针对三轴天线座,提出了一种全空域无盲区跟踪算法。在对不同两轴/三轴天线座进行对比讨论的基础上,通过对三轴天线座及其奇异位姿进行运动学分析,提出了一种基于广义逆的跟踪控制算法,避免了传统跟踪策略过顶盲区或者切换过程中的连续性问题。通过引入可操作度指标对三轴天线座的奇异位姿进行判定,进一步利用阻尼最小二乘法,优化目标函数,改善奇异位形附近解的可行性。数值仿真结果表明:阻尼最小二乘跟踪策略比广义逆跟踪策略在奇异位姿附近具有更好的跟踪和控制效果。

A new tracking strategy in the whole space without the blind zone is proposed aimed at the three-axis antenna pedestal. Based on the comparison and discussion between the two-axis and three-axis structure, the kinematics and the singular posture of the three-axis antenna pedestal are analyzed with a pseudo-inverse tracking strategy presented. Comparing with conventional tracking strategies, the pseudo-inverse method avoids the vertex blind zone or the motion discontinuity in the switch process. Furthermore, the manipulability value is introduced to estimate the deviation away from the singular configuration. Meanwhile, the damped least-squares method is utilized to improve the solution's feasibility around the singular point. The simulation results show that nearby the singular posture of the three-axis antenna pedestal, the damped least-squares strategy could track the target much more effectively than the pseudo-inverse strategy.