CN103606738B - A kind of satellite antenna on mobile vehicle and control method thereof - Google Patents
A kind of satellite antenna on mobile vehicle and control method thereof Download PDFInfo
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- CN103606738B CN103606738B CN201310576408.9A CN201310576408A CN103606738B CN 103606738 B CN103606738 B CN 103606738B CN 201310576408 A CN201310576408 A CN 201310576408A CN 103606738 B CN103606738 B CN 103606738B
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Abstract
The invention provides a kind of satellite antenna on mobile vehicle and control method thereof, belong to satellite antenna technical field.It solve the problem that the existing satellite antenna for mobile vehicle exists error before initialization search.Originally the satellite antenna on mobile vehicle, comprise antenna body, main control board and gps receiver, main control board calculates the theoretical elevation angle of satellite antenna, also comprise a roll arm, roll arm can swing around pin joint and be driven by driving mechanism two, and roll arm one end is provided with support arm one, the other end of roll arm is provided with support arm two, antenna body and support arm one and support arm two are connected, and support arm two is provided with sensor board, and support arm two is also provided with positioning drive mechanisms.This satellite antenna being used for mobile vehicle can eliminate error before initialization search makes the datum plane of satellite antenna keep level before initialization search.
Description
Technical field
The invention belongs to satellite antenna technical field, relate to the satellite antenna on a kind of mobile vehicle and control method thereof.
Background technology
The maximum difference of the satellite antenna on mobile vehicle and ground fixed antenna is that the carrier of antenna is the carrier that a movement is waved, satellite antenna such as on ship, stable antenna platform is needed to isolate waving of hull, realize antenna attitude stabilization at the volley, and on the basis of attitude stabilization, in moving process follow the tracks of and to satelloid.
Traditional marine satellite antenna adopts mechanical platform to isolate the disturbance of carrier usually, adopts hill climb system to make antenna velocity of wave progressively to satelloid.Therefore, the key technology of marine satellite antenna system is to design a kind of stable reference platform, makes antenna maintain an operational environment relatively stably.Can the adjustment of motion on antenna receiving angle isolating carrier well have directly important impact.
Except the technological development direction of an above-mentioned employing stable reference platform, another technique direction does not establish stabilized platform, but detect the motion of carrier in real time, and then Contrary compensation motion done by control antenna, finally keeps antenna direction.Be arranged on transducer on mobile vehicle can the motion conditions of direct-detection mobile vehicle and then Contrary compensation to satellite antenna, but when satellite antenna just starts, because satellite antenna initial condition is uncertain, satellite antenna can not carry out Initialize installation with level, therefore still can there is error, transducer is to the detection meeting accumulated error gradually of carrier movement simultaneously.
About the elevation angle, roll angle and azimuth, the right side, front, upper three directions of general definition carrier form right-handed system, and rotating around axle is forward exactly roll angle, and rotating around axle is to the right exactly the elevation angle, rotating around axle is upwards exactly azimuth, and roll angle, the elevation angle, azimuth constitute three axles of antenna.
Summary of the invention
The present invention is directed to existing technology and there are the problems referred to above, propose a kind of satellite antenna for mobile vehicle and control method thereof, its technical problem to be solved is: how the satellite antenna for mobile vehicle eliminates error before initialization search makes the datum plane of satellite antenna keep level before initialization search.
The present invention is realized by following technical proposal: a kind of satellite antenna on mobile vehicle, comprise the antenna body of round pot shape, main control board be fixed on the gps receiver that antenna body is connected with main control board, main control board receives the coordinate signal of gps receiver and calculates the theoretical elevation angle of satellite antenna, it is characterized in that, this satellite antenna also comprises the roll arm that can regulate antenna body roll angle, described roll arm can swing around pin joint and be driven by driving mechanism two, be provided with the vertically disposed support arm one with roll arm in described roll arm one end and swung up and down by driving mechanism three driving arm arm one, the other end of described roll arm is provided with the support arm two be rotationally connected with roll arm, above-mentioned antenna body and described support arm one and support arm two are connected, described support arm two is provided with the sensor board be rotationally connected with support arm two, support arm two is also provided with and makes sensor board and antenna body axis form the theoretical elevation angle of above-mentioned satellite antenna and the positioning drive mechanisms be positioned at by sensor board on support arm two in the rotation of initialization search front wheel driving sensor board.
In the above-mentioned satellite antenna on mobile vehicle, described sensor board is provided with the obliquity sensor being connected with main control board and whether being in level for detecting sensor plate, and described main control board carries out initialization search after making sensor board be in level according to the above-mentioned driving mechanism two of obliquity sensor signal controlling and driving mechanism three.
This satellite antenna can be used on mobile vehicle, as on vehicle, ship.Wave because vehicle ship jolts in the process of moving, before carrying out initialization search, this satellite antenna carries out level adjustment in advance.Because antenna body is fixed on support arm one and support arm two, when therefore driving mechanism three driving arm arm one rotates, the elevation angle that can regulate antenna body can be swung up and down by driven antenna body; And support arm one and support arm two are all fixed on roll arm two ends, therefore rotate roll arm and antenna body can be driven to rotate, namely can regulate the roll angle of antenna body.This satellite antenna specifically adjusts as follows: the signal controlling driving mechanism two that after satellite antenna starts, main control board first detects according to obliquity sensor drives roll arm to swing around pin joint, namely the roll angle of antenna body is first adjusted, roll arm is made to be in level, then controlling the rotation of positioning drive mechanisms driving sensor plate makes sensor board and antenna body axis form the theoretical elevation angle of above-mentioned satellite antenna and be located by sensor board, and the sensor board under this state is in non-standard state, therefore main control board makes sensor board be in level by obliquity sensor control driving mechanism three, its sensor board adjustment mode is rotated by driving mechanism three driving arm arm one thus driven antenna body, support arm two is driven to rotate by antenna body again, and sensor board is positioned on support arm two by positioning drive mechanisms, therefore, sensor board also rotates with the rotation of support arm two, realize the horizontal adjustment to sensor board in this way, owing to being driving mechanism two and driving mechanism three driving while sensor board level-off, therefore antenna body also can adjust to initial elevation state, thus eliminate the uneven impact caused of carrier.Thereafter, satellite antenna carries out initialization search and sets up communication signal, period, and main control board controls driving mechanism two in real time and driving mechanism three makes sensor board be in level, ensure that satellite antenna remains on the requirement of level adjustment antenna elevation angle.
In the above-mentioned satellite antenna on mobile vehicle, described positioning drive mechanisms comprises stepping motor and is connected to the block piece on roll arm end face, described support arm two is provided with the drive mechanism that driving sensor plate rotates, drive mechanism is connected with stepping motor, sensor board is provided with limit switch and the obliquity sensor for detecting sensor plate level state, described block piece to be positioned at when limit switch moves process path on, limit switch, obliquity sensor and stepping motor are all connected with above-mentioned main control board, described main control board starts rear control step electric machine rotation to touching limit switch and controlling when receiving the framing signal of limit switch conveying to be rotated further the theoretical elevation angle of above-mentioned satellite antenna again after predetermined angle in stepping motor reversion main control board at satellite antenna.
Predetermined angle is fixed according to the mechanical location relation between block piece and the axis of antenna body, and be limit switch when touching block piece, the axis of antenna body and the angle of sensor board, this angle is connected on roll arm at block piece just to be determined.Before initialization search, limit switch on driving stepper motor sensor board to move and when touching block piece to block piece, stepping motor rotates backward predetermined angle, the axis being now equivalent to sensor board and antenna body is in parastate, and stepping motor continues to control the theoretical elevation angle of sensor board rotation satellite antenna incessantly, the theoretical elevation angle of satellite antenna take horizontal plane as benchmark, therefore, sensor board is rotated further the theoretical elevation angle of a satellite antenna, the axis and the sensor board angle that are equivalent to antenna body are the theoretical elevation angle of satellite antenna, like this, sensor board just can become a datum level, the level just corresponding initial elevation state regulating antenna body of adjustment sensor board, be beneficial to satellite antenna lock onto target satellite.
Block piece can be screw, bearing pin, bolt, projection etc., as long as can touch limit switch.Set point is preset with in main control board, certain angle is rotated backward with regard to control step motor receive the signal of limit switch at main control board after, stepping motor is rotated by transmission mechanism driving sensor plate, sensor board is made to become theoretical elevation value with the angle of antenna axis, afterwards, main control board detects obliquity sensor, finally according to testing result, by driving mechanism three, sensor board is adjusted to level, now namely satellite antenna enters initial elevation state.In the above-mentioned satellite antenna on mobile vehicle, described predetermined angle is 15 ° ~ 60 °.Predetermined angle is greater than 60 °, and the regulation time of sensor board is long is unfavorable for fast reaction, and predetermined angle is less than 15 ° then can cause more by mistake touching, therefore suitable between 15 ° and 60 °.
Preferred as clamp angle, in the above-mentioned satellite antenna on mobile vehicle, described predetermined angle is 30 °.30 ° can not only be reduced false hit and also can be conducive to rapid adjustment, and this angle position can be applicable to limit switch installation.
In the above-mentioned satellite antenna on mobile vehicle, described drive mechanism comprises the adjustment fluted disc be connected with support arm two by bearing one, described support arm two is connected with above-mentioned roll arm by bearing two, bearing one and bearing two are on same straight line, above-mentioned sensor board is fixed on and regulates on fluted disc side and sensor board is vertical with adjustment fluted disc, described stepping motor is arranged on the inner side of support arm two, fluted disc is regulated to be arranged on the outside of support arm two, the rotating shaft of stepping motor is passed support arm two and be fixed with driving wheel in rotating shaft, connected by belt between driving wheel and adjustment fluted disc.Stepping motor drives driving wheel to rotate, and driving wheel regulates fluted disc to rotate by belt drive, regulates fluted disc and support arm two to be rotationally connected, and therefore regulates fluted disc that sensor board can be driven to rotate relative to roll arm.
As the another kind of scheme of positioning drive mechanisms, in the above-mentioned satellite antenna on mobile vehicle, described positioning drive mechanisms comprises stepping motor and is fixed on the permanent magnet on roll arm end face, sensor board is rotatably connected on support arm two, described support arm two is provided with the drive mechanism that driving sensor plate rotates, drive mechanism is connected with stepping motor, sensor board is provided with Hall element, described permanent magnet to be positioned at when Hall element moves process path on, Hall element and stepping motor are all connected with above-mentioned main control board, the described main control board angle that control step electric machine rotation is preset after the framing signal receiving Hall element conveying.
As the another kind of scheme of drive mechanism, in the above-mentioned satellite antenna on mobile vehicle, described drive mechanism comprises the worm screw that is connected with stepping motor rotating shaft and the worm gear with worm engaging, stepping motor is fixed on support arm two, worm gear is connected with support arm two by bearing one, described support arm two is connected with above-mentioned roll arm by bearing two, and bearing one and bearing two are on same straight line, and above-mentioned sensor board is fixed on the sidewall of worm gear.Rotated by worm and gear driving sensor plate, and worm and gear can carry out self-locking when stopping operating, sensor board is located.
Positioning drive mechanisms is except above-mentioned scheme, as long as the multiple mechanical structure that driving stepper motor sensor board swings on support arm two is all feasible, as chain, linkage etc.In addition, the components and parts detecting stroke also can be replaced, accordingly as infrared ray sensor etc.
In the above-mentioned satellite antenna on mobile vehicle, described sensor board is also provided with the magnetoresistive transducer of detection side's parallactic angle, the azimuth gyro sensor of detection side's parallactic angle change, the elevation angle gyro sensor of detecting sensor plate elevation angle change and the roll angle gyro sensor of detecting sensor plate roll angle change, described magnetoresistive transducer, azimuth gyro sensor, elevation angle gyro sensor is all connected with above-mentioned main control board with roll angle gyro sensor, after completing initial adjustment, main control board detects the angular rate signal of elevation angle gyro sensor and roll angle gyro sensor in real time and adjusts sensor board angle in real time according to this signal controlling driving mechanism two and driving mechanism three, it is made to be in level.When mobile vehicle moves, the change of the level of carrier is detected by elevation angle gyro sensor and roll angle gyro sensor, main control board detects these angles to be changed and carries out Contrary compensation and control driving mechanism two and driving mechanism three and adjust sensor board and be in level, and sensor board is in level and then represents that antenna body is in theoretical elevation angle state receiving satellite signal.Initial adjustment refers to that satellite antenna completes initial condition adjustment, and both satellite antenna was in the adjustment of theoretical elevation angle state.
In the above-mentioned satellite antenna on mobile vehicle, also comprise a base, described base is provided with the driving mechanism one that driven antenna body circumference is rotated, described main control board receives gps coordinate signal and calculates the azimuthal variation value of theoretical elevation value and azimuth value and the conveying of recipient's parallactic angle gyro sensor, the direction that main control board arrives according to theoretical azimuth value and magnetoresistive transducer current detection, control driving mechanism one adjust antenna body towards, when the sensor plate is in level, main control board controls driving mechanism one according to the gps signal of real-time reception and makes antenna body head for target satellite.
In the above-mentioned satellite antenna on mobile vehicle, described driving mechanism one comprises the first motor, the bearing pedestal be connected to by bearing on base, first motor and perpendicular support are all fixed on bearing pedestal, described base is fixed with the first driving wheel, first machine shaft is fixed the first belt wheel, the first driving wheel and the first belt wheel are socketed with belt.First driving wheel is fixed, and the first motor and bearing pedestal together can be rotated relative to the first driving wheel by belt during the first machine operation.
In the above-mentioned satellite antenna on mobile vehicle, described driving mechanism two comprises the second motor, the second belt wheel be fixed on the second machine shaft, perpendicular support is connected with rotating shaft by bearing, described rotating shaft one end and roll arm are connected, the other end is fixed with the second driving wheel, and the second driving wheel and the second belt wheel are socketed with belt.Second motor is rotated by belt drive second driving wheel, and the second driving wheel drives roll arm swing by rotating shaft.
In the above-mentioned satellite antenna on mobile vehicle, the 3rd driving wheel that described driving mechanism three comprises the 3rd motor and is connected mutually with roll arm one end, described support arm one is connected with above-mentioned roll arm by bearing, the 3rd described motor is arranged on the inner side of support arm one, 3rd driving wheel is arranged on the outside of support arm one, the rotating shaft of the 3rd motor is fixed with the 3rd belt wheel in the lump through support arm in rotating shaft, is connected between the 3rd belt wheel and the 3rd driving wheel by belt.Because the 3rd driving wheel and roll arm are fixed, during the 3rd machine operation, the 3rd motor and support arm can be swung one by one with rotating relative to roll arm by belt.
Driving mechanism one, driving mechanism two, driving mechanism three can do multiple change, as adopted the structure of motor mate gear transmission, the structure of motor cooperation chain drive or being all feasible by motor direct-drive.
In the above-mentioned satellite antenna on mobile vehicle, described roll arm comprises swing arm and two support arms, described two support arms to be on same straight line and at a distance of a segment distance, described support arm is parallel with swing arm, connected by linking arm between swing arm and support arm, two linking arms are splayed, can between two linking arms and distance swing arm one segment distance of the back side of satellite antenna body when described antenna body turns to vertical state.This structure of roll arm makes antenna body can freely swing on roll arm, and structural reliability is high.
On mobile vehicle, a control method for satellite antenna, is characterized in that, this control method comprises the following steps:
A, starting up, gather the gps coordinate signal of present satellites antenna position by gps receiver and flow to main control board and go out the theoretical elevation value of satellite antenna and the theoretical azimuth value of GPS by main control board according to this gps coordinate calculated signals;
B, main control board control step electric machine rotation is until the limit switch be arranged on sensor board touches block piece and then makes main control board control step motor stop to main control board transmission framing signal and reverse thus drive sensing plate to rotate predetermined angle in main control board, the angle that axis and sensor board that predetermined angle in main control board is antenna body when limit switch touches block piece are formed, now antenna axis and sensor board are in parastate, then stepping motor continues the theoretical elevation value that drive sensor board spin step A calculates, angle now between antenna axis and sensor board is theoretical elevation value,
C, roll angle by obliquity sensor Real-time Collection roll arm and horizontal plane, and the roll angle gathered is flowed to main control board, main control board makes roll arm be in level according to this roll angle; By the elevation angle of obliquity sensor Real-time Collection sensor board and horizontal plane, and the elevation angle gathered is flowed to main control board, main control board makes sensor board be in level according to this elevation angle, and antenna is in initial elevation state;
D, main control board by magnetoresistive transducer detect current antenna azimuth towards, and according to the theoretical azimuth value of the GPS calculated in steps A, exporting control signal control driving mechanism one makes satellite antenna body towards satellite, and satellite antenna carries out initialization search afterwards.
Compared with prior art, this is used for the satellite antenna of mobile vehicle: 1, arrange gps receiver, magnetoresistive transducer and obliquity sensor, automatically position satellite antenna positioning towards satellite position satellite fast and accurately; 2, three gyro sensors are set, can quickly satellite antenna attitude are adjusted and be revised, improve the stability of satellite antenna; 3, stepping motor carries out coarse adjustment to satellite antenna elevation, reduces the automatic regulating time of satellite antenna.
First carry out the adjustment of antenna body initial condition during initialization search, decrease error, improve the precision of locking satellite, shorten the time of searching satellite, improve the stability of satellite antenna.
Accompanying drawing explanation
Fig. 1 is the perspective view of the satellite antenna originally on mobile vehicle;
Fig. 2 is the schematic enlarged-scale view at A place in Fig. 1;
Fig. 3 is the structure left view of the satellite antenna originally on mobile vehicle.
Fig. 4 is the structure cutaway view of positioning drive mechanisms.
Fig. 5 is the structure right view of the satellite antenna originally on mobile vehicle.
Fig. 6 is the structure rearview of the satellite antenna originally on mobile vehicle.
Fig. 7 is the perspective view of the satellite antenna in embodiment two.
Fig. 8 is the circuit block diagram of this satellite antenna.
In figure, 1, antenna body; 2, roll arm; 21, swing arm; 22, linking arm; 23, support arm; 3, positioning drive mechanisms; 31, stepping motor; 32, drive mechanism; 321, fluted disc is regulated; 322, driving wheel; 323, bearing one; 324, bearing two; 325, worm gear; 326, worm screw; 33, limit switch; 34, bearing pin; 35, Hall element; 36, permanent magnet; 4, driving mechanism one; 41, the first motor; 42, the first driving wheel; 43, the first belt wheel; 5, driving mechanism two; 51, the second motor; 52, the second driving wheel; 53, the second belt wheel; 6, driving mechanism three; 61, the 3rd motor; 62, the 3rd driving wheel; 63, the 3rd belt wheel; 7, support arm one; 8, support arm two; 9, sensor board; 10, base; 101, bearing pedestal; 102, perpendicular support.
Embodiment
Be below specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiments.
Embodiment one:
As shown in Figure 1, Figure 2, shown in Fig. 8, a kind of satellite antenna on mobile vehicle, can be used on mobile vehicle, as vehicle, ship etc., comprise antenna body 1, main control board, gps receiver and base 10, antenna body 1 is in circle pot shape, and gps receiver to be fixed on antenna body 1 and to be connected with main control board, and main control board can receive the coordinate signal of gps receiver and calculate the theoretical elevation angle of satellite antenna.Base 10 is fixed on mobile vehicle, is provided with driving mechanism 1 above base 10, driving mechanism 1 can driven antenna body 1 circumference rotate, regulate antenna body 1 azimuth and towards.This satellite antenna also comprises a roll arm 2 that can swing around pin joint, and this roll arm 2 is driven by driving mechanism 25 and can regulate the roll angle of antenna body 1.Roll arm 2 one end is rotatably connected to support arm 1, and this support arm 1 is perpendicular with roll arm 2, and is swung up and down by driving mechanism 36 driving arm arm 1, regulates the elevation angle of antenna body 1.The other end of roll arm 2 is rotatably connected to support arm 28, and this support arm 28 is also perpendicular with roll arm 2, and antenna body 1 and support arm 1, support arm 28 are connected.Support arm 28 is provided with sensor board 9, this sensor board 9 is rotationally connected with support arm 28, support arm 28 is also provided with positioning drive mechanisms 3, and this positioning drive mechanisms 3 can search for front wheel driving sensor board 9 rotation in initialization makes sensor board 9 and antenna body 1 axis form the theoretical elevation angle of above-mentioned satellite antenna and be positioned on support arm 28 by sensor board 9.
Specifically, sensor board 9 is provided with obliquity sensor, this obliquity sensor is connected with main control board, whether level is in for detecting sensor plate 9, main control board controls driving mechanism 25 and driving mechanism 36 according to the signal of obliquity sensor, makes sensor board 9 be in level and carries out initialization search again after adjusting the initial elevation state of antenna body 1.Roll arm 2 comprises swing arm 21 and two support arms 23, two support arms 23 to be on same straight line and at a distance of a segment distance, support arm 23 is parallel with swing arm 21, connected by linking arm 22 between swing arm 21 and support arm 23, two linking arms 22 are in splayed, can between two linking arms 22 and distance swing arm 21 1 segment distance of the back side of satellite antenna body 1 when antenna body 1 turns to vertical state, this structure of roll arm 2 makes antenna body 1 can freely swing on roll arm 2, and structural reliability is high.
As shown in Figure 3, Figure 4, positioning drive mechanisms 3 comprises a stepping motor 31, this stepping motor 31 is fixed on support arm 28, the end face of roll arm 2 is connected with a block piece, this block piece is a bearing pin 34, certainly can adopt screw, bolt, projection etc. as required in actual use.Support arm 28 is rotatably connected to an adjustment fluted disc 321 by bearing 1, and support arm 28 is rotatably connected on roll arm 2 by bearing 2 324, and bearing 1 and bearing 2 324 are on same straight line.Sensor board 9 is fixed on and regulates on fluted disc 321 side, and sensor board 9 is vertical with adjustment fluted disc 321, stepping motor 31 is arranged on the inner side of support arm 28, fluted disc 321 is regulated to be arranged on the outside of support arm 28, the rotating shaft of stepping motor 31 is through support arm 28, rotating shaft is fixed with driving wheel 322, is connected by belt between driving wheel 322 and adjustment fluted disc 321.Sensor board 9 is provided with limit switch 33 and obliquity sensor, obliquity sensor is used for the level of detecting sensor plate, bearing pin 34 to be positioned at when limit switch 33 moves process path on, limit switch 33, obliquity sensor are all connected with main control board with stepping motor 31.
When regulating fluted disc 321 to rotate and limit switch 33 and bearing pin 34 touched, a predetermined angle is formed between the axis of now sensor board 9 and antenna body 1, predetermined angle is fixed according to the mechanical location relation between bearing pin 34 and the axis of antenna body 1, just determines when bearing pin 34 is fixed on roll arm 2.Predetermined angle is greater than 60 °, the regulation time of sensor board 9 is long is unfavorable for fast reaction, and predetermined angle is less than 15 ° then can cause more by mistake touching, and therefore also can be conducive to rapid adjustment to reduce false hit, and convenient installation, in the present embodiment, predetermined angle is 30 °.Before initialization search, stepping motor 31 drives and regulates fluted disc 321 to rotate, limit switch 33 on sensor board 9 is moved to bearing pin 34, when limit switch 33 touches bearing pin 34, limit switch 33 sends signal to main control board, rotate backward with regard to control step motor 31 after main control board receives the signal of limit switch 33, its angle of rotating is the predetermined angle set, the angle that axis and sensor board 9 that predetermined angle is antenna body 1 when limit switch 33 touches block piece are formed, predetermined angle is connected on roll arm at block piece just to be determined, by the process of this step, can eliminate uncertain datum level so that for sensor board be datum level provide basis.Now sensor board 9 is in parastate with the axis of antenna body 1, stepping motor 31 continues to control sensor board 9 incessantly and rotates the theoretical elevation angle of satellite antenna, the theoretical elevation angle of satellite antenna take horizontal plane as benchmark, the axis and sensor board 9 angle that are equivalent to antenna body 1 are the theoretical elevation angle of satellite antenna, like this, sensor board 9 just can become a datum level, the level just corresponding initial elevation state regulating antenna body 1 of adjustment sensor board 9, is beneficial to satellite antenna lock onto target satellite.Now, the level of the obliquity sensor detecting sensor plate 9 on sensor board 9, and by signal transmission to main control board, main control board regulates support arm 1 and support arm 28 by controlling organization 36, because sensor board 9 keeps relative fixing by stepping motor 31 with support arm 28, during the adjustment of therefore controlling organization 36, sensor board 9 is up to the standard state, now the elevation angle of antenna body 1 is then the theoretical elevation angle of satellite antenna, after stepping motor has regulated, main control board is according to the signal of obliquity sensor, the roll angle of antenna body 1 is regulated by driving mechanism 25.
Wave because vehicle ship jolts in the process of moving, therefore also need to carry out real-time continual fine setting by driving mechanism 25 and driving mechanism 36 after antenna body 1 completes initial adjustment, eliminate the impact that carrier imbalance causes.Therefore on sensor board 9, be also provided with the magnetoresistive transducer of detection side's parallactic angle, the azimuth gyro sensor of detection side's parallactic angle change, the elevation angle gyro sensor of detecting sensor plate elevation angle change and the roll angle gyro sensor of detecting sensor plate roll angle change, magnetoresistive transducer, azimuth gyro sensor, elevation angle gyro sensor is all connected with main control board with roll angle gyro sensor, after completing initial adjustment, main control board detects the angle signal of elevation angle gyro sensor and roll angle gyro sensor in real time, and be in level according to this angle signal control driving mechanism 25 and driving mechanism 36 adjustment sensor board 9.When mobile vehicle moves, the change of the level of carrier is detected by elevation angle gyro sensor and roll angle gyro sensor, main control board detects these angles to be changed and controls driving mechanism 25 and driving mechanism 36 and adjust sensor board 9 and carry out Contrary compensation, make sensor board 9 be in level, namely antenna body 1 is in level receiving satellite signal.And main control board receives gps coordinate signal and calculates theoretical elevation value and azimuth value and azimuthal variation value, main control board according to theoretical azimuth value and azimuthal variation value control driving mechanism one adjust antenna body towards.
Composition graphs 3, Fig. 5, shown in Fig. 6, driving mechanism 1 comprises the first motor 41 and bearing pedestal 101, bearing pedestal 101 is connected on base 10 by bearing, first motor 41 is all fixed on bearing pedestal 101 with perpendicular support 102, base 10 is made up of the fixed head that two are crossed as cross mutually, and be bolted on mobile vehicle, base 10 is fixed with the first driving wheel 42, the first belt wheel 43 is fixed in first motor 41 rotating shaft, first driving wheel 42 and the first belt wheel 43 are socketed with belt, first driving wheel 42 is fixed, first motor 41 and bearing pedestal 101 together can be rotated relative to the first driving wheel 42 by belt when first motor 41 works, thus realize the azimuthal adjustment of antenna body 1.
Driving mechanism 25 comprises the second motor 51, second motor 51 rotating shaft is fixed with the second belt wheel 53, perpendicular support 102 is connected with rotating shaft by bearing, rotating shaft one end and roll arm 2 are connected, the other end is fixed with on the second driving wheel 52, second driving wheel 52 and the second belt wheel 53 and is socketed with belt, and the second motor 51 is rotated by belt drive second driving wheel 52, second driving wheel 52 drives roll arm 2 to swing by rotating shaft, thus realizes the adjustment of antenna body 1 roll angle.
Driving mechanism 36 comprises the 3rd motor 61, the 3rd driving wheel 62 is fixed with in roll arm 2 one end, support arm 1 is connected with roll arm 2 by bearing, 3rd motor 61 is arranged on the inner side of support arm 1, 3rd driving wheel 62 is arranged on the outside of support arm 1, the rotating shaft of the 3rd motor 61 is passed support arm 1 and in rotating shaft, is fixed with the 3rd belt wheel 63, connected by belt between 3rd belt wheel 63 and the 3rd driving wheel 62, because the 3rd driving wheel 62 and roll arm 2 are fixed, 3rd motor 61 and support arm 1 together can be rotated relative to roll arm 2 by belt when 3rd motor 61 works to swing, thus realize the adjustment at antenna body 1 elevation angle.
In actual use, driving mechanism 1, driving mechanism 25, driving mechanism 36 can do multiple change, as adopted the structure of motor mate gear transmission, the structure of motor cooperation chain drive or being all feasible by motor direct-drive.
A kind of control method of marine satellite antenna satellite search comprises the following steps:
Starting up, gathers the gps coordinate signal of current marine satellite antenna position by gps receiver, and the coordinate signal gathered is flowed to main control board; If when gps receiver cannot receive the gps signal of satellite, the positional information of satellite position information during front satellite locking or main control board inner setting satellite exports by main control board, controls satellite antenna search of satellite.Be have received the coordinate signal of gps receiver collection by main control board, calculate the theoretical elevation angle of satellite antenna and the theoretical azimuth of GPS of locking satellite according to this coordinate signal, main control board control step motor 31 rotates and sensor board 9 is rotated, main control board control step motor 31 is made to stop and reversing until the limit switch 33 be arranged on sensor board 9 touches block piece and then sends framing signal to main control board, reverse angle is the predetermined angle in main control board, the angle that axis and sensor board 9 that predetermined angle is antenna body 1 when limit switch 33 touches block piece are formed, stepping motor 31 reverses after predetermined angle and is rotated further the theoretical elevation angle of satellite antenna again, stepping motor 31 stops operating and is fixed on support arm 28 by sensor board 9 subsequently.The heeling condition of obliquity sensor detecting sensor plate 9, and detection signal is passed to main control board, main control board output control signal controls the second motor 51 and regulates roll arm 2, roll arm 2 is made to be in level, export control signal control the 3rd motor 61 driving arm arm 1 to rotate relative to roll arm 2, sensor board 9 is up to the standard state, and now the actual elevation angle of antenna body 1 reaches the theoretical elevation angle of satellite antenna.Main control board exports control signal according to the theoretical azimuth value of GPS and controls the first motor 41, and regulate the azimuth of antenna body 1, satellite antenna carries out initialization search and sets up communication signal afterwards.When the satellite maritime environment impact that this satellite antenna locks produces skew; gather this satellite antenna elevation, roll angle and azimuthal deviation angle signal by elevation angle gyro sensor, roll angle gyro sensor and azimuth gyro sensor and signal is flowed to main control board; main control board output drive signal one, drive singal two and drive singal three; first motor 41, second motor 51, the 3rd motor 61 rotate regulate antenna body 1 towards, make this satellite antenna keep locking satellite state under.
In addition, control the rotation of the second motor and control the rotation of the 3rd motor and can carry out simultaneously, can regulation time be saved like this, allowing the rapid lock onto target satellite of satellite antenna.After roughly adjustment level, can carry out alternately controlling to reach the state of final level to the second motor and the 3rd motor.
Embodiment two:
The structure of this satellite antenna on mobile vehicle is substantially identical with embodiment one, difference is as shown in Figure 7, the parts such as positioning drive mechanisms 3 and sensor board 9 are arranged on support arm 1, driving mechanism 36 is arranged on support arm 28, positioning drive mechanisms 3 comprises a stepping motor 31, this stepping motor 31 is fixed on support arm 28, the end face of roll arm 2 is connected with a permanent magnet 36, support arm 28 is rotatably connected to a worm gear 325 by bearing 1, support arm 28 is rotatably connected on roll arm 2 by bearing 2 324, bearing 1 and bearing 2 324 are on same straight line.Sensor board 9 is fixed on the side of worm gear 325, and sensor board 9 is vertical with turbine 325, stepping motor 31 and worm gear 325 are all arranged on the outside of support arm 28, the rotating shaft of stepping motor 31 is fixed with worm screw 326, worm screw 326 is meshed with worm gear 325, sensor board 9 is provided with Hall element and obliquity sensor, permanent magnet 36 to be positioned at when Hall element 35 moves process path on, Hall element 35, obliquity sensor are all connected with main control board with stepping motor 31.Predetermined angle is the angle that Hall element 35 is formed between sensor board 9 and the axis of antenna body 1 when sensing permanent magnet 36 in this embodiment.
Before initialization search, main control board is also the signal according to obliquity sensor, the roll angle of antenna body 1 is regulated by driving mechanism 25, after roll angle has regulated, stepping motor 31 drives and regulates worm screw 326 to rotate, worm screw 326 drives worm gear 325 to rotate, Hall element 35 on sensor board 9 is moved to permanent magnet 36, when Hall element 35 senses permanent magnet 36, Hall element 35 sends signal to main control board, rotate backward with regard to control step motor 31 after main control board receives the signal of Hall element 35, until the axis of antenna body 1 and sensor board 9 form the theoretical elevation angle of a satellite antenna, now worm gear 325 and worm screw 326 can carry out self-locking when stopping operating, sensor board 9 opposite brackets arm two is fixed.
Certainly in actual use, positioning drive mechanisms 3 is except above-mentioned scheme, as long as the multiple mechanical structure that stepping motor 31 driving sensor plate 9 swings on support arm 28 is all feasible, as chain, linkage etc.In addition, the components and parts detecting stroke also can be replaced, accordingly as infrared ray sensor etc.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Although more employ antenna body 1, roll arm 2, swing arm 21, linking arm 22, support arm 23, positioning drive mechanisms 3, stepping motor 31, drive mechanism 32 herein, regulate the terms such as fluted disc 321, driving wheel 322, bearing 1, bearing 2 324, worm gear 325, worm screw 326, do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (10)
1. the satellite antenna on mobile vehicle, comprise the antenna body (1) of round pot shape, main control board be fixed on the upper gps receiver be connected with main control board of antenna body (1), main control board receives the coordinate signal of gps receiver and calculates the theoretical elevation angle of satellite antenna, it is characterized in that, this satellite antenna also comprises the roll arm (2) that can regulate antenna body (1) roll angle, described roll arm (2) can swing around pin joint and be driven by driving mechanism two (5), be provided with the vertically disposed support arm one (7) with roll arm (2) in described roll arm (2) one end and swung up and down by driving mechanism three (6) driving arm arm one (7), the other end of described roll arm (2) is provided with the support arm two (8) be rotationally connected with roll arm (2), above-mentioned antenna body (1) is connected with described support arm one (7) and support arm two (8), described support arm two (8) is provided with the sensor board (9) be rotationally connected with support arm two (8), support arm two (8) is also provided with and makes sensor board (9) and antenna body (1) axis form the theoretical elevation angle of above-mentioned satellite antenna and the positioning drive mechanisms (3) be positioned at by sensor board (9) on support arm two (8) in initialization search front wheel driving sensor board (9) rotation.
2. the satellite antenna on mobile vehicle according to claim 1, it is characterized in that, described sensor board (9) is provided with the obliquity sensor being connected with main control board and whether being in level for detecting sensor plate (9), and described main control board controls to carry out initialization search after above-mentioned driving mechanism two (5) and driving mechanism three (6) make sensor board (9) be in level according to obliquity sensor.
3. the satellite antenna on mobile vehicle according to claim 2, it is characterized in that, the block piece that described positioning drive mechanisms (3) comprises stepping motor (31) and is connected on roll arm (2) end face, described support arm two (8) is provided with the drive mechanism (32) that driving sensor plate (9) rotates, drive mechanism (32) is connected with stepping motor (31), limit switch (33) and the obliquity sensor for detecting sensor plate (9) level is provided with at sensor board (9), described block piece be positioned at limit switch (33) mobile time process path on, limit switch (33), obliquity sensor is all connected with above-mentioned main control board with stepping motor (31), described main control board control step motor (31) after satellite antenna starts turns to and touches limit switch (33) and control when receiving the framing signal that limit switch (33) is carried to be rotated further the theoretical elevation angle of above-mentioned satellite antenna again after predetermined angle in stepping motor (31) reversion main control board.
4. the satellite antenna on mobile vehicle according to claim 3, it is characterized in that, described drive mechanism (32) comprises the adjustment fluted disc (321) be connected with support arm two (8) by bearing one (323), described support arm two (8) is connected with above-mentioned roll arm (2) by bearing two (324), bearing one (323) and bearing two (324) are on same straight line, above-mentioned sensor board (9) is fixed on and regulates on fluted disc (321) side and sensor board (9) is vertical with regulating fluted disc (321), described stepping motor (31) is arranged on the inner side of support arm two (8), fluted disc (321) is regulated to be arranged on the outside of support arm two (8), the rotating shaft of stepping motor (31) is passed support arm two (8) and in rotating shaft, is fixed with driving wheel (322), connected by belt between driving wheel (322) and adjustment fluted disc (321).
5. the satellite antenna on mobile vehicle according to claim 2, it is characterized in that, the permanent magnet that described positioning drive mechanisms (3) comprises stepping motor (31) and is fixed on roll arm (2) end face, sensor board (9) is rotatably connected on support arm two (8), described support arm two (8) is provided with the drive mechanism (32) that driving sensor plate (9) rotates, drive mechanism (32) is connected with stepping motor (31), sensor board (9) is provided with Hall element (35), described permanent magnet (36) be positioned at Hall element (35) mobile time process path on, Hall element (35) is all connected with above-mentioned main control board with stepping motor (31), described main control board control step motor (31) after receiving the framing signal that Hall element (35) carries rotates the angle preset makes sensor board (9) be on datum level, namely on absolute horizon.
6. the satellite antenna on mobile vehicle according to claim 5, it is characterized in that, described drive mechanism (32) comprises the worm screw (326) be connected with stepping motor (31) rotating shaft and the worm screw (326) engaged with worm screw (326), stepping motor (31) is fixed on support arm two (8), worm gear (325) is connected with support arm two (8) by bearing one (323), described support arm two (8) is connected with above-mentioned roll arm (2) by bearing two (324), bearing one (323) and bearing two (324) are on same straight line, above-mentioned sensor board (9) is fixed on the sidewall of worm gear (325).
7. the satellite antenna on mobile vehicle according to claim 4 or 6, it is characterized in that, described sensor board (9) is also provided with the magnetoresistive transducer of detection side's parallactic angle, the azimuth gyro sensor of detection side's parallactic angle change, the elevation angle gyro sensor of detecting sensor plate (9) elevation angle change and the roll angle gyro sensor of detecting sensor plate (9) roll angle change, described magnetoresistive transducer, azimuth gyro sensor, elevation angle gyro sensor is all connected with above-mentioned main control board with roll angle gyro sensor, after completing initial adjustment, main control board detects the angular rate signal of elevation angle gyro sensor and roll angle gyro sensor in real time and adjusts sensor board (9) angle in real time according to this signal controlling driving mechanism two (5) and driving mechanism three (6), it is made to be in level.
8. the satellite antenna on mobile vehicle according to claim 7, it is characterized in that, also comprise a base (10), described base (10) is provided with the driving mechanism one (4) that driven antenna body (1) circumference is rotated, described main control board receives gps coordinate signal and calculates the azimuthal variation value of theoretical elevation value and azimuth value and the conveying of recipient's parallactic angle gyro sensor, the direction that main control board arrives according to theoretical azimuth value and magnetoresistive transducer current detection, control driving mechanism one (4) adjust antenna body (1) towards, when the sensor plate (9) is in level, main control board controls driving mechanism one (4) according to the gps signal of real-time reception and makes antenna body (1) head for target satellite.
9. the satellite antenna on mobile vehicle according to claim 1, it is characterized in that, described roll arm (2) comprises swing arm (21) and two support arms (23), described two support arms (23) to be on same straight line and at a distance of a segment distance, described support arm (23) is parallel with swing arm (21), connected by linking arm (22) between swing arm (21) and support arm (23), two linking arms (22) are in splayed, described antenna body (1) can be positioned between two linking arms (22) and the back side of satellite antenna body (1) distance swing arm (21) segment distance when turning to vertical state.
10. the control method of satellite antenna on mobile vehicle, it is characterized in that, this control method comprises the following steps:
A, starting up, gather the gps coordinate signal of present satellites antenna position by gps receiver and flow to main control board and go out the theoretical elevation value of satellite antenna and the theoretical azimuth value of GPS by main control board according to this gps coordinate calculated signals;
B, main control board control step motor (31) rotates until the limit switch (33) be arranged on sensor board (9) touches block piece and then sends framing signal to main control board makes main control board control step motor (31) stop and reversing thus drive the angle that axis and sensor board (9) that the predetermined angle in sensing plate rotation main control board in predetermined angle main control board is antenna body (1) when limit switch (33) touches block piece are formed, now antenna axis and sensor board (9) are in parastate, then stepping motor (31) continues the theoretical elevation value that drive sensor board (9) spin step A calculates, angle now between antenna axis and sensor board (9) is theoretical elevation value,
C, roll angle by obliquity sensor Real-time Collection roll arm (2) and horizontal plane, and the roll angle gathered is flowed to main control board, main control board makes roll arm (2) be in level according to this roll angle; By the elevation angle of obliquity sensor Real-time Collection sensor board (9) with horizontal plane, and the elevation angle gathered is flowed to main control board, main control board makes sensor board (9) be in level according to this elevation angle, and antenna is in initial elevation state;
D, main control board by magnetoresistive transducer detect current antenna azimuth towards, and according to the theoretical azimuth value of the GPS calculated in steps A, exporting control signal control driving mechanism one (4) makes satellite antenna body (1) towards satellite, and satellite antenna carries out initialization search afterwards.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104852143B (en) * | 2015-05-19 | 2016-03-09 | 湖南省湘电试研技术有限公司 | Synchronous satellite the Wide Area Power mountain fire remote sensing signal receiving system |
| JP2019033357A (en) * | 2017-08-07 | 2019-02-28 | 日本電産サンキョー株式会社 | Antenna device with shake correction function |
| CN108987886B (en) * | 2018-08-02 | 2020-07-17 | 铭宸(唐山)航天电子装备科技有限公司 | Satellite antenna for communication transmission |
| CN109884924B (en) * | 2019-03-07 | 2024-06-21 | 深圳市易湘瑞科技有限公司 | Vertical support and control method thereof |
| CN112785827B (en) * | 2019-11-06 | 2023-09-19 | 沈阳新松机器人自动化股份有限公司 | Antenna angle control system and method based on network communication technology |
| CN112259952A (en) * | 2020-09-23 | 2021-01-22 | 西安新光通信技术有限公司 | Special-shaped seat frame for ship-borne low-orbit satellite VSAT antenna |
| CN112310596B (en) * | 2020-11-19 | 2022-05-17 | 泰州市柯普尼通讯设备有限公司 | Economical simple ship-borne VSAT antenna system |
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