CN107994311B - Servo system for folding antenna - Google Patents
Servo system for folding antenna Download PDFInfo
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- CN107994311B CN107994311B CN201710979294.0A CN201710979294A CN107994311B CN 107994311 B CN107994311 B CN 107994311B CN 201710979294 A CN201710979294 A CN 201710979294A CN 107994311 B CN107994311 B CN 107994311B
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- way valve
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
Abstract
The invention discloses a servo system for a folding antenna, wherein the folding antenna is divided into a main station and a sub-station and comprises a control box: the antenna side block II is used for controlling and monitoring the action of the whole system, communicating with an upper computer and simultaneously controlling the folding and locking of the antenna side block II; the approach switch junction box: collecting the scattered switching value signals together and transmitting the signals to a control box; a control box: the CAN bus communication is adopted to be connected with a control box and is used for controlling the interaction between a system and a human-computer interface; a motor set: comprises a locking motor, a counterweight motor and a servo motor; a three-way valve module: the antenna comprises a three-way valve module A and a three-way valve module B, wherein the three-way valve module A controls the rotation, folding and locking of a first antenna side block through hydraulic pressure, and the three-way valve module B controls the lifting and pitching locking of a feed source; the state signal detection device: the state signal of the whole system is detected by using a sensor.
Description
Technical Field
Technical Field
The invention relates to a servo system of a folding antenna, in particular to a servo system for a folding antenna.
Background
A servo system (also called a servo system) is a feedback control system for accurately following or reproducing a process. The servo system is an automatic control system which can make the output controlled quantity of the position, the direction, the state and the like of an object follow the arbitrary change of an input target (or a given value). The main task of the device is to amplify, transform and regulate the power according to the requirement of the control command, so that the control of the torque, the speed and the position output by the driving device is very flexible and convenient. In many cases, a servo system is a feedback control system in which a controlled variable (an output quantity of the system) is a mechanical displacement or a displacement speed or an acceleration, the function of the feedback control system is to make an output mechanical displacement (or a rotation angle) accurately track an input displacement (or a rotation angle), and the structural composition of the feedback control system is not fundamentally different from that of other forms of feedback control systems.
At present, the existing large-caliber parabolic folding antenna generally adopts a fixed installation mode or a manual folding mode. However, the whole machine has the following problems in practical application:
(1) the antenna is long in erection time, and the erection time is hours or even days.
(2) The mobility is not high, the place can not be transferred or the place transfer cost is too large.
(3) All signals of the antenna are connected to the servo control box, and cables are complicated and redundant, so that the antenna is not favorable for maintenance.
(4) The servo system has a single control interface and poor man-machine interaction.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a servo system for a folding antenna, which realizes the functions of automatic lifting/lodging of an antenna device, automatic unfolding/collection of the antenna, unfolding and collection of a feed source. The control box receives a control command of the control box, detects a state signal, controls an electromagnetic directional valve of the execution system, and drives the execution element to complete actions of lifting, rotating, folding, locking and the like of the antenna; the advantages of electromechanics and liquid in the control field are fully utilized, a distributed control mode is adopted, the CAN bus is utilized to connect the whole servo system in series, the purpose of quickly erecting or withdrawing is achieved, the labor cost is saved, the radar has high maneuverability, the popularization and application value is high, and the prospect is good.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a servo for folding antenna, folding antenna divides main website and sub-station two parts, and the main website is the antenna middle block that is located on antenna car platform, and the sub-station is the limit piece one and the limit piece two of the antenna middle block left and right sides, and this system includes following equipment:
a control box: the antenna side block II is used for controlling and monitoring the action of the whole system, communicating with an upper computer and simultaneously controlling the folding and locking of the antenna side block II;
the approach switch junction box: collecting the scattered switching value signals together and transmitting the signals to a control box;
a control box: the CAN bus communication is adopted to be connected with a control box and is used for controlling the interaction between a system and a human-computer interface;
a motor set: comprises a locking motor, a counterweight stretching and retracting motor and a servo motor;
a three-way valve module: the antenna comprises a three-way valve module A and a three-way valve module B, wherein the three-way valve module A controls the rotation, folding and locking of a first antenna side block through hydraulic pressure, and the three-way valve module B controls the lifting and pitching locking of a feed source;
the state signal detection device: the state signal of the whole system is detected by using a sensor.
The antenna control system further comprises an oil station, a power source is provided for the hydraulic system, the moving direction of the hydraulic oil cylinder is changed by switching on and off the electromagnetic valve, the purpose of controlling the action of the antenna is achieved, a pressure sensor, a temperature sensor, a liquid level sensor and the like are integrated on the oil station, and the working state of the oil station is monitored in real time.
Further, the device also comprises an oil engine which provides a main power supply for the control box.
Furthermore, the three-way valve module is a CBB module, each three-way valve module can detect 10-25 approaches switch sensor signals and 1-5 analog quantity signals, and can control three hydraulic circuits at the same time.
Further, the locking motor realizes that linear motion is used for controlling the locking of the second side block through the lead screw, the counterweight stretching motor adopts the direct current motor to drive the lead screw to stretch out the counterweight, the two-folding motor of side block adopts the two-folding of p30002A type alternating current servo motor drive side block, and the driver of the two-folding motor is a microphone servo driver.
The proximity switch distribution box comprises a distribution box A1, a distribution box A2, a distribution box B1, a distribution box B2, a distribution box C and a distribution box D, wherein the distribution box A1 and the distribution box A2 are connected with the three-way valve module A, the distribution box B1 and the distribution box B2 are connected with the three-way valve module B, and the distribution box C and the distribution box D are connected with the control box.
Furthermore, the CAN bus refers to an automobile industry standard CANOpen protocol, has strong expansibility, and CAN be added with nodes at will by combining a distributed control mode.
Furthermore, the human-computer interface of the control box is provided with a key erection function, a key withdrawal function and a click operation function.
The invention has the beneficial effects that:
(1) 4.5m parabolic antenna can be quickly erected and folded, the shape surface precision is guaranteed after erection, and road and railway transportation is met after folding.
(2) Folding antenna servo is provided with a key and erects, a key is withdrawn and is received and move the operating function with moving, can operate on servo control box panel, also can operate on the control box to it is friendly, convenient with warning operation interface to set up.
(3) The total erection time is 10 minutes/2 people, and the withdrawal time is 10 minutes/2 people, so that the maneuverability of the antenna is improved, and the labor cost is saved.
(4) Distributed control mode: adopt the mode of main website and sub-station, the main website is located the antenna car platform, be responsible for signal acquisition and main operation logic on the antenna car platform, two sub-stations are located the antenna midblock left and right sides respectively, it handles on the sub-station to transfer partial control and signal acquisition function to, the operation speed of main website has been improved, main website and sub-station adopt CAN bus mode to connect, only need a 24V power cable and a communication cable, the cable number of antenna seat has been significantly reduced, more spaces have been provided for the radio frequency cable, also make structural design more simple and convenient.
(5) The design idea of electromechanical and hydraulic integration is as follows: the antenna is a multi-fold antenna which is folded, stacked and lifted for the second time, if motors are all used as executing elements, the total number of the motors and the 28 drivers are needed, the cost is doubled, the volume of a control box is doubled, a control circuit is complex, and the wiring on the back of the antenna is complex; and if hydraulic control is adopted completely, the folding precision of the second antenna edge block cannot be guaranteed. In view of the above factors, the system adopts an electromechanical and hydraulic integrated control mode, integrates the advantages of the two control modes, adopts hydraulic control at the main lifting and side block I which needs large thrust and limited position, adopts motor control at the side block II and the counterweight cylinder which need high precision, and finally uses 20 hydraulic cylinders, 4 stepping motors, 2 servo motors and 2 direct current motors as the executing elements of the antenna, thereby greatly reducing the cost.
Drawings
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a schematic diagram of a CAN bus structure of the present invention;
fig. 3 is a block diagram of an antenna of the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in the figures 1-3 of the drawings,
the utility model provides a servo for folding antenna, folding antenna divides main website and sub-station two parts, and the main website is the antenna middle block that is located on antenna car platform, and the sub-station is the limit piece one and the limit piece two of the antenna middle block left and right sides, and this system includes following equipment:
a control box: the antenna side block II is controlled to rotate, fold and lock;
the approach switch junction box: collecting the scattered switching value signals together and transmitting the signals to a control box;
a control box: the CAN bus communication is adopted to be connected with a control box and is used for controlling the interaction between a system and a human-computer interface;
a motor set: comprises a locking motor, a counterweight stretching and retracting motor and a servo motor;
a three-way valve module: the antenna comprises a three-way valve module A and a three-way valve module B, wherein the three-way valve module A controls the rotation, folding and locking of a first antenna side block through hydraulic pressure, and the three-way valve module B controls the lifting and pitching locking of a feed source;
the state signal detection device: the state signal of the whole system is detected by using a sensor.
The antenna control system further comprises an oil station, a power source is provided for the hydraulic system, the moving direction of the hydraulic oil cylinder is changed by switching on and off the electromagnetic valve, the purpose of controlling the action of the antenna is achieved, a pressure sensor, a temperature sensor, a liquid level sensor and the like are integrated on the oil station, and the working state of the oil station is monitored in real time.
Further, the device also comprises an oil engine which provides a main power supply for the control box.
Furthermore, the three-way valve module is a CBB module, each three-way valve module can detect 10-25 approaches switch sensor signals and 1-5 analog quantity signals, and can control three hydraulic circuits at the same time.
Further, the locking motor realizes that linear motion is used for controlling the locking of the second side block through the lead screw, the counterweight stretching motor adopts the direct current motor to drive the lead screw to stretch out the counterweight, the two-folding motor of side block adopts the two-folding of p30002A type alternating current servo motor drive side block, and the driver of the two-folding motor is a microphone servo driver.
The proximity switch distribution box comprises a distribution box A1, a distribution box A2, a distribution box B1, a distribution box B2, a distribution box C and a distribution box D, wherein the distribution box A1 and the distribution box A2 are connected with the three-way valve module A, the distribution box B1 and the distribution box B2 are connected with the three-way valve module B, and the distribution box C and the distribution box D are connected with the control box.
Furthermore, the CAN bus refers to an automobile industry standard CANOpen protocol, has strong expansibility, and CAN be added with nodes at will by combining a distributed control mode.
Furthermore, the human-computer interface of the control box is provided with a key erection function, a key withdrawal function and a click operation function.
Specifically, the method comprises the following steps:
(1) a control box: the system is an electric control core of the rack-and-drop control system, and comprises a main control board, a logic device and a motor driver, and is used for controlling the action of the whole system and measuring and monitoring state signals.
(2) The approach switch junction box: the scattered switching value signals are gathered and transmitted to the control box.
(3) An oil station: the power source of the hydraulic system changes the direction of the hydraulic oil through the connection and disconnection of the electromagnetic valve, and the purpose of controlling the action of the antenna is achieved. The oil station is integrated with a pressure sensor, a temperature sensor, a liquid level sensor and the like, and the working state of the oil station is monitored in real time.
(4) A control box: the control box adopts CAN bus communication and is provided with an emergency stop switch and a pause switch. The control cable is connected with the rack-and-retreat control box and is used for controlling the interaction of the system and a human-computer interface and displaying the receiving and transmitting of necessary information and operation instructions of the system.
(5) An oil engine: and providing a main power supply for the control box.
(6) An oil cylinder: an actuator of a hydraulic system.
(7) Locking the motor: the two-side-block locking motor adopts a 23C2120A4-150SMSN type stepping motor, and is characterized by small volume (0.5 Kg), simple control (pulse control generated by CPLD), and linear motion through a screw rod.
(8) A counterweight stretching motor: the counter weight is stretched and received the motor and is adopted EC 40 type direct current motor, because this antenna bore is 4.5m, if the counter weight is designed as fixed counter weight, the total mass of counter weight will be very big, and be unfavorable for the antenna to collect. Therefore, a mode that the direct current motor drives the screw rod to extend the balance weight is adopted.
(9) A servo motor: the edge block two-fold motor adopts a p30002A type alternating current servo motor, and the driver is a Macram servo driver.
(10) A three-way valve module: the three-way valve module is a CBB module, each three-way valve module can detect 10-25 approaches switch sensor signals and 1-5 analog quantity signals, and can control three hydraulic circuits at the same time. The system uses two three-way valve groups, one valve group controls the rotation, folding and locking of the side block I, and one valve group controls the lifting and pitching locking of the feed source.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a servo for folding antenna, folding antenna divides main website and sub-station two parts, and the main website is for being arranged in the antenna on the antenna car platform in the antenna, and the sub-station is the limit piece one and the limit piece two of the antenna middle part left and right sides, its characterized in that includes following equipment:
a control box: the antenna side block II is controlled to rotate, fold and lock;
the approach switch junction box: collecting the scattered switching value signals together and transmitting the signals to a control box;
a control box: the CAN bus communication is adopted to be connected with a control box and is used for controlling the interaction between a system and a human-computer interface;
a motor set: comprises a locking motor, a counterweight stretching motor and an edge block folding motor;
a three-way valve module: the antenna comprises a three-way valve module A and a three-way valve module B, wherein the three-way valve module A controls the rotation, folding and locking of a first antenna side block through hydraulic pressure, and the three-way valve module B controls the lifting and pitching locking of a feed source;
the locking motor realizes linear motion through a screw rod to control the locking of the second side block, the counterweight stretching and retracting motor drives the screw rod to stretch out a counterweight by adopting a direct current motor, the second side block folding motor drives the second side block to be folded by adopting a p30002A type alternating current servo motor, and a driver of the second side block folding motor is a MAILO servo driver;
the state signal detection device: the state signal of the whole system is detected by using a sensor.
2. A servo system for a folded antenna according to claim 1, wherein: the antenna control system is characterized by further comprising an oil station, a power source is provided for the hydraulic system, the moving direction of the hydraulic oil cylinder is changed by switching on and off of the electromagnetic valve, the purpose of controlling the action of the antenna is achieved, and the oil station is integrated with a pressure sensor, a temperature sensor and a liquid level sensor and monitors the working state of the oil station in real time.
3. A servo system for a folded antenna according to claim 1, wherein: the oil engine is further included to provide a main power supply for the control box.
4. A servo system for a folded antenna according to claim 1, wherein: the three-way valve module is a CBB module, each three-way valve module can detect 10-25 approaches switch sensor signals and 1-5 analog quantity signals, and can control three hydraulic circuits at the same time.
5. A servo system for a folded antenna according to any of claims 1-4, wherein: the proximity switch distribution box comprises a distribution box A1, a distribution box A2, a distribution box B1, a distribution box B2, a distribution box C and a distribution box D, wherein the distribution box A1 and the distribution box A2 are connected with a three-way valve module A, the distribution box B1 and the distribution box B2 are connected with a three-way valve module B, and the distribution box C and the distribution box D are connected with a control box.
6. A servo system for a folded antenna according to claim 5, wherein: the CAN bus refers to the automobile industry standard CANOpen protocol, has strong expansibility, and CAN be added with nodes at will by combining a distributed control mode.
7. A servo system for a folded antenna according to claim 1, wherein: the human-computer interface of the control box is provided with a key erection function, a key withdrawal function and a click operation function.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710979294.0A CN107994311B (en) | 2017-10-19 | 2017-10-19 | Servo system for folding antenna |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710979294.0A CN107994311B (en) | 2017-10-19 | 2017-10-19 | Servo system for folding antenna |
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| CN107994311A CN107994311A (en) | 2018-05-04 |
| CN107994311B true CN107994311B (en) | 2020-06-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108614589B (en) * | 2018-07-06 | 2023-12-08 | 安徽博微长安电子有限公司 | Large array antenna erection and withdrawal mechanism testing device |
| CN109683500B (en) * | 2019-02-18 | 2020-01-24 | 航天南湖电子信息技术股份有限公司 | Electrical control system of vehicle-mounted radar antenna hydraulic frame withdrawing mechanism |
| CN111509404B (en) * | 2020-04-07 | 2021-08-17 | 成都锦江电子系统工程有限公司 | Multifunctional phased array antenna for satellite broadcast data reception and wind profile measurement |
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| RU2265262C1 (en) * | 2004-04-08 | 2005-11-27 | Открытое акционерное общество "Конструкторское бюро специального машиностроения" | Mobile antenna arrangement |
| CN205863404U (en) * | 2016-06-30 | 2017-01-04 | 南京大桥机器有限公司 | A kind of motor driven wind profile radar antenna assembly |
| CN206225521U (en) * | 2016-12-07 | 2017-06-06 | 中国船舶重工集团公司第七二四研究所 | A kind of vehicle-mounted heavy caliber folded antenna high-precision full-automatic exhibition receipts system |
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