【作者】 李岩；

【导师】 范大鹏；

【作者基本信息】 国防科学技术大学 ， 机械工程， 2008， 博士

【摘要】 光电稳定跟踪装置是现代精确制导、火控武器装备的重要组成部分,随着精确打击作战方式的不断发展,对该类装置的高精度设计提出了更高的要求。装置是光机电技术结合的产物,其性能受到光学、机械和控制技术等多方面因素的影响,深入分析设计、制造和伺服控制等误差的影响机理,研究误差的测量与评价方法,对于提高装置精度具有重要意义。本文围绕着如何合理评价装置性能这一主题,在对装置进行运动学、动力学机理分析的基础上,针对影响装置精度的各项误差源,开展了误差建模及各项误差作用规律的研究,对装置误差的定量评价、几何误差的分配以及测试等问题也做了深入的分析和探讨。本文的研究工作包含以下几个部分:1.分析了装置基本工作原理和系统组成,采用空间机构运动学理论,研究了两轴、三环两轴、三轴等多轴多环架结构形式的稳定跟踪机理,深入分析几种结构形式的特点以及适用的载体和目标环境,为合理选择结构类型和建立几何误差模型奠定了基础。2.应用牛顿力学理论,以两轴稳定结构为例,分析了在载体振动环境中装置各种干扰力矩的来源与耦合方式,推导了惯量耦合力矩、偏心力矩等的具体作用模型,采用数学模型并结合仿真研究了被动隔振器与装置结构的动力学特性,为分析干扰力矩的影响、设计高精度控制器提供了依据。3.分析了影响装置稳定跟踪精度的主要误差来源,应用框图形式说明了它们的作用途径;采用光学成像质量评定方法,定量的分析了不同振动形式对光电探测器的性能影响。结合稳定跟踪机构的设计指标,提出了装置性能综合评价的具体方法。4.基于多体系统运动学误差建模理论,分析了机构几何误差的组成,建立了基于几何误差的机构指向误差和定位误差模型,并研究了其概率分布特征,为装置总体性能评价提供了理论模型;对陀螺安装和机构垂直度误差造成的陀螺敏感误差进行了运动学分析,利用仿真手段说明了各项误差与载体运动的耦合关系,对陀螺安装和误差测试有指导作用。5.根据误差项的随机性特点,提出了基于统计理论和Monte Carlo方法的误差综合和分配方法;通过误差敏感度概念的构建,研究了几何误差的合成与分配问题,并给出了某实际装置的稳定误差分析评价的具体实例。6.分析了几何误差测试的运动学原理,设计、分析和比较了多种测试方案,提出了几何误差分离和补偿的方法,对某装置进行的误差测试进一步验证了方法的可行性。更多还原

【Abstract】 Developing with the accurate beating in mordern battle, Opto-Electronic Stabilization/Tracking Equipment (OESTE) faces the demand of designing with higher accuracy, as the essential part of modern armament, e.g. accurate control & guide weapon , firepower control system. The performance of OESTE is affected by plenty of factors, e.g. optical signal process, mechanism design and servo control. For increase the precision of OESTE, there is a necessity to consider each error source and its effect during designing, manufacturing and controlling, and to research on the method of error measuring and evaluation. The dissertation focuses on this problem, and develops the error model to study the effect rule of error source, based on the kinematics and dynamics analysis of OESTE. And the paper also discusses the quantitative method of error evaluation, the geometrical error assignment and testing.The main work is organized as follows:1. The working principle and component of OESTE were analyzed firstly. Using the kinematics theory of spacial mechanism, the paper illuminated the stabilization and tracking mechanism of the multi-axis gimbal. The characteristic of these gimbal was indicated, and the paper concluded the motion environment of carrier and target fitting for the gimbals. This work provided the basis for choosing the gimbal type and modeling the geometrical error.2. Based on Newton mechanics, the paper analyzed the source of disturbance torques and coupling manner, taking the two-axis gimbal as example. And the torque expressions were derived owing to the inertial coupling and centroid offset. This work offered the theoretic guidance to analyze the effect of torques and design the controller. Furthermore, the dynamical characteristic of the isolator and gimbal was researched by the mathematical model and FEA, providing the fundamental for designing isolator and gimbal.3. Analyzing the main error sources of OESTE, the paper illuminated their effect by structural chart manner. The influence of optic-eletronic detector by different vibration was analyzed and compared quantificationally, which adopted the assess means of optical imaging. And the synthetical method of OESTE evaluation was presented considering the design index of gimbal.4. Founded on the theory of multi-body kinematics and error modeling, the geometrical errors were studied. The paper estabilished the pointing and orientation error modeling defined based on geometrical errors, and discussed the probability of these models. The sense error of gyro was researched on kinematics as a result of fixing error and gimbal perpendicularity. And the paper illuminated the relationship between thes error items and disturbance motion combined with simulation. This work laid the foundation of OESTE performance evaluation and measurement.5. As the randomicity of error source, the synthesis method of error based on statistics theory and Monte Carlo simulation means was presented. By the definition of error sensitivity, the problems of geometrical error synthesis and error allocation were studied. And the paper took a practical OESTE as the example of error analysis and evaluation.6. The kinematics principle of geometrical measurement was research. And some measuring scenario were designed, analyzed and compared each other. The paper also advanced the method of geometrical error separation and compensation. The practical measurement to an OESTE validated the feasibility of the method hereinbefore.更多还原