CN108155480A - A kind of multibeam antenna adjustment platform and its control system and method - Google Patents
A kind of multibeam antenna adjustment platform and its control system and method Download PDFInfo
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- CN108155480A CN108155480A CN201711425574.3A CN201711425574A CN108155480A CN 108155480 A CN108155480 A CN 108155480A CN 201711425574 A CN201711425574 A CN 201711425574A CN 108155480 A CN108155480 A CN 108155480A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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Abstract
The invention belongs to photoelectrome chanical integrations and technical field of automatic control, disclose a kind of multibeam antenna adjustment platform and its control system and method, host computer sends instructions to motion controller, control mechanism upper mounting plate pose is directed toward with correcting the antenna reflective face being connected on it, magnetostrictive displacement sensor real-time detector data is uploaded to host computer, host computer calculates actual platform pose with the positive resolving Algorithm of mechanism, it is compared with preferable pose, it exchanges whole platform's position and pose to be modified, forms closed loop feedback system；In motion controller, using embedded system structure, using the discrete S types acceleration and deceleration curves based on time location pattern, combining mechanism inverse arithmetic calculates control information, and control adjustment platform is moved according to desired trajectory.The multibeam antenna adjustment platform of the present invention is convenient for antenna system installation, stability is good, control accuracy is high, is precisely controlled upper mounting plate pose, and the accurate multibeam antenna reflecting surface that adjusts is directed toward, and improves multibeam antenna performance.
Description
Technical field
The invention belongs to photoelectrome chanical integration and technical field of automatic control more particularly to a kind of multibeam antenna to adjust
Platform and its control system and method.
Background technology
With the progress of science and technology, requirement of the mankind for satellite communication system is higher and higher, traditional satellite antenna
Needs of the scientists to space probation can not have been met, for reflector type multibeam antenna is compared with traditional antenna, high can have been increased
Larger ground region is beneficially covered, the capacity and efficiency of satellite communication are greatly improved, therefore by the extensive use of various countries, existing
It occupies an important position in generation wireless communication and radar system.The feed and feed sliding rail of multibeam antenna are mounted on antenna-reflected
On face, in order to expand antenna area coverage, it is anti-that platform control system adjustment multibeam antenna can be adjusted by multibeam antenna
The direction in face is penetrated, control feed slides to cover different regions on feed sliding rail, improves the capacity and efficiency of satellite communication.
Multibeam antenna volume is big, weight weight, in addition without large-scale hanging device when motor-driven installation and carrier-borne multibeam antenna are installed, to applying
Worker person bring it is difficult to install, this control system can control adjustment platform mechanism upper mounting plate move to it is perpendicular to the ground, peace
Multibeam antenna reflecting surface is directly mounted on upper mounting plate by dress personnel on the ground, reduces difficulty of construction.Traditional multi-beam
Tested rotating platform platform control system mostly using unmodified parallel regulating platform mechanism supports multibeam antenna, put down by this parallel connection adjustment
It is usually connected between the electric cylinder and platform of platform mechanism with flexural pivot, the degree of freedom of flexural pivot is 3, can be around X, Y, Z in space
Direction is rotated, and scope of activities is big, but load-bearing is lighter, and stability is poor, difficult to install, and this time in parallel regulating platform mechanism
Upper mounting plate need to be connected multibeam antenna reflecting surface to support entire multibeam antenna mechanism, it is necessary to make improvements；
And traditional multibeam antenna adjusts platform control system and control method does not form complete closed loop feedback system, special movement
FPGA inside controller is transmitted directly to servo-driver after the umber of pulse received is divided, control motor operating is this
Method control accuracy is low, and umber of pulse has and can not carry out making up amendment during error, is adjusted to primary to multibeam antenna reflecting surface
Control, it is impossible to which movement is compensated to its issuable error, it is impossible to precisely adjust reflecting surface, there is multibeam antenna adjustment
The shortcomings that platform control system control accuracy is low, and stability is poor.
In conclusion problem of the existing technology is：Existing multibeam antenna adjustment platform and its control system with
Control method there is multibeam antenna adjustment platform stabilization it is poor, control system control accuracy is low, it is not easy to install the shortcomings of.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of multibeam antenna adjustment platform and its control systems
With method.
The invention is realized in this way a kind of multibeam antenna adjustment platform, the multi-beam parallel regulating platform mechanism
It is made of six electric cylinders of two platforms of upper and lower two platforms and connection；The back frame structure of multibeam antenna reflecting surface is fixedly mounted
In the upper mounting plate of parallel regulating platform mechanism；The feed sliding rail and feed of multibeam antenna are fixedly mounted on multibeam antenna reflection
On face.
Another object of the present invention is to provide a kind of control system of the multibeam antenna adjustment platform, more waves
The control system of beam antenna adjustment platform includes：
Host computer, the issuing side of instruction pass through RS-422 bus communications with motion control board card；With the positive resolving Algorithm of mechanism
Upper mounting plate pose is calculated, feedback regulation is carried out to control system with reference to control algolithm；
Motion controller, including motion control board and its embedded program, the control instruction of parsing host computer transmission, fortune
Direction is converted to control algolithm and pulse signal is sent to servo-driver, driving servo motor operating；
Servo-driver is connected with motion control board, and servo-driver receives the control information of motion control board,
Servo motor rotation is driven, the upper mounting plate of parallel regulating platform mechanism is made to move to object pose；
Measuring mechanism measures the electric cylinder axial length of parallel regulating platform mechanism using magnetostrictive displacement sensor, by number
Feedback regulation is carried out according to being uploaded in host computer, upper mounting plate pose is demarcated using API laser testings instrument, to examine control
The control accuracy of system.
Further, the process of the control system control multibeam antenna adjustment platform is as follows：
Step 1：Host computer sends control instruction according to serial communication protocol form, and fortune is sent to by bus RS-422
Movement controller；
Step 2：Motion controller receives information, will control and believes with ARM modules, FPGA module and communication interface modules
Breath resolves to the umber of pulse information of corresponding motor, and servo-driver is sent to by control signal wire；
Step 3：Servo-driver drives corresponding servo motor to rotate according to the umber of pulse of reception by encoder line；
Step 4：Servo motor is mechanically mounted on six electric cylinders of adjustment platform mechanism, and the rotation of motor drives electricity
The axis of dynamic cylinder stretches, and track moves the upper mounting plate of control multibeam antenna adjustment platform according to expectation.
Further, the motion controller use embedded system structure, with parallel institution inverse arithmetic and based on when
The discrete S types acceleration and deceleration curves motion algorithm of m- mode position controls upper mounting plate pose with reference to control algolithm.
Further, the motion controller includes：ARM modules, FPGA module, communication interface modules, interrupting information processing
Module, limit switch module, direction and pulse output module；
Communication interface modules, interrupting information processing module, limit switch module, direction and pulse output module are and ARM
Module and FPGA module electrical connection；
Communication interface modules, the communication being used to implement between motion controller and host computer, servo-driver, ARM modules,
Communication between FPGA module；
Limit switch module is connected with the limit switch installed on parallel regulating platform mechanism electric cylinder, and constraint is electronic
The motion range of cylinder；
Interrupting information processing module, for motion controller communicate with servo-driver and motion controller in ARM moulds
Processing when block, FPGA module communication to system；
Control information for the control of quantified controlling system, is converted to corresponding motor by direction and pulse output module
Umber of pulse.
Further, the data processing between the ARM modules and FPGA module use based on when m- mode position it is discrete
S type acceleration and deceleration curves motion algorithms；ARM modules are discrete for N section by moving displacement, and every time is 9ms, calculates each time
The displacement is sent to the FPGA module in motion control board, FPGA module by the displacement in interval corresponding to discrete point
After receiving information, discrete displacement amount, and utilization orientation and pulse output module conversion are recalculated for 10ms according to interval time
Umber of pulse for corresponding motor is sent to servo-driver, control motor rotation；When FPGA module output control pulse to 9ms
When, closed-loop control adjustment amount and remaining moving displacement that ARM modules are sent according to host computer calculate next time again
The corresponding displacement of discrete point in interval is sent to FPGA device, and after FPGA device receives information, it is added with control algolithm
The preceding control pulsed quantity not exported recalculates discrete displacement amount according to the time interval of 10ms, exports corresponding control again
Umber of pulse control motor operating, one-stage control umber of pulse under cycle calculations, enables motor steadily to operate without interruption according to this；This
Method can make up the umber of pulse lost caused by error in rear primary calculating output umber of pulse and be modified, and improve control system
The control accuracy of system.
Further, the interrupting information processing module is used to take respective handling to the various situations of control system；Control
Five kinds of interrupt types are devised in system, are that interruption is completed in pulse, Ready dropouts interrupt, in system exception alarm respectively
Disconnected, left limit interrupts, right limit interrupts；After any one interruption of system trigger, interrupting information is uploaded to by servo-driver
FPGA module in motion control board, FPGA module storage interrupting information, and the value of interrupt register is changed, ARM modules are read
FPGA module interrupt register value is taken to judge interrupt type, respective interrupt processing function is transferred to it and is handled.
Another object of the present invention is to provide a kind of control method of the multibeam antenna adjustment platform control system,
The control method of the multibeam antenna adjustment platform includes：
(1) host computer sends out control instruction, and motion control board, motion control board clamping are passed to by bus RS-422
Control instruction is received, parses control instruction using ARM module programmings, the control information after parsing is sent in motion control board
FPGA module；
(2) information processing between ARM modules and FPGA module according to based on when m- position discrete S types acceleration and deceleration it is bent
The umber of pulse information that information is controlled to resolve to corresponding motor is sent to servo-driver by line design method, is drivingly connected electronic
Motor forward or reverse on cylinder, the upper mounting plate movement of control parallel regulating platform mechanism, using electronic mounted on parallel institution
The real-time detection axis long message of magnetostrictive displacement sensor on cylinder feeds back to host computer；
(3) after host computer receives information, parallel regulating platform machine is calculated with the positive resolving Algorithm of C Plus Plus combination parallel institution
The upper mounting plate pose of structure compares with preferable pose, calculates error, sends control instruction again, and control motor operating makes parallel connection
It adjusts the error between the upper mounting plate pose of platform mechanism and preferable pose and meets design accuracy requirement, form a closed loop feedback
System；
(4) interrupting information that servo-driver is sent is received in motion control board clamping, generates interruption in time；It is transported in six motors
During dynamic, if certain arbitrary axis moves to limiting, either triggering alarm occurs for Ready dropouts or unusual condition,
Or certain motor covers all pulses, then sends out signal to motion controller, triggering is interrupted, and makes control system out of service,
Motor shuts down.
Further, the parallel institution inverse arithmetic used inside the motion control board, using RPY combined transformations and
Space geometry knowledge solves the distance between hinge joint relationship, solves the axial length of six electric cylinders；With under upper mounting plate and pedestal
Local coordinate system p-xyz and global coordinate system O-XYZ are established in the center of platform for origin；Pi, Bi(i=0,1,2,3,4,5) respectively
Represent the Hooke's hinge center position coordinates on corresponding platform；It is corresponding with RPY combined transformations come when representing the pose of movable platform
Transition matrix is：
Local coordinate system p-xyz is relative to rotational transformation matrix of the global coordinate system O-XYZ in space：
R=Rot (X, φx)·Rot(Y,φy)·Rot(Z,φz)；
Using any one branch as research object, vector correlation is established under world coordinates：
I-th supporting leg vector of note is Li, then had according to the space geometry knowledge analysis of mechanism：
So i-th leg length is：
Complete the inverse solution of mechanism, it is known that the position coordinates of each Hooke's hinge acquire six electric cylinders by targeted attitude
Axial length.
Further, the positive resolving Algorithm of the host computer using parallel institution end pose and drives the pass between joint velocity
System solves Jacobian matrixes, with reference to the newton Numerical Iteration Method based on steepest descent method, solves the upper flat of parallel institution
Platform pose；The Jacobian matrixes of adjustment mechanism are：
After solving Jacobian matrix, upper mounting plate pose is demarcated using API laser testings instrument, obtains initial pose
φ0, using the axial length vector L of the magnetostrictive displacement sensor measurement parallel institution on electric cylinderd, positive resolving Algorithm asks
The pose of the parallel institution solved is φd, using the newton Numerical Iteration Method based on steepest descent method, solve the upper of parallel institution
Platform's position and pose.
Further, the normal solution iterative algorithm includes：
1) the initial pose φ of platform is adjusted0, axis leg length vector Ld；The convergence precision ε ＞ 0 of given algorithm, take iteration
Number k=0；
2) by the inverse arithmetic of parallel institution, the initial pose φ of upper mounting plate is calculated0Axial length under corresponding：Lk=InvKin
(φ0), it is made the difference with practical axial length, obtains Δ Lk=Ld-Lk；
3) convergence precision S is calculated according to Jacobian matrixk=-J-1·(φk)·ΔLkIf | | Sk| | this is then obtained in≤ε
When mechanism upper mounting plate pose, φd=φk；Otherwise, continue；
4) φ is performedk+1=φk+Sk, k=k+1 is enabled, by φk+1As the initial pose of+1 iteration of kth, second step is gone to
Continue interative computation, until calculating the upper mounting plate pose value for meeting convergence precision；
5) φ obtaineddAs parallel regulating platform mechanism is L in the axial length of each electric cylinderdUnder, the corresponding position of upper mounting plate
Appearance.
Another object of the present invention is to provide a kind of closing for control method using multibeam antenna adjustment platform
Ring control system.
The multibeam antenna adjustment platform of the present invention connects electric cylinder and platform, the degree of freedom of Hooke's hinge using Hooke's hinge
It is 2, can be rotated around the both direction in space, it can not be around electric cylinder itself rotation, to increase around electric cylinder certainly
The degree of freedom turned, ball-screw installation axle can be utilized in electric cylinder, collar is cased on axis, passes through ball between collar and axis
Rolling bearing connects, then can realize that axis along own axes rotation, will not make this parallel connection adjustment with the rotation at tatc Hooke reamers
Platform mechanism can both bear the weight of connected multibeam antenna on it, without limitation on the fortune of parallel regulating platform mechanism
It is dynamic, improve the stability of adjustment platform.The present invention use parallel institution forward and reverse solution control algolithm, with reference to based on when m- position
The movement acceleration and deceleration curves design of discrete S types and control algolithm of pattern, adjustment platform mechanism post exercise data are carried out anti-
Feedback, to issuable error carry out second compensation movement, formed closed loop feedback, be precisely controlled parallel regulating platform it is anticipated that
Track and angular movement are directed toward the multibeam antenna reflecting surface being connected on it and are changed as needed, reach indirectly precisely control
Multibeam antenna purpose processed.
Often there are following problems with method for existing multibeam antenna adjustment platform and its control system：
1st, existing multibeam antenna adjustment platform, is mostly connected, stability is poor, and what can be carried is light-weight using flexural pivot；
2nd, existing multibeam antenna adjusts platform because structure is unusual, and dexterous workspace is small, is unable to control adjustment platform fortune
It moves to perpendicular to the ground, when installation needs large-scale crane and associated mechanical, is not easy under remote districts, boat and adverse circumstances
Installation；
3rd, the control system of existing multibeam antenna adjustment platform mostly disposably directly transmits arteries and veins using motion controller
It rushes number to operate to servo driver drives motor, control accuracy is low；
The multibeam antenna adjustment platform of the present invention improves traditional adjustment mechanism, its adjustment platform is enable to carry specified
Load reaches 500KG；Support stiffness is big, and mechanism is in the deflection≤0.3mm in X, Y, Z axis direction under nominal load；Working space
Greatly, the maximum pitch angle that adjustment platform can be realized is 75 °, and maximum roll angle is 25 °, can realize that adjustment platform is positioned over level
With it is vertical between any position；
The multibeam antenna adjustment platform and its control system control accuracy of the present invention is high, and under rated load, adjustment is flat
Platform point-to-point speed is up to 200mm/s, and rotary motion speed is up to 2 °/s, and translatory acceleration is up to 400mm/
s2, rotary motion acceleration is up to 1 °/s2；Positioning accuracy is high, and under rated load, motion platform moves along a straight line along X, Y, Z
Error≤0.3mm of axis direction, rotary motion azimuth and pitching angle error≤0.2deg.
In conclusion the present invention is easily installed, control accuracy is high, stability is good, control mode is flexible, has preferable control
Effect processed can be precisely controlled the pose of adjustment platform, correct multibeam antenna reflecting surface and be directed toward, adjust multibeam antenna feed
It is moved on feed sliding rail, realizes the Satellite movement of tracking space, cover to high-gain larger ground region, it is current to solve the mankind
The problem of off-capacity and inefficiency of satellite communication.
Description of the drawings
Fig. 1 is the control system architecture schematic diagram of multibeam antenna adjustment platform provided in an embodiment of the present invention；
Fig. 2 is the Control system architecture schematic diagram of multibeam antenna adjustment platform provided in an embodiment of the present invention；
Fig. 3 is motion control board structure schematic diagram provided in an embodiment of the present invention；
Fig. 4 is closed loop feedback schematic diagram provided in an embodiment of the present invention；
In figure：1st, parallel regulating platform mechanism；2nd, servo motor；3rd, servo-driver；4th, motion control board；5th, it is upper
Machine；6th, magnetostrictive displacement sensor.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, the control system of multibeam antenna adjustment platform provided in an embodiment of the present invention includes：Parallel connection adjustment
Platform mechanism 1, servo motor 2, servo-driver 3, motion control board 4, host computer 5 and magnetostrictive displacement sensor 6.
Parallel regulating platform mechanism 1 is made of, multi-beam day six electric cylinders of two platforms of upper and lower two platforms and connection
The back frame structure in line reflection face is fixedly mounted on the upper mounting plate of parallel regulating platform mechanism, the feed sliding rail of multibeam antenna and
Feed is fixedly mounted on multibeam antenna reflecting surface, can be by adjusting upper mounting plate pose to change the more waves on it of being connected
Beam antenna reflecting surface is directed toward, control adjustment multibeam antenna.
Servo-driver 3 is connected with motion control board 4, when servo-driver 3 receives the control of motion control board 4
After information, driving servo motor 2 rotates, and the upper mounting plate of parallel regulating platform mechanism 1 is made to move to object pose.
Host computer 5 is the issuing side of control system instruction, with motion control board 4 by RS-422 bus communications, is used
The positive resolving Algorithm of mechanism calculates upper mounting plate pose, and feedback regulation is carried out to control system with reference to control algolithm.
Motion controller use embedded system structure, with parallel institution inverse arithmetic and based on when m- mode position
Discrete S types acceleration and deceleration curves motion algorithm, be precisely controlled upper mounting plate pose with reference to control algolithm；
Measuring mechanism measures the electric cylinder axial length of parallel regulating platform mechanism using magnetostrictive displacement sensor 6, by number
Feedback regulation is carried out according to being uploaded in host computer, and upper mounting plate pose is demarcated using API laser testings instrument, to examine
The control accuracy of control system.
The application principle of the present invention is further described below in conjunction with the accompanying drawings.
The control system of multibeam antenna adjustment platform provided in an embodiment of the present invention is made of multiple hardware and subsystem,
As shown in Figure 1, including parallel regulating platform mechanism 1, servo motor 2, servo-driver 3, host computer 5, motion control board 4,
Measuring mechanism.Parallel regulating platform mechanism 1 is made of, multi-beam six electric cylinders of two platforms of upper and lower two platforms and connection
The back frame structure of antenna reflective face is fixedly mounted on the upper mounting plate of parallel regulating platform mechanism 1, and the feed of multibeam antenna is slided
Rail and feed are fixedly mounted on multibeam antenna reflecting surface, can be connected on it by adjusting upper mounting plate pose with changing
Multibeam antenna reflecting surface is directed toward, control adjustment multibeam antenna；Servo-driver 3 is connected with motion control board 4, works as servo
After driver 3 receives the control information of motion control board 4, driving servo motor 2 rotates, and makes adjustment parallel regulating platform machine
The upper mounting plate of structure 1 moves to object pose；Host computer 5 is the issuing side of control system instruction, passes through RS- with motion controller
422 bus communications calculate upper mounting plate pose with the positive resolving Algorithm of mechanism, feedback tune are carried out to control system with reference to control algolithm
Section；Motion controller use embedded system structure, with parallel institution inverse arithmetic and based on when m- mode position it is discrete
S type acceleration and deceleration curves motion algorithms, upper mounting plate pose is precisely controlled with reference to control algolithm；Measuring mechanism, using magnetostriction position
Displacement sensor 6 measures the electric cylinder axial length of parallel regulating platform mechanism, and data are uploaded in host computer and carry out feedback regulation, and
And upper mounting plate pose is demarcated using API laser testings instrument, to examine the control accuracy of control system.
Control pair of the parallel regulating platform mechanism 1 as multibeam antenna reflecting surface adjustment platform and this control system
As being directed toward by controlling the upper mounting plate pose of parallel regulating platform mechanism 1 with achieving the purpose that adjust multibeam antenna reflecting surface；
Six motors are mounted on six electric cylinder ends of parallel regulating platform mechanism 1, and six 3 one side of servo-driver pass through coding
Device signal wire is connected on six motors, is on the one hand connected by control signal wire with motion control board 4, motion control board
Card 4 sends control information to servo-driver 3, and servo-driver 3 drives six servo motors 2 to move, makes parallel regulating platform
Six axis of mechanism 1 do stretching motion, so as to which the adjustment platform of adjustment mechanism in parallel be controlled to move.
Motion control board 4 receives the control instruction of host computer 5, and ARM modules thereon solve the data frame of reception
Control instruction is sent to FPGA by analysis, and FPGA sends umber of pulse and direction of motion control motor operating；In motion control board 4
ARM modules moving displacement is discrete for N section, every time is 9ms, is calculated in each time interval corresponding to discrete point
The displacement is sent to the FPGA module in motion control board 4, after FPGA module receives information, according to interval by displacement
Time recalculates discrete displacement amount for 10ms, and the umber of pulse for being converted to corresponding motor is sent to servo-driver 3, control electricity
Machine rotates；When FPGA module output control pulse is to 9ms, closed-loop control adjustment amount that ARM modules are sent according to host computer 5
With remaining moving displacement, the corresponding displacement of discrete point in next time interval is calculated again, is sent to FPGA module,
After FPGA module receives information, with control algolithm plus the control pulsed quantity not exported before, according to the time interval of 10ms
Discrete displacement amount is recalculated again, exports corresponding control umber of pulse control motor operating, according to this lower section of control of cycle calculations
Umber of pulse processed enables motor steadily to operate without interruption；The method can make up mistake in rear primary calculating output umber of pulse
The umber of pulse of loss caused by poor is simultaneously modified, and improves the control accuracy of control system.
Control system uses embedded system structure, real using embedded type C language and verilog HDL hardware description languages
Existing special motion control card controls six servo motors 2 to cooperate.
The parallel institution inverse arithmetic used inside motion control board 4 mainly represents 12 using RPY combined transformations
After a Hooke's hinge coordinate position, the distance between hinge joint relationship is solved, and then solve six electricity using space geometry knowledge
The axial length of dynamic cylinder.
Respectively local coordinate system p-xyz and global coordinate system O- are established by origin of the center of upper mounting plate and pedestal lower platform
XYZ。Pi, Bi(i=0,1,2,3,4,5) the Hooke's hinge center position coordinates on corresponding platform are represented respectively.With RPY combined transformations
Come when representing the pose of movable platform, corresponding transition matrix is：
Therefore, local coordinate system p-xyz is relative to rotational transformation matrix of the global coordinate system O-XYZ in space：
R=Rot (X, φx)·Rot(Y,φy)·Rot(Z,φz)
Using any one branch as research object, vector correlation is established under world coordinates：
I-th supporting leg vector of note is Li, then had according to the analysis of the geometry of the mechanism：
So i-th leg length is：
Then complete the inverse solution of mechanism, it is known that the position coordinates of each Hooke's hinge, it is possible to acquire six by targeted attitude
The axial length of a electric cylinder.
Parallel regulating platform mechanism 1 mainly flattens platform by up-regulation, fixed platform and is hinged the six of two platforms with Hooke
A electric cylinder composition, structure feature determine that its mechanism normal solution is not unique and relatively inverse solves problem to solve, therefore in this control system
Positive resolving Algorithm in the machine of position mainly using parallel institution end pose and drives the relationship between joint velocity to solve
Jacobian matrixes with reference to the newton Numerical Iteration Method based on steepest descent method, solve the upper mounting plate pose of parallel institution.
Jacobian matrixes are also Jacobian matrix, are reflection mechanism motor input angular velocity and executor tail end output angle
The matrix of relationship between speed is the derivative of polynary form.The solution procedure of its Jacobian matrix is as follows：
By formula (5) both ends obtained in the inverse arithmetic of adjustment mechanism in parallel respectively to time derivation, enableHave：
Wherein, being gained knowledge by robot motion can obtain：
In formula,It is local coordinate system p-xyz around the velocity of rotation of three reference axis X, Y and Z.It is comprehensive
(7) (8) Shi Ke get：
In formula, ui=Li/||Li| | for the unit vector of i-th supporting leg, above formula both ends are same to be multiplied by vectorArrangement can obtain：
Therefore, the Jacobian matrixes of adjustment mechanism are：
After solving Jacobian matrix, upper mounting plate pose is demarcated using API laser testings instrument, obtains initial pose
φ0, using the axial length vector L of the measurement parallel institution of magnetostrictive displacement sensor 6 on electric cylinderdIf positive resolving Algorithm
The pose of the parallel institution solved is φd, using the newton Numerical Iteration Method based on steepest descent method, solve parallel institution
Upper mounting plate pose.
Its normal solution iterative algorithm process is as follows：
1) the initial pose φ of known adjustment platform0, axis leg length vector Ld；The convergence precision ε ＞ 0 of given algorithm, take
Iterations k=0；
2) by the inverse arithmetic of parallel institution, the initial pose φ of upper mounting plate is calculated0Axial length under corresponding：Lk=InvKin
(φ0), it is made the difference with practical axial length, obtains Δ Lk=Ld-Lk；
3) convergence precision S is calculated according to Jacobian matrixk=-J-1·(φk)·ΔLkIf | | Sk| | this is then obtained in≤ε
When mechanism upper mounting plate pose, φd=φk；Otherwise, continue the 4th step；
4) φ is performedk+1=φk+Sk, k=k+1 is enabled, by φk+1As the initial pose of+1 iteration of kth, second step is gone to
Continue interative computation, until calculating the upper mounting plate pose value for meeting convergence precision.
The φ finally obtaineddAs parallel regulating platform mechanism is L in the axial length of each electric cylinderdUnder, the corresponding position of upper mounting plate
Appearance.
The control system of multibeam antenna adjustment platform provided in an embodiment of the present invention is realizes that multibeam antenna adjustment is flat
The accurate control of platform, using based on embedded system structure Programming motion control board come six servo motors of Collaborative Control
Rotation.As shown in Figure 2, on the one hand, host computer 5 sends out control instruction, and motion control board 4 is passed to by bus RS-422,
Motion control board 4 receives control instruction, parses control instruction using ARM module programmings therein, communicates and press with FPGA module
According to based on when m- position discrete S types acceleration and deceleration curves design method will control signal be converted to corresponding motor umber of pulse believe
Number servo-driver 3 is sent to, the motor forward or reverse on electric cylinder is drivingly connected, so as to control parallel regulating platform machine
The upper mounting plate movement of structure 1, utilizes the 6 real-time detection axis long letter of magnetostrictive displacement sensor on parallel institution electric cylinder
Breath feeds back to host computer, and after host computer 5 receives information, adjustment in parallel is calculated with the positive resolving Algorithm of C Plus Plus combination parallel institution
The upper mounting plate pose of platform mechanism 1 compares with preferable pose, calculates error, sends control instruction, control motor fortune again
Turn, the error between the upper mounting plate pose of parallel regulating platform mechanism 1 and preferable pose is made to meet design accuracy requirement, forms one
A closed loop feedback system achievees the purpose that accurately to control.On the other hand, motion control board 4 receives what servo-driver 3 was sent
Interrupting information generates interruption, to ensure the normal operation of entire control system in time.During six motor movements, if appointing
Certain axis of meaning moves to limiting, and either either triggering alarm occurs Ready dropouts for unusual condition or certain motor is walked
Complete all pulses then send out signal to motion controller, and triggering is interrupted, and makes control system out of service, motor shuts down.
As shown in figure 3, the motion controller of the present invention is mainly by ARM modules, FPGA module, communication interface modules, interruption
The compositions such as message processing module, limit switch module, direction and pulse output module.Communication interface modules, interrupting information processing
There is electrical connections with ARM modules and FPGA module for module, limit switch module, direction and pulse output module.It is logical
Believe interface module, the communication being used to implement between motion controller and host computer 5, servo-driver 3, ARM in motion controller
Communication between module and FPGA module；Limit switch module, the limiting with being installed on parallel regulating platform mechanism 1 electric cylinder are opened
Pass is connected, and constrains the motion range of electric cylinder, shields to control system, when the axis in electric cylinder moves to limit position
When putting, limit switch module is triggered, stops system motion；Interrupting information processing module is driven for motion controller and servo
Dynamic device 3 communicate and motion controller in processing of ARM modules when communicating with FPGA module to system, when system trigger interruption,
Servo-driver 3 uploads interrupting information to FPGA module, and ARM modules read FPGA module interrupting information, at respective interrupt
Function is managed, and then respective handling is made to control system；Direction and pulse output module, for the control of quantified controlling system,
The umber of pulse that information will be controlled to be converted to corresponding motor, realization are precisely controlled.
As shown in figure 4, the control system of the present invention, using closed loop feedback control, host computer 5 sends movement instruction to movement
Controller, 1 upper mounting plate of control parallel regulating platform mechanism move to specified pose, the magnetostrictive displacement on electric cylinder
Sensor 6 measures electric cylinder axial length information in real time, and measurement result is uploaded to host computer 5, parallel machine of the host computer 5 inside
The positive resolving Algorithm of structure calculates upper mounting plate attained pose, is compared with preferable pose, obtains kinematic error, with control algolithm again
Movement instruction is sent to motion controller, control upper mounting plate pose movement, until the error between attained pose and preferable pose
Meet design requirement, realize closed-loop control, achieve the purpose that accurately to control.
The hardware platform of the special motion controller of the present invention for ARM, selects ARM7 series LPC-2214, based on one
The microcontroller of 16 bit CPUs of a real-time simulation and tracking, and with the high speed flash storage of 256K bytes insertion.128
Memory interface and unique accelerating structure 32 codes are run under maximum clock rate, software development used
Environment is Keil uVision 4, for an Integrated Development Environment of Keil companies exploitation, is compiled including engineering management, source code
It collects, compiling setting, download the functions such as debugging and analog simulation；For FPGA, ALTER company Cyclone II series is selected
EP2C5T144C8 chips, software development environment used are Quartus II, are a comprehensive System On
Programmable Chip development environments, are internally embedded VHDL, Verilog logic synthesizer, support VHDL, Verilog completely
Design cycle.Hardware above condition helps quickly to realize relevant control algorithm, the overall operation speed for improving system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (9)
- A kind of 1. control system of multibeam antenna adjustment platform, which is characterized in that the control of the multibeam antenna adjustment platform System processed includes parallel regulating platform mechanism, host computer, special motion controller, measuring mechanism and on motion control board Peripheral circuit around programmable system；The multibeam antenna adjustment platform is made of six electric cylinders of two platforms of upper and lower two platforms and connection, multi-beam day The back frame structure in line reflection face is fixedly mounted on the upper mounting plate of adjustment platform mechanism, and the feed sliding rail and feed of multibeam antenna are consolidated Dingan County is on multibeam antenna reflecting surface；Host computer, the issuing side of instruction with motion control board card by RS-422 bus communications, are calculated with the positive resolving Algorithm of mechanism Upper mounting plate pose carries out feedback regulation with reference to control algolithm to control system；Motion controller, including motion control board and its embedded program, the control instruction that parsing host computer is sent is converted to Direction and pulse signal are sent to servo-driver, driving servo motor operating with control algolithm；Servo-driver is connected with motion control board, and servo-driver receives the control information of motion control board, driving Servo motor rotates, and the upper mounting plate of adjustment platform mechanism is made to move to object pose；Measuring mechanism measures the electric cylinder axial length of parallel regulating platform mechanism using magnetostrictive displacement sensor, will be in data It reaches and feedback regulation is carried out in host computer, upper mounting plate pose is demarcated using API laser testings instrument, to examine control system Control accuracy.
- 2. the control system of multibeam antenna adjustment platform as described in claim 1, which is characterized in that the motion controller Using embedded system structure, with parallel institution inverse arithmetic and based on when m- mode position discrete S types acceleration and deceleration curves Motion algorithm controls upper mounting plate pose with reference to control algolithm.
- 3. the control system of multibeam antenna adjustment platform as claimed in claim 2, which is characterized in that the motion control board The control instruction of host computer is received in clamping, and ARM modules, which to the data frame of reception parse, is sent to FPGA module, at FPGA module Data information is managed, is operated to servo-driver sending direction and umber of pulse driving motor, control process uses m- position when being based on The discrete S types acceleration and deceleration curves movement technique of pattern；ARM modules in special motion control board by moving displacement it is discrete be N section, every time is 9ms, when calculating each Between displacement in interval corresponding to discrete point, displacement is sent to the FPGA module in special motion control board, FPGA After module receives information, discrete displacement amount is recalculated, and be converted to the umber of pulse of corresponding motor for 10ms according to interval time It is sent to servo-driver, control motor rotation；When FPGA module output control pulse is to 9ms, ARM modules are according to upper The closed-loop control adjustment amount and remaining moving displacement that machine is sent, it is corresponding to calculate discrete point in next time interval again Displacement is sent to FPGA module, after FPGA module receives information, with control algolithm plus the control pulse not exported before Amount recalculates discrete displacement amount again according to the time interval of 10ms, exports corresponding control umber of pulse control motor operating, One-stage control umber of pulse under cycle calculations according to this, enables motor steadily to operate without interruption.
- 4. the control system of multibeam antenna adjustment platform as claimed in claim 3, which is characterized in that the motion controller Including：ARM modules, FPGA module, communication interface modules, interrupting information processing module, limit switch module, direction and pulse are defeated Go out module；Communication interface modules, interrupting information processing module, limit switch module, direction and pulse output module with ARM modules It is electrically connected with FPGA module；Communication interface modules, the communication being used to implement between motion controller and host computer, servo-driver, ARM modules, FPGA Communication between module；Limit switch module is connected with the limit switch installed on parallel regulating platform mechanism electric cylinder, constrains electric cylinder Motion range；Interrupting information processing module, for motion controller communicate with servo-driver and motion controller in ARM modules, Processing when FPGA module communicates to system；Direction and pulse output module, for the control of quantified controlling system, the pulse that information will be controlled to be converted to corresponding motor Number.
- 5. a kind of control method of multibeam antenna adjustment platform control system as claimed in claim 2, which is characterized in that described The control method of multibeam antenna adjustment platform includes：(1) host computer sends out control instruction, passes to motion control board by bus RS-422, control is received in motion control board clamping System instruction parses control instruction using ARM module programmings, and the control information after parsing is sent to the FPGA in motion control board Module；(2) when ARM modules communicate with FPGA module according to based on when m- position discrete S types acceleration and deceleration curves design method will Control information is converted to the umber of pulse information of corresponding motor and is sent to servo-driver, is being drivingly connected motor on electric cylinder just Turn or invert, the upper mounting plate movement of control parallel regulating platform mechanism, using on parallel regulating platform mechanism electric cylinder Magnetostrictive displacement sensor detect the axial length information of electric cylinder in real time and feed back to host computer；(3) after host computer receives information, parallel regulating platform mechanism is calculated with the positive resolving Algorithm of C Plus Plus combination parallel institution Upper mounting plate pose compares with preferable pose, calculates error, sends control instruction again, and control motor operating makes adjustment in parallel Error between the upper mounting plate pose of platform mechanism and preferable pose meets design accuracy requirement, forms a closed loop feedback system System；(4) interrupting information that servo-driver is sent is received in motion control board clamping, generates interruption in time；In six motor movement mistakes Cheng Zhong, if certain arbitrary axis move to limiting either Ready dropouts either unusual condition occur triggering alarm or Certain motor covers all pulses, then sends out signal to motion controller, and triggering is interrupted, and makes control system out of service, motor It shuts down.
- 6. the control method of multibeam antenna adjustment platform as claimed in claim 5, which is characterized in that the motion control board The internal parallel institution inverse arithmetic used of card, using RPY combined transformations and space geometry knowledge solve between hinge joint away from From relationship, the axial length of six electric cylinders is solved；Local coordinate system is established as origin using the center of upper mounting plate and pedestal lower platform P-xyz and global coordinate system O-XYZ；Pi, Bi(i=0,1,2,3,4,5) the Hooke's hinge center on corresponding platform is represented respectively Coordinate；With RPY combined transformations come when representing the pose of movable platform, corresponding transition matrix is：Local coordinate system p-xyz is relative to rotational transformation matrix of the global coordinate system O-XYZ in space：R=Rot (X, φx)·Rot(Y,φy)·Rot(Z,φz)；Using any one branch as research object, vector correlation is established under world coordinates：I-th supporting leg vector of note is Li, then had according to the space geometry knowledge analysis of mechanism：So i-th leg length is：Complete the inverse solution of mechanism, it is known that the position coordinates of each Hooke's hinge acquire the axial length of six electric cylinders by targeted attitude.
- 7. the control method of multibeam antenna adjustment platform as claimed in claim 5, which is characterized in that the host computer is just Resolving Algorithm using parallel institution end pose and drive joint velocity between relationship solve Jacobian matrixes, with reference to based on The newton Numerical Iteration Method of steepest descent method solves the upper mounting plate pose of parallel institution；The Jacobian matrixes of adjustment mechanism For：After solving Jacobian matrix, upper mounting plate pose is demarcated using API laser testings instrument, obtains initial pose φ0, adopt The axial length vector L of parallel institution is measured with the magnetostrictive displacement sensor on electric cylinderd, decline using based on steepest The newton Numerical Iteration Method of method solves upper mounting plate pose φ when parallel regulating platform mechanism corresponds to this axial lengthd。
- 8. the control method of multibeam antenna adjustment platform as claimed in claim 7, which is characterized in that the normal solution iteration is calculated Method includes：1) the initial pose φ of platform is adjusted0, axis leg length vector Ld；The convergence precision ε ＞ 0 of given algorithm, take iterations K=0；2) by the inverse arithmetic of parallel institution, the initial pose φ of upper mounting plate is calculated0Axial length under corresponding：Lk=InvKin (φ0), it is made the difference with practical axial length, obtains Δ Lk=Ld-Lk；3) convergence precision S is calculated according to Jacobian matrixk=-J-1·(φk)·ΔLkIf | | Sk| | this opportunity is then obtained in≤ε The upper mounting plate pose φ of structured=φk；Otherwise, continue；4) φ is performedk+1=φk+Sk, k=k+1 is enabled, by φk+1As the initial pose of+1 iteration of kth, second step continuation is gone to Operation is iterated, until calculating the upper mounting plate pose value for meeting convergence precision；5) φ obtaineddAs parallel regulating platform mechanism is L in the axial length of electric cylinderdUnder, the corresponding pose of upper mounting plate.
- 9. a kind of closed-loop control using the control method of multibeam antenna adjustment platform described in claim 5~8 any one System.
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