A kinematic modeling scheme of three-axis "Satcom-on-the-Move" antenna based on modified Denavit-Hartenberg method

The current three-axes Satcom-on-the-Move(SOTM) antenna modeling method has some shortcomings, such as low model accuracy, poor portability and so on. In order to solve the above-mentioned shortcomings, a new modified Denavit-Hartenberg(NMDH) kinematics modeling scheme for the three-axes SOTM antenna was proposed. To overcome the modeling difficulties caused by the inherent mechanical structure of the antenna, and meet the requirements of the modified Denavit-Hartenberg(MDH) method, the virtual coordinate system and auxiliary coordinate systems are designed and added respectively on the basis of the MDH method, the forward kinematics model and inverse kinematics solution of the three-axes SOTM antenna are obtained. The correctness of the NMDH modeling scheme is verified by digital simulation. Finally, the system tests are carried out. The test results show that the NMDH modeling scheme proposed in this paper achieves good effect of antenna tracking satellite, and has stronger portability than the system identification modeling method commonly used in engineering.