zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni program
Katja Strnad (Author), Gregor Čepon (Mentor)

Abstract

Satelitske antene so ključni del sodobnih komunikacijskih sistemov, kjer je natančno usmerjanje bistveno za preprečevanje izgube signala. Ker so pogosto izvedene kot dvoosni mehanizmi, podobni robotskim manipulatorjem, smo za analizo njihovega gibanja razvili matematični model, ki za razliko od idealiziranih togih modelov upošteva tudi vpliv prožnosti vpetja. Kinematika sistema je opisana z Denavit-Hartenbergovo formulacijo, na podlagi katere so bile z Lagrangeovo mehaniko v programskem jeziku Python izpeljane gibalne enačbe razširjenega dinamičnega modela. Z razvitim modelom je bila izvedena numerična modalna analiza, s katero so bile identificirane lastne frekvence in oblike nihanja sistema. Analiza omogoča boljše razumevanje dinamičnih lastnosti in predstavlja osnovo za simulacijo trajektorij in načrtovanje vodenja antenskega sistema.

Keywords

diplomske naloge;satelitske antene;direktna kinematika;Denavit-Hartenbergova formulacija;analiza dinamike;numerična modalna analiza;Python;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [K. Strnad]
UDC: 531.3:621.396.67:004.942(043.2)
COBISS: 247655939 Link will open in a new window
Views: 65
Downloads: 16
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Other data

Secondary language: English
Secondary title: Kinematic and dynamic analysis of a satellite antenna system
Secondary abstract: Satellite antennas are a key part of modern communication systems, where precise alignment is essential to prevent signal loss. Since they are often implemented as twoaxis mechanisms similar to robotic manipulators, we have developed a mathematical model to analyze their motion, which, unlike idealized rigid models, also takes into account the influence of the flexibility of the mounting. The kinematics of the system is described by the Denavit-Hartenberg formulation, on the basis of which the equations of motion of the extended dynamic model were derived using Lagrangian mechanics in the Python programming language. A numerical modal analysis was performed with the developed model, which identified the natural frequencies and oscillation modes of the system. The analysis allows for a better understanding of the dynamic properties and represents the basis for simulating trajectories and planning the control of the antenna system.
Secondary keywords: thesis;satellite antennas;direct kinematics;Denavit-Hartenberg formulation;dynamics analysis;numerical modal analysis;Python;
Type (COBISS): Final paper
Study programme: 0
Thesis comment: Univ. v Ljubljani, Fak. za strojništvo
Pages: XII, 34 f.
ID: 27231911
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