CN108270454B

CN108270454B - Soft time system phase shifter array cooperative control method

Info

Publication number: CN108270454B
Application number: CN201611260505.7A
Authority: CN
Inventors: 田伟强
Original assignee: CETC 27 Research Institute
Current assignee: CETC 27 Research Institute
Priority date: 2016-12-30
Filing date: 2016-12-30
Publication date: 2020-02-07
Anticipated expiration: 2036-12-30
Also published as: CN108270454A

Abstract

The invention discloses a cooperative control method of a soft time system phase shifter array, which comprises the following steps: bynThe phase shifters constitute a phase shifter array, which is connected to the cooperative controller of the soft time system phase shifter array via communication link, and the soft time system is used as one module of the cooperative controller of the phase shifter array. Period of movementT _m And period of movement T _m‑1There is a preparation phase in betweent _m. The soft time system phase shifter array cooperative controller is in the preparation phaset _mAnd acquiring data and calculating to obtain the corresponding movement speed and target position of each phase shifter, and sending the data to the corresponding phase shifter, wherein the phase shifters temporarily do not act until the soft-time system phase shifter array system controller simultaneously moves after broadcasting and sending an execution command. The invention provides a cooperative control method of a soft time system phase shifter array, which replaces a hardware time system device with a soft time system, enhances the reliability of a phased array antenna system and reduces the hardware cost of the phased array antenna system.

Description

Soft time system phase shifter array cooperative control method

Technical Field

The invention relates to a cooperative motion control method of a phased array antenna phase shifter array, in particular to a cooperative control method of a soft time system phase shifter array.

Background

Currently, a phase shifter cooperative control module is a device for controlling cooperative motion of a phased array antenna phase shifter array. The phase shifters are devices used in phased array antennas to change the direction of antenna beams, and the phase shifters in a phased array antenna are all formed into an array in a certain number, and the phase shifters in the phase shifter array move according to a preset program under the control of a phase shifter cooperative controller, so that antenna beam scanning is realized. In the scanning process, all phase shifters need to work cooperatively, start at the same time, travel different routes, and reach the designated position at the same time. In the current phase shift control technology, a hardware clock device is an indispensable independent module in a phase shifter array cooperative controller. Without a hardware timing device, the phase shifter array cannot move in coordination, so that the phased array antenna cannot complete electric scanning. The hardware time system device is divided into an independent device and an integrated device. The independent time system device not only increases the hardware cost, but also needs to increase the time system signal line between the time system device and each phase shifter in the phase shifter array besides the communication between the phase shifter array cooperative controller and the phase shifter array, and the number of the phase shifters in the phase shifter array is usually large, so the increased time system signal line makes the signal connection between the whole phase shifter array cooperative controller and the phase shifter array become complicated, and the reliability of the phased array antenna control system is reduced. Meanwhile, the integrated device mostly exists in an embedded system, and it is difficult for programmers who are accustomed to using a windows operating system to develop display and control software by using the embedded system. Therefore, the hard time system device cannot solve the problems of high cost, complex signal connection and reduced reliability.

Disclosure of Invention

The invention aims to provide a cooperative control method of a phase shifter array of a soft time system, which replaces a hardware time system device with the soft time system, enhances the reliability of a phased array antenna system and reduces the hardware cost of the phased array antenna system.

The technical scheme adopted by the invention is as follows: a cooperative control method for a soft time system phase shifter array comprises the following steps:

1) n-way phase shifter M₁、M₂…M_i…M_nForming a phase shifter array, wherein the phase shifter array is connected with a soft time system phase shifter array cooperative controller through a communication link, the soft time system phase shifter array cooperative controller is positioned on a computer running a windows operating system, and the required beam scanning speed S is obtained_aAnd a beam scanning range A_min～A_maxLeading the phase shifter array into a soft time system phase shifter array cooperative controller;

2) phase shifter M in phase shifter array_iMaking intermittent linear motion, setting the motion period T from one linear motion start to the linear motion termination_mM is 1,2,3 … j, and the movement period T_mAll the time lengths of the two motion periods are T, and the motion period T is set_mAnd period of movement T_m-1The rest phase in between is the preparation phase t_m(ii) a Setting a movement period T_mThe beam target pointing angle at the ending time is A_mWhen m is 1, A₁＝A_min(ii) a When m is 2, A₂＝A₁+S_aT; by analogy, when m equals j, A_j＝A_j-1+S_aT; setting each phase shifter M in all motion periods₁、M₂…M_i…M_nIs at an initial position of P_1c、P_2c…P_ic…P_ncEach path of phase shifter M₁、M₂…M_i…M_nHas a movement speed of S₁、S₂…S_i…S_n；

3) In a preparation phase t_mIn, soft time system phase shifter array cooperative controller reads each phase shifter M₁、M₂…M_i…M_nInitial position P of_1c、P_2c…P_ic…P_ncAccording to formula A_m＝A_m-1+S_aT calculating the movement period T_mBeam target pointing angle a at the end time_mAccording to the phase shifters M in the phase shifter array_iThe position calculation formula of (1) sequentially calculating the movement period T_mPhase shifter M for each path at ending time₁、M₂…M_i…M_nTarget position P to be reached_1n、P_2n…P_in…P_nnAccording to the formula S_i＝(P_in-P_ic) T, calculating the movement period T in turn_mPhase shifter M for each path in the circuit₁、M₂…M_i…M_nSpeed of movement S₁、S₂…S_i…S_n；

4) The soft time system phase shifter array cooperative controller sends a signal containing a phase shifter M to the phase shifter array in sequence_iIn a movement period T_mInner speed of movement S_iAnd a target position P_inThe phase shifter array sends the tundish to the corresponding phase shifter M_iPhase shifter M_iThe execution is not performed after the tundish is received;

5) waiting for each phase shifter M₁、M₂…M_i…M_nAfter all the relay nodes receive the intermediate packet, the soft time system phase shifter array cooperative controller broadcasts and sends an execution command C_MEach path of phase shifter M₁、M₂…M_i…M_nReceiving execution command C at the same time_MPhase shifter M_iImmediately at a speed S given in the received tundish_iTo a given target position P in the tundish_inMoving;

6) a phase shift controller of a soft time system phase shifter array cooperative controller timing waiting time length T, each phase shifter M₁、M₂…M_i…M_nAll reach the movement period T_mCorresponding target position P of the end time_1n、P_2n…P_in…P_nn；

7) And repeating the

steps

3, 4, 5 and 6 until the beam target pointing angle reaches A_maxAnd the scan is completed.

The soft time system phase shifter array cooperative controller and the phase shifter adopt CAN communication or RS422 serial port communication.

Period of movement T_mThe duration T of (a) is a value between 5ms and 20 ms.

The invention uses the soft time system to replace the hardware time system device, the soft time system is arranged in the phase shifter array cooperative controller, and the execution command is broadcasted and sent through the communication link between the phase shifter array cooperative controller and the phase shifter to make all the phase shifters in the phase shifter array start to move at the same time, thereby canceling the time system signal line between the hardware time system device and the phase shifter, simplifying the signal connection, increasing the reliability of the phased array antenna system and reducing the hardware cost of the phased array antenna system.

Drawings

FIG. 1 is a schematic diagram of the signal connection between the soft timing system phase shifter array cooperative controller and the phase shifter array according to the present invention.

Detailed Description

As shown in fig. 1, the present invention includes a method for cooperative control of a soft time system phase shifter array, including the following steps:

1) by n-way phase shifters 4M₁、M₂…M_i…M_nForming a phase shifter array 3, connecting the phase shifter array 3 with a soft time system phase shifter array cooperative controller 1 through a communication link 2, locating the soft time system phase shifter array cooperative controller 1 on a computer running a windows operating system, and scanning the required wave beam with a speed S_aAnd a beam scanning range A_min～A_maxAnd introducing the soft time system phase shifter array into the cooperative controller 1. The hardware time system device is replaced by the soft time system which is arranged in the phase shifter array cooperative controller, and a time system signal line between the hardware time system device and the phase shifter 4 is eliminated, so that the signal connection is simplified, the reliability of the phased array antenna system is improved, and the hardware cost of the phased array antenna system is reduced.

2) Phase shifters 4M in the phase shifter array 3_iMaking intermittent linear motion, setting the motion period T from one linear motion start to the linear motion termination_mM is 1,2,3 … j, and the movement period T_mAll the time lengths of the two motion periods are T, and the motion period T is set_mAnd period of movement T_m-1The rest phase in between is the preparation phase t_m. In the prior art, the phase shifter array cooperative controller using hardware timing system device also needs to determine the motion period T_mOf the movement cycle T, and therefore, determining the duration T of the movement cycle is a well established technique, and in the present invention, the movement cycle T_mThe determination method of the time length T of (a) is the same as that employed in the system controller of the phase shifter array 3 employing a hardware timing device. The scanning speed of the wave beam of the phased array antenna is usually within 360 DEG/s, the required pointing precision of the wave beam is 0.1 DEG, and the movement period T is determined according to engineering experience_mThe time period T of (a) is usually selected to be a value between 5ms and 20 ms. Setting a movement period T_mThe beam target pointing angle at the ending time is A_mWhen m is 1, A₁＝A_min(ii) a When m is 2, A₂＝A₁+S_aT, and so on, when m ═ j, a_j＝A_j-1+S_aT; setting each phase shifter 4M in all motion periods₁、M₂…M_i…M_nIs at an initial position of P_1c、P_2c…P_ic…P_ncEach phase shifter 4M₁、M₂…M_i…M_nHas a movement speed of S₁、S₂…S_i…S_n；

3) In a preparation phase t_mIn, the soft time system phase shifter array cooperative controller 1 reads 4M phase shifters of each path₁、M₂…M_i…M_nInitial position P of_1c、P_2c…P_ic…P_ncAccording to formula A_m＝A_m-1+S_aT calculating the movement period T_mBeam target pointing angle a at the end time_mAccording to the phase shifters 4M in the phase shifter array 3_iThe position calculation formula of (1) sequentially calculating the movement period T_mEnd time each phase shifter 4M₁、M₂…M_i…M_nTarget position P to be reached_1n、P_2n…P_in…P_nnAccording to the formula S_i＝(P_in-P_ic) T, calculating the movement period T in turn_m4M phase shifter for each path₁、M₂…M_i…M_nSpeed of movement S₁、S₂…S_i…S_n. Because the phase shifter 4M₁、M₂…M_i…M_nIn a preparation phase t_mHeld stationary, phase shifter 4M₁、M₂…M_i…M_nIn a movement period T_mStarts to move at an initial moment of time, during a movement period T_mStops moving at the end of the movement period T_mStart time phase shifter 4M₁、M₂…M_i…M_nFirst accelerate to S₁、S₂…S_i…S_nDuring the movement period T_mEnd time phase shifter 4M₁、M₂…M_i…M_nThe speed is reduced to 0, but the acceleration and deceleration processes are very short,the caused error is extremely small, and the target pointing angle A of the beam is not influenced within the allowable error range of the phase shifter array cooperative controller_m. The formula for resolving the position of the phaser array 3 is given in the description of the phaser array 3.

4) The soft time system phase shifter array cooperative controller 1 sends the phase shifters 4M to the phase shifter array 3 in sequence_iIn a movement period T_mInner speed of movement S_iAnd a target position P_inThe phase shifter array 3 sends the tundish to the corresponding phase shifter 4M_iPhase shifter 4M_iThe execution is not performed after the tundish is received.

5) 4M phase shifter for each path₁、M₂…M_i…M_nAfter all receiving the intermediate packet, the soft time system phase shifter array cooperative controller 1 broadcasts and sends an execution command C_MEach phase shifter 4M₁、M₂…M_i…M_nReceiving execution command C at the same time_MPhase shifter 4M_iImmediately at a speed S given in the received tundish_iTo a given target position P in the tundish_inAnd (6) moving. Execute command C_MIs that each phase shifter 4M in the phase shifter array 3₁、M₂…M_i…M_nReceiving an execution command C at the same time_MEach phase shifter 4M₁、M₂…M_i…M_nSpeed of movement S₁、S₂…S_i…S_nAlso given, a target position P_1n、P_2n…P_in…P_nnAlso given, all phase shifters 4M in the phase shifter array 3 are guaranteed₁、M₂…M_i…M_nStarting at the same time and reaching respective target positions at the same time, the cooperative work of the phase shifter array 3 is ensured, and the beam pointing angle A is obtained_mThe beam of (2).

6) Soft time system phase shifter array cooperative controller 1 phase shifting controller timing waiting time T, phase shifter 4M₁、M₂…M_i…M_nAll reach the movement period T_mCorresponding purpose of ending timeMark position P_1n、P_2n…P_in…P_nn。

7) Repeating the

steps

The soft time system phase shifter array cooperative controller 1 and the phase shifter 4 adopt CAN communication or RS422 serial port communication.

The soft time system phase shifter array cooperative controller 1 on the computer is directly in signal connection with the phase shifter array 3 through the communication link 2, the signal connection is simple, the reliability of the phase shifter array 3 cooperative system is high, and the hardware cost is reduced.

The calculation process in

steps

1,2 and 3 will be described below by taking a certain phase shifter array 3 as an example. The phase shifter array 3 is composed of 120 phase shifters 4, which are respectively numbered as M₁、M₂、…、M₁₂₀The motion stroke of each phase shifter 4 is 0 mm-25 mm. The scanning range of the beam synthesized by the phase shifter array 3 is required to be-60 degrees, the scanning speed is 24 degrees/s, and the beam pointing accuracy is 0.2 degrees. Determining the movement period T according to engineering experience and considering the computing power of a computer_mIs a time duration T-20 ms. The position calculation formula of the phase shifter array 3 is as follows:

(1) when the beam target pointing angle A is 0 degrees, the positions of all the phase shifters 4 are all 0 mm;

(2) when the target pointing angle of the wave beam is A, and A is a certain angle between-60 degrees and 0 degrees, the i-path phase shifter 4M in the 120-path phase shifters 4_iThe position of (a) satisfies the functional relationship:

wherein,q is 0,1,2,3, …, and q is taken according to actual conditions, and the value of i is ensured to satisfy the inequality.

When i is respectively an integer of 1-120, and the corresponding y value is the beam target pointing angle A, the phase shifter 4M_iThe target position of (a);

when the target pointing angle of the wave beam is A, and A is a certain angle between 0-60 degrees, i phase shifters 4M in the 120-path phase shifters 4_iThe position of (a) satisfies the functional relationship:

wherein,

q is 0,1,2,3 …, and q is taken according to actual conditions, so that the value of i is ensured to satisfy the inequality.

in a movement period T₁First, the current position P of each phase shifter 4 in the phase shifter array 3 is read, taking the beam target pointing angle a to-60 °_1c、P_2c、P_3c、…、P_120cThe initial position of each phase shifter 4 is normally zero just after the power-on, i.e. P_1c＝0、P_2c＝0、P_3c＝0、…、P_120cThen, according to the formula in (2), the motion period T of each phase shifter 4 of 120 phase shifters 4 in the phase shifter array 3 is calculated₁Target position P at end time_1n、P_2n、P_3n、…、P_120nThen, the required moving speed (P) of each phase shifter 4 is calculated_1n-P_1c)/0.02，(P_2n-P_2c)/0.02，…，(P_120n-P_120c)/0.02. In a movement period T_2,The target beam pointing angle a is-60 +0.02 x 24 is-59.52 °.

Claims

1. A cooperative control method of a soft time system phase shifter array is characterized in that: the method comprises the following steps:

1) fromnPhase shifterM ₁ 、M ₂ …M _i …M _nPhase shift of compositionA phase shifter array connected via a communication link to a soft time system phase shifter array coordinated controller on a computer running a windows operating system to scan a desired beam at a desired speedS _aSum beam scan rangeA _min～A _maxLeading the phase shifter array into a soft time system phase shifter array cooperative controller;

2) phase shifters in a phase shifter arrayM _iMaking intermittent linear motion, setting the motion period from one linear motion start to the linear motion terminationT _mM is 1,2,3…j，Period of movementT _mAll time length ofTSetting the movement periodT _m Andperiod of movementT _m-1The rest phase in between is a preparation phaset _m(ii) a Setting a movement periodT _mThe beam target pointing angle at the end time isA _mWhen m =1, the number of the magnetic particles is, in this case,A ₁=A _min(ii) a When m =2, the ratio of m to m is,A ₂=A ₁+S _a·T(ii) a By analogy, when m =jTime of flight，A _j=A _j-1+S _a·T(ii) a Setting each phase shifter in all motion periodsM ₁ 、M ₂ …M _i …M _nIs in an initial position ofP _1c、P _2c …P _ic …P _ncEach path of phase shifterM ₁ 、M ₂ …M _i …M _nHas a moving speed ofS ₁、S ₂ …S _i …S _n；

3) In the preparation phaset _mIn-line, soft-timing phase shifter array cooperative controller reads each phase shifterM ₁ 、M ₂ …M _i …M _nInitial position ofP _1c、P _2c …P _ic …P _ncAccording to the formulaA _m=A _m-1+S _a·TCalculating movement periodsT _mBeam target pointing angle at end timeA _mAccording to the phase shifters in the phase shifter arrayM _iThe position calculation formula of (2) sequentially calculating the movement periodT _mEnd time phase shifter for each pathM ₁ 、M ₂ …M _i …M _nTarget position to be reachedP _1n、P _2n …P _in …P _nnAccording to the formulaS _i =(P _in -P _ic )/TSequentially calculating the movement periodT _mPhase shifter for each pathM ₁ 、M ₂ …M _i …M _nSpeed of movement ofS ₁、S ₂ …S _i …S _n；

4) The soft time system phase shifter array cooperative controller sends the phase shifters to the phase shifter array in sequenceM _iIn the movement periodT _mVelocity of motion inS _iAnd target locationP _inTundish of，The phase shifter array sends the tundish to the corresponding phase shifterM _iPhase shifterM _iThe execution is not performed after the tundish is received;

5) waiting for each phase shifterM ₁ 、M ₂ …M _i …M _nAfter all the received intermediate packets, the soft time system phase shifter array cooperative controller broadcasts and sends the packetsLine commandsC _M ，Phase shifter for each pathM ₁ 、M ₂ …M _i …M _nReceiving execution command at the same timeC _MPhase shifterM _iImmediately at the speed given in the received tundishS _iTo a given target position in the tundishP _inMoving;

6) timing waiting time of phase shift controller of soft time system phase shifter array cooperative controllerTEach path of phase shifterM ₁ 、M ₂ … M _i …M _nAll reach the movement periodT _mCorresponding target position of end timeP _1n、P _2n …P _in …P _nn；

7) And repeating the steps 3, 4, 5 and 6 until the beam target pointing angle reachesA _maxAnd the scan is completed.

2. The cooperative control method of the soft time system phase shifter array according to claim 1, wherein: the soft time system phase shifter array cooperative controller and the phase shifter adopt CAN communication or RS422 serial port communication.

3. The cooperative control method of the soft time system phase shifter array as claimed in claim 2, wherein: period of movementT _mThe duration T of (a) is a value between 5ms and 20 ms.