CN106610612B - Antenna driving control unit - Google Patents
Antenna driving control unit Download PDFInfo
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- CN106610612B CN106610612B CN201611091890.7A CN201611091890A CN106610612B CN 106610612 B CN106610612 B CN 106610612B CN 201611091890 A CN201611091890 A CN 201611091890A CN 106610612 B CN106610612 B CN 106610612B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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Abstract
The invention provides an antenna driving control unit. The antenna drive control unit includes: the device comprises a control card, an AC/DC power supply module, a first azimuth relay, a second azimuth relay, a first pitching relay, a second pitching relay, a first azimuth contactor, a second azimuth contactor, a first pitching contactor, a second pitching contactor, an azimuth air circuit breaker and a pitching air circuit breaker. The antenna driving control unit has the main functions of: the method comprises the steps of receiving a control instruction sent by an upper computer, collecting state information of an antenna pedestal, operating a loop control algorithm, outputting control instructions of an azimuth driving unit and a pitching driving unit, providing a power supply for the azimuth driving unit and the pitching driving unit, collecting state information of the azimuth driving unit and the pitching driving unit, and reporting the state information to the upper computer. The antenna driving control unit is used as a connecting bridge of the upper computer and the antenna driving unit, so that the isolation between the control electric signal and the power electric signal of the antenna servo system is realized, and the safety and the reliability of the system are ensured.
Description
Technical Field
The invention relates to the field of remote measurement system servo control, in particular to drive control of a large antenna servo system of a movable base platform.
Background
In order to increase the system operating distance in the remote measuring system, a large-caliber parabolic antenna is usually adopted, and in order to meet the requirement of remote measuring of offshore targets, the remote measuring system is usually required to be installed on a base of a moving platform such as a ship and the like, and higher requirements are provided for the tracking control precision of a servo system. The servo system is an important component in a large-scale antenna telemetering system, and mainly has the main functions of enabling a receiving antenna to capture a target and continuously track the target with certain precision, enabling the target to be always positioned near the central line of a main beam and reliably and continuously receiving telemetering signals with maximum receiving gain. The servo control system in the conventional telemetry field mainly comprises an antenna control unit, an antenna driving unit and an antenna pedestal.
In a large antenna remote measuring system, a high-power motor is generally required to be used for driving in order to meet the load capacity, the conventional high-power motor is large in size, and the conventional high-power motor is arranged in an antenna base and occupies a large space, so that the size and the weight of the antenna base are increased. The larger the antenna aperture in the antenna telemetering system, the narrower the receiving beam width, in order to prevent the target from losing, the antenna servo system is required to have higher tracking precision to realize the real-time tracking of the target, and the antenna servo system driven by a single motor is difficult to realize high-precision control along with the increase of the antenna aperture and the increase of the volume of a transmission mechanism.
In order to meet the telemetry requirements of more targets, an antenna telemetry system is usually installed on a survey vessel to achieve target telemetry. When the antenna pedestal is installed on a telemetry ship and used relative to land, the antenna pedestal installation platform is changed from a static platform base to a movable platform base, and along with the shaking of the telemetry ship platform base, the ground antenna servo system can hardly control the antenna to realize the tracking of a target.
Disclosure of Invention
The invention aims to: the defects in the prior art are overcome, and the antenna driving control unit is used as a connecting bridge of the antenna control unit and the azimuth pitching driving unit to realize antenna driving control. The servo system has clear interface and convenient use, realizes high-precision driving control of a high-complexity servo system, and is suitable for a large-scale antenna servo system of a movable base platform.
The technical scheme adopted by the invention is as follows:
an antenna driving control unit comprising: the device comprises a control card, an AC/DC power supply module, a first azimuth relay, a second azimuth relay, a first pitching relay, a second pitching relay, a first azimuth contactor, a second azimuth contactor, a first pitching contactor, a second pitching contactor, an azimuth air circuit breaker and a pitching air circuit breaker;
the control card generates an orientation driving unit control instruction, an orientation driving unit power-on instruction, a pitching driving unit control instruction and a pitching driving unit power-on instruction according to a received externally input antenna control signal and acquired state information of the antenna pedestal, respectively sends the orientation driving unit control instruction and the pitching driving unit control instruction into the orientation driving unit and the pitching driving unit, sends the orientation driving unit power-on instruction into a first orientation relay and a second orientation relay, and sends the pitching driving unit power-on instruction into the first pitching relay and the second pitching relay;
after the first azimuth relay receives a power-on instruction of the azimuth driving unit, the first azimuth relay controls the first azimuth contactor to provide externally input alternating current protected by the azimuth air circuit breaker to the azimuth driving unit, after the second azimuth relay receives the power-on instruction of the azimuth driving unit, the second azimuth contactor controls the second azimuth contactor to provide externally input alternating current protected by the azimuth air circuit breaker to the azimuth driving unit, and the azimuth driving unit drives the antenna to operate on an azimuth axis according to the two paths of input alternating current and the control instruction of the azimuth driving unit;
after the first pitching relay receives a power-on instruction of the pitching driving unit, the first pitching relay controls the first pitching contactor to provide the external input alternating current protected by the pitching air circuit breaker to the pitching driving unit, after the second pitching relay receives the power-on instruction of the pitching driving unit, the second pitching contactor controls the second pitching contactor to provide the external input alternating current protected by the pitching air circuit breaker to the pitching driving unit, and the pitching driving unit drives the antenna to operate on a pitching shaft according to the two paths of input alternating currents and the control instruction of the pitching driving unit;
the real-time state of the antenna pedestal, the working state of the azimuth driving unit and the working state of the pitching driving unit are all fed back to the control card, and the control card outputs the state information and the working information to the upper computer for display;
the AC/DC power supply module supplies power to the control card, the first azimuth relay, the second azimuth relay, the first pitching relay, the second pitching relay, the first azimuth contactor, the second azimuth contactor, the first pitching contactor and the second pitching contactor.
The drive control unit also comprises a state display card which is used for displaying the communication state between the control card and the upper computer, between the control card and the azimuth drive unit and between the control card and the pitching drive unit, and simultaneously, the state display card also displays the power supply state of the control card.
The driving control unit also comprises a warning lamp relay and a warning lamp;
the control card collects the working states of the first azimuth contactor, the second azimuth contactor, the first pitching contactor and the second pitching contactor, and controls the warning lamp to display the states through the warning lamp relay.
The azimuth driving unit is a mechanism for driving the antenna to realize 0-360-degree operation of an azimuth axis, and the pitching driving unit is a mechanism for driving the antenna to realize-5-185-degree operation of a pitching axis.
The control card comprises an FPGA module, a DSP module, an AD conversion module, a digital isolator, a three-state D-type latch, an optical coupler isolator, a data driver, a relay module and an RS422 serial communication module;
control signals input from the outside are simultaneously sent to the optical coupler isolator and the RS422 serial communication module, and then sent to the FPGA module after optical coupler isolation, the RS422 serial communication module carries out differential signal level conversion on the control signals input into the RS422 serial communication module to generate 5VTT L level signals, the level conversion is carried out through the digital isolator to be sent to the FPGA module, and the FPGA module collects state information of the antenna pedestal through the RS422 serial communication module, the digital isolator, the AD conversion module, the three-state D-type latch and the optical coupler isolator;
the FPGA module sends the collected processed control signal and the state information of the antenna pedestal to the DSP module, the DSP module generates an azimuth driving unit control instruction, an azimuth driving unit power-on instruction, a pitching driving unit control instruction and a pitching driving unit power-on instruction, the FPGA module sends an azimuth driving unit control instruction and a pitching driving unit control instruction to the azimuth driving unit and the pitching driving unit respectively through the digital isolator and the RS422 serial communication module in sequence, the FPGA module sends an azimuth driving unit power-on instruction to the first azimuth relay and the second azimuth relay respectively through the data driver, the optical coupler isolator and the relay module in sequence, and the FPGA module sends the pitching driving unit power-on instruction to the first pitching relay and the second pitching relay respectively through the data driver, the optical coupler isolator and the relay module in sequence;
the FPGA module acquires the working states of the first azimuth contactor, the second azimuth contactor, the first pitching contactor and the second pitching contactor through the optocoupler isolator, and generates a warning lamp control signal to be output through the data driver and the optocoupler isolator in sequence;
the FPGA module outputs the communication states between the control card and the upper computer, between the control card and the azimuth driving unit, between the control card and the pitch driving unit and the power supply states of +5V and +/-12V in the control card to the state display card through the data driver and the optical coupling isolator in sequence.
The antenna mount state information includes rate gyro state signals, azimuth/pitch real-time angles, antenna mount azimuth wrap-around information, and antenna mount switching value information.
Compared with the prior art, the invention has the following advantages:
(1) the functions of all the components of the invention are clear and definite, the power supply control of the azimuth driving control unit and the pitching driving control unit can be respectively realized through the internal modules, the separation control of the power supply of the motor and the control power supply of the system circuit can be realized, the system connection is simple, and the use is convenient.
(2) The invention has rich external interfaces, realizes the mutual isolation among interface signals through various isolation modules, has strong anti-interference capability, and can effectively prevent the mutual interference among antenna pedestal signals, driving unit signals and antenna control unit signals.
(3) The invention realizes algorithm and logic control operation through TMS320C6713 of TI company and EP1S25 of Altera company, has fast operation speed and short closed loop period, improves data processing capability and meets the real-time requirement of complex control algorithm.
(4) The invention supports the input and output of multi-channel RS422 serial signals, and the encoding and decoding of the FPGA module not only meet the use requirement of a ground telemetering system, but also support the communication with various external attitude measuring devices when the measuring ship moving base platform is used, thereby improving the compatibility of the devices.
Drawings
FIG. 1 is a block diagram of the system components of the present invention;
FIG. 2 is a block diagram of the control card hardware components;
FIG. 3 is a flow chart of a power supply power-up and power-down process.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
as shown in fig. 1, the antenna driving control unit provided in the present invention includes: the device comprises a control card, an AC/DC power supply module, a first azimuth relay, a second azimuth relay, a first pitching relay, a second pitching relay, a first azimuth contactor, a second azimuth contactor, a first pitching contactor, a second pitching contactor, an azimuth air circuit breaker and a pitching air circuit breaker. The antenna driving control unit has the main functions of: the method comprises the steps of receiving a control command sent by an upper computer, collecting state information of an antenna pedestal, operating a loop control algorithm, outputting control commands of an azimuth driving unit and a pitching driving unit, providing a power supply for the azimuth driving unit and the pitching driving unit, collecting state information of the azimuth driving unit and the pitching driving unit, and sending the state information to the upper computer for display. The antenna pedestal state information collected by the antenna driving control unit mainly comprises antenna pedestal switching value information, antenna pedestal winding information, azimuth and pitching real-time angle information, rate gyro state information of the antenna pedestal in an inertial coordinate system and the like.
The control card generates an orientation driving unit control instruction, an orientation driving unit power-on instruction, a pitching driving unit control instruction and a pitching driving unit power-on instruction according to a received externally input antenna control signal and acquired state information of the antenna pedestal, sends the orientation driving unit control instruction and the pitching driving unit control instruction into the orientation driving unit and the pitching driving unit respectively, sends the orientation driving unit power-on instruction into a first orientation relay and a second orientation relay, and sends the pitching driving unit power-on instruction into the first pitching relay and the second pitching relay.
After the first azimuth relay receives a power-on instruction of the azimuth driving unit, the first azimuth contactor is controlled to supply the externally input alternating current protected by the azimuth air circuit breaker to the azimuth driving unit, after the second azimuth relay receives the power-on instruction of the azimuth driving unit, the second azimuth contactor is controlled to supply the externally input alternating current protected by the azimuth air circuit breaker to the azimuth driving unit, and the azimuth driving unit drives the antenna to operate on an azimuth axis according to the two paths of input alternating currents and the control instruction of the azimuth driving unit.
After the first pitching relay receives a power-on instruction of the pitching driving unit, the first pitching relay controls the first pitching contactor to provide the external input alternating current protected by the pitching air circuit breaker to the pitching driving unit, after the second pitching relay receives the power-on instruction of the pitching driving unit, the second pitching contactor controls the second pitching contactor to provide the external input alternating current protected by the pitching air circuit breaker to the pitching driving unit, and the pitching driving unit drives the antenna to operate on a pitching shaft according to the two paths of input alternating currents and the control instruction of the pitching driving unit.
The real-time state of the antenna pedestal, the working state of the azimuth driving unit and the working state of the pitching driving unit are all fed back to the control card, and the control card outputs the state information and the working information to the upper computer for display.
The AC/DC power supply module supplies power to the control card, the first azimuth relay, the second azimuth relay, the first pitching relay, the second pitching relay, the first azimuth contactor, the second azimuth contactor, the first pitching contactor and the second pitching contactor.
The antenna driving control unit further comprises a state display card for displaying the communication states between the control card and the upper computer, between the control card and the azimuth driving unit and between the control card and the elevation driving unit, and meanwhile, the state display card also displays the power supply state of the control card.
The antenna driving control unit provided by the invention also comprises a warning lamp relay and a warning lamp, wherein the control card acquires the working states of the first orientation contactor, the second orientation contactor, the first pitching contactor and the second pitching contactor, and controls the warning lamp to display the states through the warning lamp relay.
The azimuth driving unit is a mechanism for driving the antenna to realize 0-360-degree operation of an azimuth axis, and the pitching driving unit is a mechanism for driving the antenna to realize-5-185-degree operation of a pitching axis.
The antenna pedestal state information comprises antenna pedestal switching value information, antenna pedestal winding information, azimuth and pitching real-time angle information, rate gyro state information of the antenna pedestal under an inertial coordinate system and the like.
The air circuit breaker is a switch which can be automatically opened as long as the current in the circuit exceeds the rated current, and realizes the functions of controlling the azimuth and elevation power supply AC220V2 and protecting the current in the circuit.
As shown in fig. 2, the antenna driving control unit control card includes an FPGA module, a DSP module, an AD conversion module, a digital isolator, a tri-state D-type latch, an optical coupler isolator, a data driver, a relay module, and an RS422 serial communication module.
Control signals input from the outside are simultaneously sent into the optical coupler isolator and the RS422 serial communication module, and then sent into the FPGA module after optical coupler isolation, the RS422 serial communication module carries out differential signal level conversion on the control signals input into the RS422 serial communication module to generate 5VTT L level signals, the level conversion is carried out through the digital isolator to be sent into the FPGA module, and the FPGA module collects state information of the antenna pedestal through the RS422 serial communication module, the digital isolator, the AD conversion module, the three-state D-type latch and the optical coupler isolator.
The antenna pedestal state information comprises a rate gyro state signal, an azimuth/pitching real-time angle, antenna pedestal azimuth winding information and antenna pedestal switching value information;
the azimuth winding information of the antenna pedestal is subjected to analog-to-digital conversion through an AD conversion module, and then is latched through a three-state D-type latch, and the latched digital signal is sent to an FPGA module;
the rate gyro state signal and the azimuth/pitching real-time angle are acquired through an RS422 serial communication module and a digital isolator;
the information of the switching value of the antenna pedestal is collected through an optical coupling isolator;
the FPGA module sends the collected processed control signal and the state information of the antenna pedestal to the DSP module, the DSP module generates an azimuth driving unit control instruction, an azimuth driving unit power-on instruction, a pitching driving unit control instruction and a pitching driving unit power-on instruction, and the FPGA module sends the azimuth driving unit control instruction and the pitching driving unit control instruction to the azimuth driving unit and the pitching driving unit respectively through the digital isolator and the RS422 serial communication module in sequence, the FPGA module sends the azimuth driving unit power-on instruction to the first azimuth relay and the second azimuth relay respectively through the data driver, the optical coupler isolator and the relay module in sequence, and the FPGA module sends the pitching driving unit power-on instruction to the first pitching relay and the second pitching relay respectively through the data driver, the optical coupler isolator and the relay module in sequence.
The control card is through first position relay, second position relay control first position contactor, second position contactor provides power supply or the control card is through first every single move relay for position antenna drive unit, first every single move contactor of second every single move relay control, when second every single move contactor provides power supply for every single move antenna drive unit, FPGA module gathers first position contactor through the opto-coupler isolator, second position contactor, the operating condition of first every single move contactor and second every single move contactor, it loops through data drive and the output of opto-coupler isolator to generate warning light control signal, control warning light scintillation through the warning light relay.
The FPGA module outputs the communication states between the control card and the upper computer, between the control card and the azimuth driving unit, between the control card and the pitch driving unit and the power supply states of +5V and +/-12V in the control card to the state display card through the data driver and the optical coupling isolator in sequence.
The FPGA module adopts a Stratix series EP1S25F780 chip of Altera corporation as a control logic core of the control card, the EP1S25F780 has rich external interfaces and sufficient on-chip logic resources, the DSP module adopts a TMS320C6713 series of TI corporation, the TMS320C6713 is a high-performance floating-point digital signal processor, the operation speed is high, the clock frequency can reach 225MHZ, 8 instructions can be executed in a single clock period, and the DSP module has a large-capacity on-chip memory and a large-range addressing capability, the interaction of external input and output data of the DSP module is realized through the FPGA module, the DSP module and the FPGA module carry out data interaction through a data bus and an address bus, and the DSP module is a control algorithm core of the control card. The AD modules are capable of converting 16 analog signals into 12-bit digital signals, respectively.
Fig. 3 is a flow chart of the power-up and power-down process of the servo system power supply controlled by the antenna driving control unit. After the antenna drive control unit control card receives a servo system power-on instruction sent by an upper computer, the azimuth relay 1 controls the azimuth contactor 1 to provide a 220V power supply AC220V2 for the azimuth driver 1; the azimuth contactor 2 is controlled by the azimuth relay 2 to provide 220V power supply AC220V2 for the azimuth driver 2; the pitching contactor 1 is controlled by the pitching relay 1 to provide a 220V power supply AC220V2 for the pitching driver 1; the pitch contactor 2 is controlled by the pitch relay 2 to provide 220V power AC220V2 to the pitch drive 2. The azimuth drive unit includes an azimuth driver 1 and an azimuth driver 2, and the pitch drive unit includes a pitch drive unit 1 and a pitch drive unit 2. The contactor has a self-locking function, after power-up is completed, the antenna driving control unit control card collects a self-locking signal of the azimuth contactor 1, a self-locking signal of the azimuth contactor 2, a self-locking signal of the pitching contactor 1 and a self-locking signal of the pitching contactor 2 to respectively generate azimuth and pitching power-up completion status indications, and the upper computer allows an operator to operate the antenna to operate after receiving the power-up completion status indication. The power-off working process is consistent with the power-on working process, the antenna driving control unit acquires a self-locking signal of the azimuth contactor 1, a self-locking signal of the azimuth contactor 2, a self-locking signal of the pitching contactor 1 and a self-locking signal of the pitching contactor 2 to respectively generate azimuth and pitching power-off completion state instructions after the power-off is completed, and the antenna control unit prohibits the operation of the operation hand to operate the antenna to operate after receiving the power-off completion state instructions. When the system works, the direction driver 1 drives the direction motor 1 to operate, the direction driver 2 drives the direction motor 2 to operate, the pitching driver 1 drives the pitching motor 1 to operate, and the pitching driver 2 drives the pitching motor 2 to operate. The azimuth driver 1 and the azimuth driver 2 are installed in an azimuth driving unit, the pitching driver 1 and the pitching driver 2 are installed in a pitching driving unit, and the azimuth motor 1, the azimuth motor 2, the pitching motor 1 and the pitching motor 2 are installed in an antenna pedestal. The power supply power-on and power-off process of the servo system controlled by the antenna driving control unit realizes the isolation between the control power supply AC220V1 and the power supply AC220V2, and improves the anti-jamming capability of the system.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (1)
1. An antenna driving control unit characterized by comprising: the device comprises a control card, an AC/DC power supply module, a first azimuth relay, a second azimuth relay, a first pitching relay, a second pitching relay, a first azimuth contactor, a second azimuth contactor, a first pitching contactor, a second pitching contactor, an azimuth air circuit breaker and a pitching air circuit breaker;
the control card generates an orientation driving unit control instruction, an orientation driving unit power-on instruction, a pitching driving unit control instruction and a pitching driving unit power-on instruction according to a received externally input antenna control signal and acquired state information of the antenna pedestal, respectively sends the orientation driving unit control instruction and the pitching driving unit control instruction into the orientation driving unit and the pitching driving unit, sends the orientation driving unit power-on instruction into a first orientation relay and a second orientation relay, and sends the pitching driving unit power-on instruction into the first pitching relay and the second pitching relay;
after the first azimuth relay receives a power-on instruction of the azimuth driving unit, the first azimuth relay controls the first azimuth contactor to provide externally input alternating current protected by the azimuth air circuit breaker to the azimuth driving unit, after the second azimuth relay receives the power-on instruction of the azimuth driving unit, the second azimuth contactor controls the second azimuth contactor to provide externally input alternating current protected by the azimuth air circuit breaker to the azimuth driving unit, and the azimuth driving unit drives the antenna to operate on an azimuth axis according to the two paths of input alternating current and the control instruction of the azimuth driving unit;
after the first pitching relay receives a power-on instruction of the pitching driving unit, the first pitching relay controls the first pitching contactor to provide the external input alternating current protected by the pitching air circuit breaker to the pitching driving unit, after the second pitching relay receives the power-on instruction of the pitching driving unit, the second pitching contactor controls the second pitching contactor to provide the external input alternating current protected by the pitching air circuit breaker to the pitching driving unit, and the pitching driving unit drives the antenna to operate on a pitching shaft according to the two paths of input alternating currents and the control instruction of the pitching driving unit;
the real-time state of the antenna pedestal, the working state of the azimuth driving unit and the working state of the pitching driving unit are all fed back to the control card, and the control card outputs the state information and the working information to the upper computer for display; the antenna pedestal state information comprises a rate gyro state signal, an azimuth/pitching real-time angle, antenna pedestal azimuth winding information and antenna pedestal switching value information;
the AC/DC power supply module supplies power to the control card, the first azimuth relay, the second azimuth relay, the first pitching relay, the second pitching relay, the first azimuth contactor, the second azimuth contactor, the first pitching contactor and the second pitching contactor;
the control card comprises an FPGA module, a DSP module, an AD conversion module, a digital isolator, a three-state D-type latch, an optical coupler isolator, a data driver, a relay module and an RS422 serial communication module;
control signals input from the outside are simultaneously sent to the optical coupler isolator and the RS422 serial communication module, and then sent to the FPGA module after optical coupler isolation, the RS422 serial communication module carries out differential signal level conversion on the control signals input into the RS422 serial communication module to generate 5VTT L level signals, the level conversion is carried out through the digital isolator to be sent to the FPGA module, and the FPGA module collects state information of the antenna pedestal through the RS422 serial communication module, the digital isolator, the AD conversion module, the three-state D-type latch and the optical coupler isolator;
the FPGA module sends the collected processed control signal and the state information of the antenna pedestal to the DSP module, the DSP module generates an azimuth driving unit control instruction, an azimuth driving unit power-on instruction, a pitching driving unit control instruction and a pitching driving unit power-on instruction, the FPGA module sends an azimuth driving unit control instruction and a pitching driving unit control instruction to the azimuth driving unit and the pitching driving unit respectively through the digital isolator and the RS422 serial communication module in sequence, the FPGA module sends an azimuth driving unit power-on instruction to the first azimuth relay and the second azimuth relay respectively through the data driver, the optical coupler isolator and the relay module in sequence, and the FPGA module sends the pitching driving unit power-on instruction to the first pitching relay and the second pitching relay respectively through the data driver, the optical coupler isolator and the relay module in sequence;
the azimuth winding information of the antenna pedestal is subjected to analog-to-digital conversion through an AD conversion module, and then is latched through a three-state D-type latch, and the latched digital signal is sent to an FPGA module; the rate gyro state signal and the azimuth/pitching real-time angle are acquired through an RS422 serial communication module and a digital isolator; the information of the switching value of the antenna pedestal is collected through an optical coupling isolator;
the azimuth driving unit is a mechanism for driving the antenna to realize 0-360-degree operation of an azimuth axis, and the pitching driving unit is a mechanism for driving the antenna to realize-5-185-degree operation of a pitching axis;
the state display card is used for displaying the communication states between the control card and the upper computer, between the control card and the azimuth drive unit and between the control card and the pitching drive unit, and simultaneously, the state display card also displays the power supply state of the control card;
the warning lamp relay and the warning lamp are also included;
the control card acquires the working states of the first azimuth contactor, the second azimuth contactor, the first pitching contactor and the second pitching contactor, and controls the warning lamp to display the states through the warning lamp relay;
the FPGA module acquires the working states of the first azimuth contactor, the second azimuth contactor, the first pitching contactor and the second pitching contactor through the optocoupler isolator, and generates a warning lamp control signal to be output through the data driver and the optocoupler isolator in sequence;
the FPGA module outputs the communication states between the control card and the upper computer, between the control card and the azimuth driving unit, between the control card and the pitch driving unit and the power supply states of +5V and +/-12V in the control card to the state display card through the data driver and the optical coupling isolator in sequence;
after the antenna drive control unit control card receives a servo system power-on instruction sent by an upper computer, the antenna drive control unit control card controls a first azimuth contactor to provide 220V power supply AC220V2 for a first azimuth driver through a first azimuth relay; the second azimuth contactor is controlled by the second azimuth relay to provide 220V power supply AC220V2 for the second azimuth driver; the first pitching contactor is controlled by the first pitching relay to provide a 220V power supply AC220V2 for the first pitching driver; the second pitching contactor is controlled by a second pitching relay to provide a 220V power supply AC220V2 for the second pitching driver; the azimuth driving unit comprises a first azimuth driver and a second azimuth driver, and the pitch driving unit comprises a first pitch driver and a second pitch driver; the contactor has a self-locking function, after power-up is completed, the antenna driving control unit control card collects a first azimuth contactor self-locking signal, a second azimuth contactor self-locking signal, a first pitching contactor self-locking signal and a second pitching contactor self-locking signal to respectively generate azimuth and pitching power-up completion state instructions, and the upper computer allows an operator to operate the antenna to operate after receiving the power-up completion state instructions;
the power-off working process is consistent with the power-on working process, the antenna driving control unit control card collects a first azimuth contactor self-locking signal, a second azimuth contactor self-locking signal, a first pitching contactor self-locking signal and a second pitching contactor self-locking signal after power-off is finished to respectively generate azimuth and pitching power-off finishing state instructions, and the upper computer prohibits the operation hand from operating the antenna after receiving the power-off finishing state instructions; when the system works, the first azimuth driver drives the azimuth motor 1 to operate, the second azimuth driver drives the azimuth motor 2 to operate, the first pitching driver drives the pitching motor 1 to operate, and the second pitching driver drives the pitching motor 2 to operate; the first orientation driver and the second orientation driver are installed in the orientation driving unit, the first pitching driver and the second pitching driver are installed in the pitching driving unit, and the orientation motor 1, the orientation motor 2, the pitching motor 1 and the pitching motor 2 are installed in the antenna pedestal.
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| CN201611091890.7A CN106610612B (en) | 2016-12-01 | 2016-12-01 | Antenna driving control unit |
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| CN201611091890.7A CN106610612B (en) | 2016-12-01 | 2016-12-01 | Antenna driving control unit |
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| CN109557945A (en) * | 2017-09-26 | 2019-04-02 | 南京淳泰控制设备有限公司 | A kind of antenna driver circuit ground checkout equipment |
| CN114488955B (en) * | 2021-12-27 | 2023-07-04 | 北京遥测技术研究所 | Multi-shaft driving control device |
| CN116191050B (en) * | 2023-04-27 | 2023-09-29 | 贵州师范大学 | Parabolic antenna control system and control method based on motion control card |
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