CN101494318B - Method and apparatus for automatically adjusting Ka waveband mobile satellite communications antenna attitude - Google Patents
Method and apparatus for automatically adjusting Ka waveband mobile satellite communications antenna attitude Download PDFInfo
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- CN101494318B CN101494318B CN2009101192845A CN200910119284A CN101494318B CN 101494318 B CN101494318 B CN 101494318B CN 2009101192845 A CN2009101192845 A CN 2009101192845A CN 200910119284 A CN200910119284 A CN 200910119284A CN 101494318 B CN101494318 B CN 101494318B
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Abstract
The invention discloses a method for automatically adjusting the posture of a Ka wave-band mobile satellite communication antenna and a device, wherein, three axes-an azimuth axis, a wobble shaft, and a pitch axis which drive the antenna to rotate are firstly arranged on a pedestal of the antenna in a space orthogonal mode to realize angular motion isolation of the three space orthogonal axes; then an antenna component is respectively configured with the azimuth axis, the wobble shaft, and the pitch axis as a center to lead an overall centroid of the antenna component installed on the pitch axis to fall on the pitch axis, the overall centroid of the antenna component installed on two sides of the axes of the wobble axis to fall on the wobble axis, and the overall centroid of the antenna component on the azimuth axis to fall on the azimuth axis; finally based on the antenna as a detecting standard of the antenna pointing deviation, pointing deviation caused by drifting of a sensor is eliminated by tracking a beckon signal of a satellite and alternately driving an intersection angle of the azimuth axis and/or the pitch axis, thus ensuring the antenna in an optimal receiving state. The method for automatically adjusting the posture of Ka wave-band mobile satellite communication antenna and the device have the advantages of high precision, simple structure, small volume, and low cost, can be widely applied to emergency communication, rescue and relief work, and also can be used for commercial purpose in vehicles, ships, trains, and the like.
Description
Technical field
The present invention relates to communication technical field, especially a kind of method and device of in carrier movement, adjusting antenna attitude realization and satellite communication, specifically a kind of Ka waveband mobile satellite communication antenna attitude automatic adjusting method and device by self adaptation.
Background technology
Satellite communication earth station needs the wave beam of satellite communication antena to point to satellite all the time.The directional technology of wave beam mainly contains two kinds, and a kind of is to make antenna main beam all the time to satelloid by mechanical means, and this system is called as the mechanical type antenna system; Another kind is to use electric scanning to follow the tracks of, and utilizes phased-array technique to realize the scanning tracking of antenna beam, and the mechanical structure of antenna is motionless or few moving, and this system is called as phased array antenna system.The mechanical type antenna system has simple in structure, and gain is high, the advantage that cost is low, and phased array antenna system complex structure, and it is low to gain, the cost height, expensive more a lot of than mechanical type antenna system, general user unit is difficult to bear.
On mobile vehicle, as satellite communication occasions such as car, ships, a kind of situation is that the communication main body can the mobile space position, but could realize communication after waiting communication equipment or its carrier mobile end, can not communicate by letter while moving, this situation is also named motor-driven communication, as more existing vehicle-mounted ground satellite stations; Another kind is the uninterrupted communication that can realize in the motion process, can communicate by letter in moving, and also is " communication in moving ".For the system that uses parabolic antenna to carry out satellite communication, to on the carrier of motion, communicate, just need the very high control system of a cover automaticity to guarantee that the sensing of antenna is not subjected to the influence of carrier movement, particularly at the Ka wave band, the wave beam of antenna is narrower, pointing accuracy requirement to antenna is very strict, and is higher to the requirement that its precision, reliability and long-time sensing are stable.
At the Ka wave band, satellite communication during the use plane antenna system is realized moving, guarantee on the motion carrier that the stable technology of antenna direction has stable and follows the tracks of two basic demands, it relates to: one, the motion of carrier is to isolate or the counter motion by antenna compensates and carries out; Two, the detection reference of directional information is based upon on the carrier or is stable on the platform of absolute space or directly is based upon on the antenna; Three, adopt which kind of antihunt means; Four, how the accumulated error that produces that works long hours is eliminated.
In order to address the above problem, have three kinds of methods at present:
First kind is to introduce absolute standard on motion carrier, detects the deviation of antenna with respect to benchmark then, utilizes the servo system control antenna to correct again and points to deviation.This method is all very high to the requirement of benchmark and servo system, and in the more violent occasion of carrier movement, this method all is difficult to reach the requirement of practicality at economy and aspect of performance.
Second method is to introduce a maintenance level platform to make it remain on absolute space when carrier movement motionless relatively, and antenna is installed on the platform, and platform itself installs with mechanical gyro etc. to be stablized.
The third method is not establish stabilized platform, and detects the motion of carrier in real time, and control antenna is made reverse compensating motion then, finally keeps antenna direction.
Above-mentioned three kinds of methods all are difficult to the competent more violent occasion of carrier movement, and the ubiquity precision is not high, drift error correction difficulty, and the problem that stream time is short can't satisfy the requirement of communication work under the war condition.
Summary of the invention
The objective of the invention is all can't adapt to the problem of strenuous exercise's carrier, invent a kind of energy and be fit to the precision height of various delivery conditions and the Ka waveband mobile satellite communication antenna attitude automatic adjusting method and the device that can work long hours continuously at existing dynamic satellite communication tracking method.
Technical scheme of the present invention is:
A kind of Ka waveband mobile satellite communication antenna attitude automatic adjusting method is characterized in that it may further comprise the steps:
At first, utilize GPS to obtain the polarizing angle of latitude and longitude value control antenna, the initial azimuth and the elevation angle in real time;
Secondly, antenna is installed on the antenna levitation device that adopts three normal axis compositions, the center of gravity of utilizing antenna itself is basicly stable core, and three rotational freedoms of motion carrier and three rotational freedoms of antenna are kept apart, and isolates thereby realize suspending;
The 3rd, in the process of isolating that suspends, 3 drive motors are disposed in employing on 3 normal axis respectively and 3 FOG transducers (are the optic fiber gyroscope transducer, they all are installed in the top of base and irrelevant with delivery vehicle) method eliminate that mechanical axis supports since the frictional force of axle upper bearing (metal) when rotating to the influence of antenna-point accuracy, utilize the FOG transducer directly to detect the rotational angular velocity of antenna with respect to absolute space, and detected signal directly passed to control board, control board carries out corresponding rotation of motor work that PID is 3 correspondences of proportion integration differentiation conversion rear drive with these signals, thereby driven antenna, make antenna attitude be stabilized in the precalculated position and point to, and make the antenna transient state point to deviation less than 0.05 °;
The 4th, eliminate the accumulation deviation that aforementioned FOG sensor drift causes by the beacon signal of tracking satellite, just eliminate and point to deviation, realize the satellite communication function; The method of the beacon signal of described tracking satellite is: the beacon signal that receives when the antenna receiving equipment is during less than set point, and antenna stops to follow the tracks of, and keeps stable state; The beacon signal that receives when the antenna receiving equipment is during greater than set point, and the corner by driven azimuth axis and/or pitch axis guarantees the antenna alignment communication satellite, eliminates the purpose of pointing to deviation to reach.
The method of the beacon signal of described tracking satellite is: the beacon signal that receives when the antenna receiving equipment is during greater than set point, the azimuth axis of driven antenna rotates 0.1～0.3 degree at once, and control board will rotate the beacon signal value and the previous beacon signal value that receives that receive on the aft antenna receiving equipment and compare:
If bigger than previous beacon signal value, it is in the right direction to represent that then antenna rotates, and controller just rotates azimuth axis 0.1～0.3 degree again, and then compares, until a back beacon signal value less than previous beacon signal value;
If it is littler than previous beacon signal value, the poor direction of then representing the antenna rotation is true, control board is just with azimuth axis counter-rotation 0.1～0.3, and then compare, less than previous beacon signal value, carry out the tracking like this of pitch axis until a back beacon signal value then, as long as the beacon signal of receiving is greater than set point, system just so alternately follows the tracks of all the time, makes antenna be in best reception state.
A kind of Ka waveband mobile satellite communication antenna attitude automatic regulating apparatus, it is characterized in that it comprises base 7, azimuth axis 2, wobble shaft 3, pitch axis 4, antenna and feed assembly 5, measuring and controlling equipment 6, lift-over beam 11 and the Fibre Optical Sensor (FOG transducer) that is installed in corresponding position, base 7 top, base 7 is installed in carrier 1 by shock-absorbing spring, azimuth axis 2 is fixed on the base 7, support column 10 links to each other with azimuth axis 2 by pair of bearings, the upper end of support column 10 links to each other with wobble shaft 3 on the lift-over beam 11 by a pair of journal stirrup and bearing thereof, pitch axis 4 is connected with crossbeam by the bearing on the axis hole of lift-over beam 11 2 sides, the Ka power amplifier, measuring and controlling equipment 6 and antenna and feed assembly 5 are installed on the equipment installing rack 8, equipment installing rack 8 and pitch axis 4 are connected, Ka power amplifier in addition, measuring and controlling equipment 6, antenna and feed assembly 5 and equipment installing rack 8 these total barycenter of four whole drop on the pitch axis 4, and the Ka power amplifier, measuring and controlling equipment 6, antenna and feed assembly 5, equipment installing rack 8, pitch axis 4 and lift-over beam 11 these total barycenter of six whole drop on the wobble shaft 3; The barycenter of lift-over beam 11, wobble shaft 3, pitch axis 4, antenna and feed assembly 5, Ka power amplifier, measuring and controlling equipment 6 and the balancing weight of azimuth axis more than 2 is positioned on the azimuth axis 2; Described azimuth axis 2, wobble shaft 3 and pitch axis 4 all are connected with drive motors separately.The corresponding position of relevant parameter need be detected in the top that all the sensors of the present invention (as FOG transducer, horizon sensor, beacon sensor and transducer that all are relevant with communication) is installed in base 7.
The one or both sides of described wobble shaft 3, pitch axis 4 and azimuth axis 2 axis add the balancing weight of trimming moment.
Beneficial effect of the present invention:
1, to have solved be the problem that the theory of detection reference can not obtain putting into practice with the antenna to method of the present invention for a long time, by reasonably arranging the integral structure component of antenna system, this theory put into practice.
2, utilize method provided by the present invention can design the mechanical type beam aerial system that satisfies communicating requirement easily, and simple in structure, volume is little, and cost is low.Utilizing method of the present invention that the structural member of antenna system is arranged, is the reliability of deviation detection reference from fact having solved and guaranteed with the antenna.
3, method of the present invention has the tracking accuracy height, and advantage low for equipment requirements particularly can be directly installed on transducer place, corresponding control position on the antenna, can reduce the requirement to sensor accuracy greatly, helps reducing cost.
4, the present invention does not have specific (special) requirements to supporting antenna electric control system, can adopt conventional control theory and method to be realized that those of ordinary skill is revised slightly and can be come into operation existing antenna electric control system.
5, applied range can be used for emergency communication, rescue and relief work, also can be used for commercial purposes such as car, ship, train.
Description of drawings
Fig. 1 is the structural representation of self-adapting adjusting apparatus of the present invention.
Fig. 2 is the plan structure schematic diagram of Fig. 1.
Fig. 3 is the electrical principle block diagram of inventive embodiments.
Fig. 4 is the automatic trace logic block diagram of the embodiment of the invention.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
Embodiment one.
A kind of Ka waveband mobile satellite communication antenna attitude automatic adjusting method makes antenna aim at communication satellite all the time, thereby realizes the satellite communication of carrier in moving.It utilizes the polarizing angle of the equivalent control antenna of longitude and latitude of GPS gained, initial azimuth and the elevation angle also:
A, " inertia " that utilizes antenna itself are basicly stable core, adopt three normal axis supporting antenna bodies that antenna is suspended, so just three rotational freedoms of carrier and three rotational freedoms of antenna are kept apart, thereby the suspension that realizes the most basic (core) is isolated;
B, owing to adopt mechanical axis to support, though the frictional force of axle upper bearing (metal) when rotating is little, but it is non-vanishing, so the influence that must produce frictional force (isolation can only for: 96%, this deviation of 4% is exactly that frictional force by three axles produces) is eliminated.
C, be the impact of the frictional force of eliminating three axles; Will on 3 axles, dispose accordingly 3 drive motors and 3 FOG sensors; FOG sensor direct-detection antenna is with respect to the rotational angular velocity of absolute space; And the signal that detects directly passed to control panel; Control panel carries out PID (PID) conversion with these signals; The motor of 3 correspondences of signal driver after the conversion is done corresponding the rotation; Thereby driven antenna; Making antenna attitude be stabilized in the precalculated position points to; At this moment; The antenna transient state is pointed to deviation less than 0.1 degree
D, because the error (drift) of FOG transducer itself can produce the accumulation deviation, influence the long-term sensing deviation precision of antenna, so necessary this deviation of elimination.Beacon signal by tracking satellite just can be eliminated the accumulation deviation that sensor drift causes, just eliminates and points to deviation, realizes the satellite communication function;
The method of the beacon signal of e, tracking satellite is; The beacon signal that receives when the antenna receiving equipment is during less than set point, and antenna stops to follow the tracks of, and keeps stable state; The beacon signal that receives when the antenna receiving equipment is during greater than set point, and the corner by driven azimuth axis and/or pitch axis guarantees the antenna alignment communication satellite, eliminates the purpose of pointing to deviation to reach.
Coefficient of friction=0 when if 3 normal axis that are used in theory support rotate, adopt a of the inventive method to go on foot stable (that is: as long as adopt the suspension isolation method) that just can realize antenna attitude, but the fact is impossible, so must add b, the c step, if the FOG transducer does not have error, adopt a of the inventive method, b, the c step can guarantee the effect that receives fully, but in fact, because there is error all the time in transducer, therefore must be to the accumulated error that produces owing to sensor drift, just pointing to deviation repairs, to realize tracking to satellite, so d in the inventive method, the e step also is absolutely necessary, and only in this way could constitute the overall technical architecture of the inventive method.
The concrete tracking of the beacon signal that receives when the antenna receiving equipment during greater than set point is: the beacon signal that receives when the antenna receiving equipment is during greater than set point, the azimuth axis of driven antenna rotates 0.1～0.3 degree at once, and control board will rotate the beacon signal value and the previous beacon signal value that receives that receive on the aft antenna receiving equipment and compare:
If bigger than previous beacon signal value, it is in the right direction to represent that then antenna rotates, and controller just rotates azimuth axis 0.1～0.3 degree again, and then compares, until a back beacon signal value less than previous beacon signal value;
If it is littler than previous beacon signal value, the poor direction of then representing the antenna rotation is true, control board is just with azimuth axis counter-rotation 0.1～0.3, and then compare, less than previous beacon signal value, carry out the tracking like this of pitch axis until a back beacon signal value then, as long as the beacon signal of receiving is greater than set point, system just so alternately follows the tracks of all the time, makes antenna be in best reception state.
Satellite communication during Ka waveband mobile satellite communication antenna attitude adjusting method of the present invention at first moves with directional antenna realization carrier, make three axles of azimuth axis, wobble shaft, pitch axis that driven antenna rotates (below be referred to as rotating shaft) be orthogonal space and be installed on the antenna base, realize that the angular movement of three radical space normal axis is isolated; The bearing that the support of rotating shaft requires to try one's best little with frictional force is realized, make the angular movement of rotating shaft generation with the carrier strenuous exercise that reduces as far as possible to cause owing to frictional force, to guarantee that simultaneously any transducer installed and drive unit or transmission device should not hinder the automatic rotation of rotating shaft between the member of relative motion in the rotating shaft, promptly should not produce the moment that hinders relative motion, can not pass to antenna with the violent angular movement that guarantees carrier.Be the center configuration antenna member with azimuth axis, wobble shaft, pitch axis respectively simultaneously, making the antenna member installed on the pitch axis is zero to the gravitational moment of pitch axis, making antenna member that wobble shaft axis two sides install is zero to the gravitational moment of wobble shaft, and making the above antenna member of azimuth axis is zero to the gravitational moment of azimuth axis; Can not cause that with the linear acceleration that guarantees carrier rotating shaft produces angular acceleration, i.e. the violent line motion of carrier can not cause the change of antenna directional angle.Be the detection reference of antenna direction deviation on this basis again with the antenna, directly detect the rotational angular velocity of antenna with transducer with respect to absolute space, and detected signal directly passed to control board, control board carries out PID (proportion integration differentiation) conversion with these signals, signal after the conversion is driven the azimuth axis motor, pitch axis motor and roll motor are done corresponding the rotation, thereby driven antenna, antenna direction deviation until antenna is spent less than 0.2, antenna stabilization is pointed to predetermined, the beacon signal that receives by receiving equipment is followed the tracks of and is eliminated the cumulative departure that the sensor accuracy error produces again, thereby guarantees the antenna alignment satellite;
The collocation method of said structure spare has guaranteed that the strenuous exercise of carrier can not cause the acute variation of antenna direction, make that the task of control system only is the slow drift of revising antenna, alleviated greatly the requirement of control system rapid-action, made that the design of control system is more simple.
Owing to the assurance of structural arrangements, antenna will be very little with respect to the angular speed of absolute space simultaneously, and the measuring range of angular-rate sensor can be dwindled and the sensitivity and the precision of emphasis assurance measurement, thereby guarantee the stable of antenna better.
If transducer does not have error in theory, adopt the structural member method for arranging of the inventive method can guarantee the effect that receives fully, but in fact, because there is error all the time in transducer, therefore must the accumulated error that produce owing to sensor drift just be pointed to deviation and repair, to realize tracking to satellite, so in the inventive method is that the detection reference that points to deviation also is absolutely necessary with the antenna, only in this way could constitute the overall technical architecture of the inventive method.
In addition, the polarizing angle of antenna, the initial azimuth and the angle of pitch can utilize the latitude and longitude value of GPS gained to be controlled.
For the accumulated error (promptly pointing to deviation) that the drift of angular-rate sensor causes, can utilize the tracking of satellite beacon signals is eliminated.
The beacon signal that receives when the antenna receiving equipment is during less than set point, and antenna stops to follow the tracks of, and keeps stable state; The beacon signal that receives when the antenna receiving equipment is during greater than set point, and the corner by driven azimuth axis and/or pitch axis guarantees the antenna alignment communication satellite.Concrete tracking: the beacon signal that receives when equipment is during greater than set point, the azimuth axis of driven antenna rotates 0.1～0.3 degree at once, and control board will rotate the beacon signal value and the previous beacon signal value that receives that receive on the aft antenna receiving equipment and compare:
If bigger than previous beacon signal value, it is in the right direction to represent that then antenna rotates, and controller just rotates azimuth axis 0.1～0.3 degree again, and then compares, until a back beacon signal value less than previous beacon signal value;
If it is littler than previous beacon signal value, the poor direction of then representing the antenna rotation is true, control board is just with azimuth axis counter-rotation 0.1～0.3, and then compare, less than previous beacon signal value, carry out the tracking like this of pitch axis until a back beacon signal value then, as long as the beacon signal of receiving is greater than set point, system just so alternately follows the tracks of all the time, makes antenna be in best reception state.
Embodiment two.
Shown in Fig. 1,2,3,4.
A kind of Ka waveband mobile satellite communication antenna attitude automatic regulating apparatus, it comprises base 7, azimuth axis 2, wobble shaft 3, pitch axis 4, antenna and feed assembly 5, measuring and controlling equipment 6, lift-over beam 11 and the Fibre Optical Sensor (being the FOG transducer) that is installed in corresponding position, base 7 top, as Fig. 1,2 institutes, base 7 is installed on the carrier 1 (as the tracking exchage automobile) by shock-absorbing spring, azimuth axis 2 is fixed on the base 7, support column 10 links to each other with azimuth axis 2 by pair of bearings, the upper end of support column 10 links to each other with wobble shaft 3 on the lift-over beam 11 by a pair of journal stirrup and bearing thereof, pitch axis 4 is connected with crossbeam by the bearing on the axis hole of lift-over beam 11 2 sides, the Ka power amplifier, measuring and controlling equipment 6 and antenna and feed assembly 5 are installed on the equipment installing rack 8, equipment installing rack 8 and pitch axis 4 are connected, Ka power amplifier in addition, measuring and controlling equipment 6, antenna and feed assembly 5 and equipment installing rack 8 this four whole their total barycenter is dropped on the pitch axis 4, and Ka power amplifier, measuring and controlling equipment 6, antenna and feed assembly 5, equipment installing rack 8, pitch axis 4 and lift-over beam 11 this six whole their total barycenter is dropped on the wobble shaft 3.Another characteristics that present embodiment is different from prior art are corresponding positions that relevant parameter need be detected in top that all the sensors (as FOG transducer, horizon sensor, beacon sensor and transducer that all are relevant with communication) is installed in base 7.
The barycenter of the structural member (comprise lift-over beam 11, wobble shaft 3, pitch axis 4, antenna and feed assembly 5, Ka power amplifier, measuring and controlling equipment 6 and balancing weight etc.) of azimuth axis more than 2 is positioned on the azimuth axis 2.
If the center of gravity of the structural member that above-mentioned wobble shaft 3 axis both sides are disposed is not on wobble shaft 3 axis, then can solve by the method that installs balancing weight additional, in like manner, also can make it to realize trimming moment to pitch axis 4 by the method that installs balancing weight additional to the structural member of installing on the pitch axis 4 (based on antenna and feed assembly 5), all structural members that azimuth axis is installed more than 2 also can make it to realize the trimming moment to azimuth axis 2 by the method that installs balancing weight additional.
In addition, need to prove all parts that above-mentioned structural member is meant that corresponding axis is above or axis two sides are installed and the general name of balancing weight, it is not independent parts.
Should be during the trimming moment configuration by earlier pitch axis 4 being carried out the trimming moment configuration, then wobble shaft 3 is carried out the trimming moment configuration, the order that azimuth axis is carried out trimming moment configuration carries out respectively at last, be zero with the gravitational moment on the azimuth axis 2 that guarantees three orthogonal spaces, wobble shaft 3, the pitch axis 4, and interfere invariably.
The electric control theory block diagram of this concrete example as shown in Figure 3.Left side roll, pitching, orientation frame of broken lines from top to bottom is control board electrical schematic diagram of the present invention among the figure.
The collocation method of said structure spare has guaranteed that the strenuous exercise of carrier can not cause the acute variation of antenna direction, make that the task of control system only is the slow drift of revising antenna, alleviated greatly the requirement of control system rapid-action, made that the design of control system is more simple.
Owing to the assurance of structural arrangements, antenna and feed assembly 5 will be very little with respect to the angular speed of absolute space simultaneously, and the measuring range of transducer can be dwindled and the sensitivity and the precision of emphasis assurance measurement, thereby guarantee the stable of antenna and feed assembly 5 better.The polarizing angle of antenna can utilize the latitude and longitude value of GPS gained to be controlled, and makes the incoming level maximum.
The beacon signal that measuring and controlling equipment 6 receives is during less than set point, antenna stops to follow the tracks of, keep stable state, the beacon signal that receives when measuring and controlling equipment 6 is during greater than set point, illustrate and be in tracking mode, can guarantee to follow the tracks of by driven azimuth axis 2 and/or pitch axis 4 this moment and reach optimum state, and this moment is because the susceptibility of wobble shaft 3 butt joint collection of letters mark signals is very low, so it remains static substantially, the adjustment process that best beacon signal receives is: make azimuth axis and/or pitch axis rotate 0.2 degree earlier, control board will rotate beacon signal value that the back receive on the measuring and controlling equipment 6 and previous receiving, beacon signal value greater than set point compares: if bigger than previous beacon signal value, it is in the right direction to represent that then antenna and feed assembly 5 rotate, then driven antenna is rotated 0.2 degree again by driving azimuth axis 2 and/or pitch axis 4 rotations, and then compare, until a back beacon signal value less than previous beacon signal value, azimuth axis 2 and pitch axis 3 stop operating, at this moment quality of reception the best; If it is littler than previous beacon signal value, then the poor direction of expression transmitting-receiving and measuring and controlling equipment 6 rotations is true, then driven antenna and feed assembly 5 rotate 0.1～0.3 again by driving azimuth axis 2 and/or pitch axis 4 rotations, and then compare, until a back beacon signal value greater than previous beacon signal value, azimuth axis 2 and pitch axis 4 stop operating, at this moment quality of reception the best.This adjustment process is constantly carried out, and makes antenna be in best reception state.The trace logic block diagram of Fig. 4 just embodies above-mentioned design philosophy.
The part that the present invention does not relate to prior art that maybe can adopt all same as the prior art is realized.
Claims (3)
1. Ka waveband mobile satellite communication antenna attitude automatic adjusting method is characterized in that it may further comprise the steps:
At first, utilize GPS to obtain the polarizing angle of latitude and longitude value control antenna, the initial azimuth and the elevation angle in real time;
Secondly, antenna is installed on the antenna levitation device that adopts three normal axis compositions, the center of gravity of utilizing antenna itself is basicly stable core, and three rotational freedoms of motion carrier and three rotational freedoms of antenna are kept apart, and isolates thereby realize suspending; Azimuth axis, wobble shaft and three axles of pitch axis that the driven antenna of described antenna levitation device is rotated are orthogonal space and are installed on the antenna base, realize that the angular movement of three radical space normal axis is isolated; The support of rotating shaft realizes by bearing, should not hinder the automatic rotation of rotating shaft with any transducer of guaranteeing between the member of relative motion in the rotating shaft, to install and drive unit or transmission device, promptly should not produce the moment that hinders relative motion, to guarantee that carrier can not pass to antenna because of the violent angular movement that frictional force causes; Be the center configuration antenna member with azimuth axis, wobble shaft, pitch axis respectively simultaneously, making the antenna member installed on the pitch axis is zero to the gravitational moment of pitch axis, making antenna member that wobble shaft axis two sides install is zero to the gravitational moment of wobble shaft, and making the above antenna member of azimuth axis is zero to the gravitational moment of azimuth axis; Can not cause that with the linear acceleration that guarantees carrier rotating shaft produces angular acceleration, i.e. the violent line motion of carrier can not cause the change of antenna directional angle, and antenna base is installed on the carrier by shock-absorbing spring;
The 3rd, in the process of isolating that suspends, employing is eliminated mechanical axis in the method that disposes a drive motors and an optic fiber gyroscope transducer on the every normal axis respectively and is supported owing to the influence of the frictional force of axle upper bearing (metal) when rotating to antenna-point accuracy, utilize the optic fiber gyroscope transducer directly to detect the rotational angular velocity of antenna with respect to absolute space, and detected signal directly passed to control board, control board carries out corresponding rotation of motor work that PID is 3 correspondences of proportion integration differentiation conversion rear drive with these signals, thereby driven antenna, make antenna attitude be stabilized in the precalculated position and point to, and make the antenna transient state point to deviation less than 0.05 °;
The 4th, eliminate the accumulation deviation that aforementioned optical fiber gyrosensor drift causes by the beacon signal of tracking satellite, just eliminate and point to deviation, realize the satellite communication function; The method of the beacon signal of described tracking satellite is: the beacon signal that receives when the antenna receiving equipment is during less than set point, and antenna stops to follow the tracks of, and keeps stable state; The beacon signal that receives when the antenna receiving equipment guarantees the antenna alignment communication satellite by the azimuth axis in three normal axis of driven and/or the corner of pitch axis during greater than set point, eliminates the purpose of pointing to deviation to reach.
2. Ka waveband mobile satellite communication antenna attitude automatic regulating apparatus, it is characterized in that it comprises base (7), azimuth axis (2), wobble shaft (3), pitch axis (4), antenna and feed assembly (5), measuring and controlling equipment (6), lift-over beam (11) and the Fibre Optical Sensor that is installed in base (7) top, base (7) is installed in carrier (1) by shock-absorbing spring, azimuth axis (2) is fixed on the base (7), support column (10) links to each other with azimuth axis (2) by pair of bearings, the upper end of support column (10) links to each other with wobble shaft (3) on the lift-over beam (11) by a pair of journal stirrup and bearing thereof, pitch axis (4) is connected with the lift-over beam by the bearing on the axis hole of lift-over beam (11) two sides, the Ka power amplifier, measuring and controlling equipment (6) and antenna and feed assembly (5) are installed on the equipment installing rack (8), equipment installing rack (8) and pitch axis (4) are connected, Ka power amplifier in addition, measuring and controlling equipment (6), this total barycenter of four whole of antenna and feed assembly (5) and equipment installing rack (8) drops on the pitch axis (4), and the Ka power amplifier, measuring and controlling equipment (6), antenna and feed assembly (5), equipment installing rack (8), this total barycenter of six whole of pitch axis (4) and lift-over beam (11) drops on the wobble shaft (3); The barycenter of lift-over beam (11), wobble shaft (3), pitch axis (4), antenna and feed assembly (5), Ka power amplifier, measuring and controlling equipment (6) and balancing weight that azimuth axis (2) is above is positioned on the azimuth axis (2); Described azimuth axis (2), wobble shaft (3) and pitch axis (4) all are connected with drive motors separately.
3. Ka waveband mobile satellite communication antenna attitude automatic regulating apparatus according to claim 2 is characterized in that the one or both sides of the axis of described wobble shaft (3), pitch axis (4) or azimuth axis (2) add the balancing weight of trimming moment.
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| CN102607549A (en) * | 2012-02-28 | 2012-07-25 | 北京航空航天大学 | Spatially diagonal damping fiber-optic gyroscope IMU (Inertial Measurement Unit) body |
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| CN101494318A (en) | 2009-07-29 |
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