【摘要】 采用了分析力学中的拉格朗日方程对星载ATP平台进行了动力学分析,推导出了较准确的运动方程,并说明了为什么U型转台比T型、L型转台具有更高的精度和结构稳定性。利用无刷直流电机的方程式,给出了星载ATP平台系统的非线性数学模型,并利用MATLAB进行了数学仿真,通过实验进行了验证,此模型可作为设计和调试星载ATP平台控制器的基础。更多还原

【Abstract】 From Lagrange’s dynamical equations, more accurate dynamic equations of the spatial ATP machine were derived. It also elucidated why the U type machine had finer precision and stability then T and L type machine. From equation of Brushless DC motor, non-linear equations of two-axis machine were proposed. The simulation and experimentation prove that this model can be used to design and regulate the control of the spatial ATP machine.更多还原