Design And Key Technology Studies Of Hybrid Stable Tracking System For Shipborne Radar

Ships will produce a six-degree-of-freedom sway motion on the sea due to the wind,waves,and currents,and so on.This will cause non-periodic interference to precision equipment installed on the ship.High-mobility navigation will also have an impact on shipboard equipment.These mixed disturbances will greatly reduce the performance of the equipment,which will affect the mission execution or actual combat.As an indispensable device on a ship,radar antennas play an extremely important role in many fields such as communication,search and tracking.Aiming at the existing stability tracking systems of shipboard radars,which are mostly in series and two-axis configuration,they cannot meet the requirements of large load and high accuracy.The research on the hybrid stability tracking device is carried out as follows:Firstly,based on the stochastic wave theory and AQWA marine ship simulation software,the ship’s sway motion under a given sea condition was calculated,and based on this and related technical indicators,the overall configuration of the hybrid stability tracking device was determined;and then design the mechanical structural.Then analyzed the inverse solutions of the 3-CUR+RR series mechanism and the forward and reverse solutions of the parallel mechanism and verified through model simulation.then,the working space of the 3-CUR parallel mechanism is drawn by MATLAB according to the constraints of the mechanism.Secondly,based on the actual working conditions,the parallel and horizontal mechanism of the ship is compensated for by the 3-CUR parallel mechanism,and the RR series mechanism is used to compensate the heave of the ship and the accompanying motion caused by the parallel mechanism motion.The corresponding kinematic parameters are given to perform the kinematics analysis and deduce the Jacobian matrix of the 3-CUR parallel mechanism,the position inverse solution of the 3-CUR+RR hybrid stability tracking device is obtained,Then the speed curve and acceleration curve of each driving joint are simulated and verified.Thirdly,based on the dynamic model of single rigid body and Newton’s Euler formula based on screw theory,the dynamic model of the parallel mechanism was obtained,and the dynamic model of the 3-CUR+RR hybrid tracking device under non-inertial system was established.The driving force of each driving joint of the3-CUR+RR hybrid stability tracking device in stable tracking is obtained under a given motion,and verified by model simulation.Finally,the effects of the gear transmission method selected in the hybrid and stable hybrid tracking device are described.The approximate dead zone model is selected for backlash modeling,and then the dual motor gear clearance is established based on the principle of dual motor clearance elimination.The gap model proves that it is theoretically feasible.Then use Unity to set up the overall environment where the hybrid stability tracking device is located,and assist the staff in the operation.