also satellite carrying body. Therefore, the error caused the organization of satellite antenna pointing accuracy will be seriously affected.First, the satellite multi-body model is established, and the satellite and the satellite antenna is simplified as an ideal rigid body. Multi-body kinematics of satellite equation is derived, and then multi-body dynamics equations of satellite is derived using Lagrange Equation.Secondly, considering the satellite nonlinear friction between the rotary joint. Rotary joint is a harmonic reduction devices and vice in one of the rotating rotary joints, harmonic reducer and the friction between rotary vice, select the appropriate friction model into the satellite multi-body dynamics equations, are considered non-linear friction joints multi-body dynamics equations. With MATLAB programming and simulation analysis, based on the analysis select the appropriate compensation of the friction compensation.Finally, the dynamic error of flexible-joint is firstly introduced to dynamic model of Satellitic Antenna, and the nonlinear control algorithm is presented to compensate for pointing accuracy. The nonlinear characteristic of dynamic error impacts on pointing accuracy and attitude The forward and inverse dynamic model of Satellitic Antenna is established firstly, and then the dynamic model of dynamic error of flexible-joint is deduced. Further, the PD-type control algorithm for compensation of pointing accuracy of Satellitic Antenna is proposed pointing tracking. The asymptotic stability is established using Lyapunov stability theory. The result shows that with reasonable controller parameters, PD-type controller algorithm can completely compensate for the dynamic error. The conclusion would have important academic value and engineering significance.