摘要
在太阳能转换设备中应用太阳跟踪装置可以有效地提高太阳能的利用率。文章运用四元数法对球面三自由度并联机构太阳跟踪装置进行数学建模,解出各个运动副相应位置;然后根据几何关系建立约束方程,求解出球面三自由度并联机构太阳跟踪装置的位姿,进而得出根据太阳在天空中的方位改变该跟踪装置的输入角度,实现该跟踪装置对太阳的实时跟踪。四元数法在解决球面机构问题时具有简便易行、计算量小等特点,这对于实现该跟踪装置跟踪太阳进行角度的实时调整,以最大限度地利用太阳能有一定意义。
The solar energy utilization of solar energy equipment can be improved by using the solar tracker.Based on unit quaternion,the mathematical modeling and the locations of motion pair of spherical 3-DOF parallel mechanism of solar tracker are worked out.With the geometric relationships,the position of the solar tracker can be solved.And the input angles of the solar tracker can be worked out with the orientation of the sun in the sky,to achieve track the sun timely.Unit quaternion in solving problems of spherical institutions,it is simple and less calculation.There are certain significance for maximize use solar,by adjusting the input angles of the solar tracker timely.
出处
《微计算机信息》
2012年第9期439-441,共3页
Control & Automation
关键词
四元数法
球面机构
并联机构
位置反解
Unit Quaternion
Spherical Mechanism
Parallel Mechanism
Position Analysis
