CN108872942A - The real-time keeping method in active primary reflection surface antenna ideal shape face based on datum mark - Google Patents
The real-time keeping method in active primary reflection surface antenna ideal shape face based on datum mark Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention belongs to Radar Antenna System fields, the specifically real-time keeping method in active primary reflection surface antenna ideal shape face based on datum mark, it is the displacement detecting that reflector antenna primary reflection surface and subreflector can be achieved at the same time using a set of laser ranging angle-measuring equipment, without considering the formative factor of antenna deformation, it is applicable to static load, such as gravitational load, stable state wind load, sleet, is also applied for gradual load, such as temperature loading, while being suitable for processing installation error etc..Realize that the closed loop of reflecting surface adjusts and the real-time holding in active primary reflection surface antenna ideal shape face in real time.
Description
Technical Field
The invention belongs to the technical field of radar antennas, and particularly relates to a method for maintaining an ideal surface of an active main reflecting surface antenna in real time based on a datum point, which is applied to the real-time maintenance of the ideal surface of the active main reflecting surface antenna in the service process.
Background
The reflector antenna is widely applied to the fields of deep space exploration, radio astronomy and the like, and with the development of the technology, a large-caliber high-frequency section is the main development direction of the reflector antenna. The larger the aperture, the higher the frequency band, and the more outstanding the performance of the reflector antenna. For example, 100 m all-movable radio telescopes built in the seventies of Federal Germany, 100 m Greenbank radio telescopes built in the United states in 2000, and 65 m astronomical telescopes built in China in 2012 have working frequency bands up to millimeter wave bands (30GHz-300 GHz).
The increase of the aperture of the reflector antenna causes the influence of external load (gravity load, temperature load, wind load and the like) to be ignored, the shape surface of the reflector antenna inevitably deviates from an ideal shape surface, the precision of the reflector antenna is difficult to meet the precision requirement of a high-frequency band on the shape surface of the reflector, and the electrical property is obviously deteriorated. In order to reduce the processing difficulty and improve the electrical performance of the antenna, the conventional large high-frequency-band reflector antenna mostly adopts an active main reflector structure, namely, an actuator is arranged on a main reflector panel, the panel can be actively adjusted within a certain range, and the high precision of the shape of the antenna is kept by adjusting the actuator in real time. For example, the main reflecting surface of a 65-meter telescope in Shanghai consists of 1008 panels, the whole antenna structure weighs about 2640 tons, and is influenced by wind load and temperature deformation, and the shape surface precision of the antenna structure is required to reach 0.3 mm and the pointing precision of the antenna structure reaches 3 arc seconds under the action of 1104 actuators.
The key of the active main reflector antenna surface adjustment is the real-time measurement of the surface deformation, so that the actuator can be adjusted in real time to ensure the surface precision, but at present, the real-time maintenance of the ideal surface of the reflector is not realized in the engineering. The shape surface measuring method adopted in engineering mainly comprises manual or unmanned aerial vehicle photogrammetry, laser ranging (laser total station/laser tracker) and radio holography measurement. Firstly, due to manual intervention, the real-time performance of the antenna is difficult to meet the requirements, and the measurement process cannot be realized in the service state of the antenna. Secondly, in addition to the adjustment of the active main reflector, the sub-reflector will also deviate from the ideal position under external load. At present, an empirical method is mostly adopted for adjusting the auxiliary reflecting surface in engineering, the adjusting process of the auxiliary reflecting surface is guided according to the symmetry performance and the gain value of the auxiliary lobe of the far-field directional diagram and experience by measuring the far-field directional diagram of the antenna, and generally the adjusting times are more and the time consumption is longer. Obviously, the shape adjustment of the active main reflector antenna needs to take account of the adjustment of the active main reflector and the adjustment of the sub-reflector at the same time, and currently, the closed-loop real-time adjustment of the reflector is not realized.
Disclosure of Invention
The invention aims to provide a method for keeping an ideal surface of an active main reflecting surface antenna in real time based on a datum point so as to realize closed-loop real-time adjustment of a reflecting surface and real-time keeping of the ideal surface of the active main reflecting surface antenna.
The technical scheme for realizing the purpose of the invention is as follows: the real-time keeping method of the ideal surface of the active main reflecting surface antenna based on the datum point is characterized by comprising the following steps: at least comprises the following steps:
step one, installing laser measuring equipment and storing data related to an auxiliary reflecting surface;
and step two, establishing a reference coordinate system and storing the related data of the main reflecting surface.
And step three, pasting the target points and storing the relevant data of the target points.
Calculating the related data of the subreflector under the reference coordinate system;
calculating the spherical coordinates of the actuator target points of the main reflecting surface under the coordinate system of the auxiliary reflecting surface;
calculating the coordinate value of the actuator target point in the service process of the antenna under the secondary coordinate system;
calculating coordinate values of the reference point target points in the service process of the antenna under a secondary surface coordinate system;
step eight, calculating the coordinate value of the secondary surface coordinate system origin under the reference coordinate system in the service process of the antenna;
calculating a rotation matrix from a secondary surface coordinate system to a reference coordinate system in the service process of the antenna;
step ten, calculating the normal adjustment quantity of the main surface actuator in the service process of the antenna;
step eleven, calculating the secondary surface pose adjustment amount in the service process of the antenna;
and step twelve, continuously repeating the step five to the step eleven in the service process of the antenna to realize the real-time maintenance of the shape.
The first step of installing laser measuring equipment and storing the data related to the subreflector is to install a laser distance and angle measuring instrument system on the back of the subreflector, reserve a hole with proper size at the vertex position of the subreflector, move a laser probe to the position of the hole at the vertex of the subreflector, and assume that a measuring coordinate system is coincident with a subreflector coordinate system and is marked as Os-xsyszsIn which O issIs a coordinate origin and is positioned at the vertex position of the auxiliary reflecting surface; calibrating two position and pose positioning points of the secondary reflecting surface on the secondary reflecting surface: o issDot and Os-zsA point D on the axis, the point D being at Os-xsyszsThe coordinates in the coordinate system areWherein the superscript s represents Os-xsyszsCoordinate values in the coordinate system.
Establishing a reference coordinate system and storing the related data of the main reflecting surface in the second step is to establish the reference coordinate system at the vertex position of the main reflecting surface and is marked as Or-xryrzrIn which O isrThe coordinate system is a coordinate origin and is positioned at the vertex position of the main reflecting surface, and the coordinate axes of the reference coordinate system are respectively parallel and equidirectional with the coordinate axes of the auxiliary reflecting surface coordinate system; three reference points A, B and C are selected in a reference coordinate system, which is at Or-xryrzrThe coordinates in the coordinate system are respectively recorded asAndand in a direction perpendicular to Or-zrOut of plane with the axis, wherein the superscript r denotes Or-xryrzrAnd the datum point can be independent of the reflector to avoid deformation displacement of the reflector or is positioned at a position with smaller deformation displacement at the center of the reflector.
Pasting the target point and storing the data related to the target point in the third step, namely pasting the target point at the connecting position of the main reflecting surface actuator and the panel, and pasting the target point at the O positionr-xryrzrThe coordinates of the target point are recorded under the coordinate system asDetermining actuationNormal unit vector of target point of deviceWherein subscript a represents the a-th target point; pasting target points at the three datum point positions in the second step, and neglecting the thickness of the target points, wherein the coordinates of the target points are the same as those of the datum points A, B and C.
The fourth step of calculating the relative data of the subreflector under the reference coordinate system is to calculate the relative data of the subreflector under the reference coordinate system O according to the design parameters of the ideal antennar-xryrzrDetermining the vertex O of the sub-reflecting surface under the coordinate systemsCoordinates of pointsDetermining the sub-reflecting surface O in the step ones-zsCoordinates of one point D on axisWherein
The step five of calculating the spherical coordinates of the actuator target points of the main reflecting surface under the coordinate system of the auxiliary reflecting surface comprises the following steps:
(5a) in the coordinate system O of the sub-reflecting surfaces-xsyszsDetermining the coordinate value of the actuator target point of the main reflecting surface under the coordinate systemWherein
(5b) In the coordinate system O of the sub-reflecting surfaces-xsyszsUnder the coordinate system, the coordinate value of the actuator target point of the main reflecting surfaceConversion to spherical coordinatesWhereinWhere cart2sph is the Cartesian to spherical coordinate transfer function in MATLAB numerical analysis software.
The sixth step of calculating the coordinate values of the actuator target point in the service process of the antenna under the secondary coordinate system comprises the following steps: .
(6a) Measuring the distance from the target point of the actuator to the coordinate origin of the coordinate system of the subreflector by using a laser distance measuring goniometerAnd elevation angleThe first component and the second component of the spherical coordinate of the actuator target point after rigid displacement in the coordinate system of the subreflector after the antenna deformation are respectively adopted, wherein the elevation angle isIndicating after deformation of the laser beam and the antenna Os-zsThe included angle of the axial positive direction is marked with a prime sign to represent data after the antenna deforms;
(6b) because the main factor influencing the electrical property of the reflector antenna is the axial deformation of the reflector, the third component of the spherical coordinate of the actuator target point after the rigid displacement of the actuator target point in the coordinate system of the subreflector after the antenna deformation is approximately considered by neglecting the rotary displacement of the reflector node around the axial direction
(6c) Calculating the coordinate value of the actuator target point after rigid displacement in the coordinate system of the subreflector after deformationWhere sph2cart is the spherical to Cartesian coordinate conversion function in MATLAB numerical analysis software.
The seventh step of calculating the coordinate values of the reference point target points in the service process of the antenna under the secondary plane coordinate system comprises the following steps:
(7a) measuring the distance from the reference point target point to the coordinate origin of the coordinate system of the auxiliary reflecting surface by using a laser ranging goniometerAnd elevation angleThe first component and the second component of the spherical coordinate of the deformed reference point target point after rigid displacement in the coordinate system of the subreflector are respectively, wherein the subscript "b"denotes a reference point A or B or C;
(7b) approximating the third component of the spherical coordinates of the fiducial point after rigid displacement in the subreflector coordinate systemWherein,symbolRepresenting the third component of the taken vector, when "bWhen "represents the reference point A,when "bWhen "represents the reference point B,when "bWhen "represents the reference point C,
(7c) calculating the coordinate value of the datum point target point after rigid displacement in the coordinate system of the subreflector
The eight steps of calculating the coordinate values of the secondary surface coordinate system origin under the reference coordinate system in the service process of the antenna comprise:
(8a) in the seventh step "b"sequentially indicate the reference points A, B and C, and sequentially obtain the distances between the three reference pointsAnd elevation angle
(8b) Solving the following equation set and solving to obtain the coordinate value of the secondary surface coordinate system origin in the service process of the antenna under the reference coordinate system
The step nine, calculating the rotation matrix from the secondary surface coordinate system to the reference coordinate system in the service process of the antenna, comprises:
(9a) in the seventh step "b"sequentially representing reference points A, B and C, coordinate values are sequentially obtainedAnd
(9b) the following set of equations is established:
wherein, T's2rRepresenting a rotation matrix from a secondary surface coordinate system to a reference coordinate system in the service process of the antenna;
(9c) writing the equation set of step (9b) in the form of a matrix as follows:
(9d) solving the equation set in the step (9c) to obtain a rotation matrix T's2r：
Wherein]-1Representing the inverse of the matrix.
The step ten of calculating the normal adjustment quantity of the main surface actuator in the service process of the antenna comprises the following steps:
(10a) calculating the coordinates of the actuator target point under the reference coordinate system according to the following formula
(10b) And calculating the cosine value of the axial included angle between the normal vector of the target point of the actuator and the reflecting surface according to the following formula:
(10c) the actuator normal adjustment Δ n is calculated as followsa：
Wherein Δ na> 0 for actuator elongation, Δ na< 0 indicates that the actuator is contracted.
The eleventh step of calculating the secondary surface pose adjustment amount in the service process of the antenna comprises the following steps:
(11a) o is determined as followssAdjustment amount of dots
(11b) Calculating the coordinate value of the D point of the subreflector under the reference coordinate system after rigid displacement
(11c) The adjustment amount (Δ x) of the point D is determined as followsD,ΔyD,ΔzD)
The twelfth step specifically comprises:
and (4) sequentially adjusting each actuator of the main reflecting surface according to the adjustment amount calculation result in the step (10c) to enable the main reflecting surface to keep an ideal shape, adjusting the pose of the auxiliary reflecting surface according to the adjustment amount calculation results in the steps (11a) and (11c) to enable the auxiliary reflecting surface to keep an ideal position, and continuously repeating the process in the service process to realize the real-time maintenance of the ideal surface of the active main reflecting surface antenna.
Compared with the prior art, the invention has the following advantages:
1. the invention can simultaneously realize the displacement detection of the main reflecting surface and the auxiliary reflecting surface of the reflecting surface antenna by only utilizing a set of laser ranging and angle measuring equipment without considering the forming factor of the antenna deformation, and is suitable for static loads such as gravity load, steady wind load, rain and snow, slowly changing loads such as temperature load, processing and mounting errors and the like;
2. the surface detection process of the invention does not need manual intervention, can realize automatic detection, and can adjust the main reflecting surface actuator and the auxiliary reflecting surface adjustable equipment in real time according to the detection result, so that the main reflecting surface and the auxiliary reflecting surface are simultaneously kept at ideal design positions, and the real-time maintenance of the ideal surface in the antenna service process is realized.
The invention is further explained with reference to the drawings and the embodiments.
Drawings
FIG. 1 is a flow chart of an implementation of the present invention;
FIG. 2 is a schematic diagram of an ideal reflector antenna and a coordinate system;
FIG. 3 is a schematic diagram of a deformable reflector antenna and laser measurement;
FIG. 4 is a schematic diagram of an actuator adjustment calculation process;
FIG. 5 is a schematic diagram of an adjusting process of the sub-reflecting surface;
FIG. 6 is a diagram of a 35 m reflector antenna model used in the present invention;
FIG. 7 is a comparison graph of the deformation before and after adjustment of the target point of the 35 m reflector antenna actuator used in the present invention;
fig. 8 is a comparison diagram of the front and rear positions of the sub-reflector of the 35 m reflector antenna used in the present invention.
Detailed Description
As shown in fig. 1, the method for maintaining an ideal surface of an active main reflector antenna in real time based on a datum point includes the following steps:
step one, installing laser measuring equipment and storing data related to the subreflector.
As shown in fig. 2, a laser distance and angle measuring instrument system is installed on the back of the sub-reflecting surface, a hole with a proper size is reserved at the vertex position of the sub-reflecting surface, a laser probe is moved to the position of the hole at the vertex of the sub-reflecting surface, and a measurement coordinate system is assumed to be coincident with a sub-surface coordinate system and is marked as Os-xsyszsIn which O issIs a coordinate origin and is positioned at the vertex position of the auxiliary reflecting surface; calibrating two position and pose positioning points of the secondary reflecting surface on the secondary reflecting surface: o issDot and Os-zsA point D on the axis, the point D being at Os-xsyszsThe coordinates in the coordinate system areWherein the superscript s represents Os-xsyszsCoordinate values in the coordinate system.
And step two, establishing a reference coordinate system and storing the related data of the main reflecting surface.
As shown in FIG. 2, a reference coordinate system, denoted as O, is established at the vertex position of the main reflection surfacer-xryrzrIn which O isrThe coordinate system is a coordinate origin and is positioned at the vertex position of the main reflecting surface, and the coordinate axes of the reference coordinate system are respectively parallel and equidirectional with the coordinate axes of the auxiliary reflecting surface coordinate system; three reference points A, B and C are selected in a reference coordinate system, which is at Or-xryrzrThe coordinates in the coordinate system are respectively recorded asAndand in a direction perpendicular to Or-zrOut of plane with the axis, wherein the superscript r denotes Or-xryrzrThe coordinate value under the coordinate system can be independent of the reflector to avoid deformation displacement of the reflector, or the reference point is positioned at the position with smaller deformation displacement of the center of the reflector;
and step three, pasting the target points and storing the relevant data of the target points.
As shown in FIG. 2, a target point is pasted at the position where the main reflection surface actuator is connected to the panel, and Or-xryrzrThe coordinates of the target point are recorded under the coordinate system asDetermining actuator target point normal unit vectorWherein subscript a represents the a-th target point; pasting target points at the three datum points in the step two, neglecting the thickness of the target points, and enabling the coordinates of the target points to be the same as those of the datum points A, B and C;
and fourthly, calculating the related data of the subreflector under the reference coordinate system.
According to the design parameters of the ideal antenna, in a reference coordinate system Or-xryrzrDetermining the vertex O of the sub-reflecting surface under the coordinate systemsCoordinates of pointsDetermining the sub-reflecting surface O in the step ones-zsCoordinates of one point D on axisWherein
And fifthly, calculating the spherical coordinates of the actuator target points of the main reflecting surface under the coordinate system of the auxiliary reflecting surface.
(5a) In the coordinate system O of the sub-reflecting surfaces-xsyszsDetermining the coordinate value of the actuator target point of the main reflecting surface under the coordinate systemWherein
(5b) In the coordinate system O of the sub-reflecting surfaces-xsyszsUnder the coordinate system, the coordinate value of the actuator target point of the main reflecting surfaceConversion to spherical coordinatesWhereinWherein the cart2sph is a conversion function from Cartesian coordinates to spherical coordinates in MATLAB numerical analysis software;
and step six, calculating the coordinate values of the actuator target point in the service process of the antenna under the secondary coordinate system.
(6a) As shown in FIG. 3, the distance from the target point of the actuator to the coordinate origin of the coordinate system of the subreflector is measured by using a laser range finder goniometerAnd elevation angleThe first component and the second component of the spherical coordinate of the actuator target point after rigid displacement in the coordinate system of the subreflector after the antenna deformation are respectively adopted, wherein the elevation angle isIndicating after deformation of the laser beam and the antenna Os-zsThe included angle of the axial positive direction is marked with a prime sign to represent data after the antenna deforms;
(6b) the main factor influencing the electrical property of the reflector antenna is axial deformation of the reflector, the rotary displacement of the reflector node around the axial direction is ignored, and the third component of the spherical coordinate of the actuator target point after rigid displacement in the coordinate system of the subreflector after the antenna deformation is approximately considered
(6c) Calculating the coordinate value of the actuator target point after rigid displacement in the coordinate system of the subreflector after deformationWherein sph2cart is a conversion function from spherical coordinates to Cartesian coordinates in MATLAB numerical analysis software;
and seventhly, calculating coordinate values of the reference point target points in the service process of the antenna under the secondary surface coordinate system.
(7a) Measuring the distance from the reference point target point to the coordinate origin of the coordinate system of the auxiliary reflecting surface by using a laser ranging goniometerAnd elevation angleThe first component and the second component of the spherical coordinate of the deformed reference point target point after rigid displacement in the coordinate system of the subreflector are respectively, wherein the subscript "b"denotes a reference point A or B or C;
(7b) approximating the third component of the spherical coordinates of the fiducial point after rigid displacement in the subreflector coordinate systemWherein,symbolRepresenting the third component of the taken vector, when "bWhen "represents the reference point A,when "bWhen "represents the reference point B,when "bWhen "represents the reference point C,
(7c) calculating the coordinate value of the datum point target point after rigid displacement in the coordinate system of the subreflector
And step eight, calculating the coordinate value of the secondary surface coordinate system origin under the reference coordinate system in the service process of the antenna.
(8a) In the seventh step "b"sequentially indicate reference points A, B and C, then sequentially obtain distancesAnd elevation angle
(8b) Solving the following equation set and solving to obtain the coordinate value of the secondary surface coordinate system origin in the service process of the antenna under the reference coordinate system
And step nine, calculating a rotation matrix from the secondary surface coordinate system to the reference coordinate system in the service process of the antenna.
(9a) In the seventh step "b"sequentially representing reference points A, B and C, coordinate values are sequentially obtainedAnd
(9b) the following set of equations is established:
wherein, T's2rRepresenting a rotation matrix from a secondary surface coordinate system to a reference coordinate system in the service process of the antenna;
(9c) writing the equation set of step (9b) in the form of a matrix as follows:
(9d) solving the equation set in the step (9c) to obtain a rotation matrix T's2r：
Wherein]-1Representing the inverse of the matrix;
step ten, calculating the normal adjustment amount of the main surface actuator in the service process of the antenna.
As shown in fig. 4, the calculation process of the normal adjustment amount of the main surface actuator in the service process of the antenna is as follows:
(10a) calculating the coordinates of the actuator target point under the reference coordinate system according to the following formula
(10b) And calculating the cosine value of the axial included angle between the normal vector of the target point of the actuator and the reflecting surface according to the following formula:
(10c) the actuator normal adjustment Δ n is calculated as followsa：
Wherein Δ na> 0 for actuator elongation, Δ na< 0 indicates that the actuator is contracted
And step eleven, calculating the secondary surface pose adjustment amount in the service process of the antenna.
As shown in FIG. 5, the pose of the secondary reflecting surface can be determined according to the index point OsDot and Os-zsThe position of a point D on the shaft is determined, so that the pose of the subreflector can be converted into a calculation point O in the service process of the antennasAnd D, the concrete steps are as follows:
(11a) o is determined as followssAdjustment amount of dots
(11b) Calculating the coordinate value of the D point of the subreflector under the reference coordinate system after rigid displacement
(11c) The adjustment amount (Δ x) of the point D is determined as followsD,ΔyD,ΔzD)
And step twelve, continuously repeating the step five to the step eleven in the service process of the antenna, and realizing the real-time shape maintenance.
And (4) sequentially adjusting each actuator of the main reflecting surface according to the adjustment amount calculation result in the step (10c) to enable the main reflecting surface to keep an ideal shape, adjusting the pose of the auxiliary reflecting surface according to the adjustment amount calculation results in the steps (11a) and (11c) to enable the auxiliary reflecting surface to keep an ideal position, and continuously repeating the process in the service process to realize the real-time maintenance of the ideal surface of the active main reflecting surface antenna.
The advantages of the present invention can be further illustrated by the following simulation experiments:
1. simulation conditions
The method of the present invention is simulated and verified for a certain 35 m dual reflector antenna as shown in fig. 6. When the reflector antenna is normal, the main reflector deforms due to gravity deformation, and the auxiliary reflector translates and rotates. Assuming that a measuring system is installed at the vertex position of the subreflector, the method provides the adjustment amount of the actuator and the adjustment process of the subreflector so as to verify the correctness of the method. In the simulation case, under a reference coordinate system, the coordinates of the reference points are (1702.5,0,500), (0,1702.5,900), (-1474.4, -851.25,0), and the coordinates of the pose positioning points of the sub-reflecting surfaces are (0, 10882), (0, 10482), and the unit millimeter.
2. Simulation result
Fig. 7 shows a comparative diagram of deformation before and after adjustment of the target point of the antenna actuator of the main reflecting surface. Before adjustment, the deformation amount of the actuator target point is large, the deformation range is approximately +/-3 mm, and the root mean square error is 1.34 mm. After adjustment, the deformation of the actuator target point is greatly reduced and approaches to the position of an ideal reflecting surface, the deformation range is approximately +/-0.5 mm, the root mean square error is 0.28 mm, and the improvement percentage of the root mean square error is 79.1%.
Fig. 8 is a comparison diagram showing the front and rear positions of the sub-reflecting surface before and after adjustment. Because the direction of gravity of the reflector antenna is the y-axis direction at ordinary times, the displacement of the sub-reflector in the y-axis direction is large, and the displacement of the sub-reflector in the x-axis direction is small, which is not considered in the figure. Before adjustment, the sub-reflecting surface is far away from the ideal position by a large margin, about 6.2 mm, and the posture has certain deflection. After adjustment, the subreflector is obviously close to an ideal position, and the posture is improved slightly.
Changing simulation conditions, and distributing three datum points dispersedly, wherein the coordinates are (5702.5,0,200), (0,5702.5,200), (5474.4, -2051.25,0), and the unit millimeter, the profile adjustment result is more accurate, as shown in the curve of 'datum point dispersed-adjusted' in fig. 7, the adjustment result of the sub-reflecting surface is not given.
Simulation results show that the method can be used for the real-time adjustment process of the antenna profile of the active main reflecting surface, the main reflecting surface and the auxiliary reflecting surface can be adjusted to ideal positions simultaneously, the process is continuously circulated in the service process, and the real-time maintenance of the ideal profile of the antenna of the active main reflecting surface can be realized.
Claims (10)
1. The real-time keeping method of the ideal surface of the active main reflecting surface antenna based on the datum point is characterized by comprising the following steps: at least comprises the following steps:
step one, installing laser measuring equipment and storing data related to an auxiliary reflecting surface;
establishing a reference coordinate system and storing relevant data of the main reflecting surface;
pasting the target points and storing the relevant data of the target points;
calculating the related data of the subreflector under the reference coordinate system;
calculating the spherical coordinates of the actuator target points of the main reflecting surface under the coordinate system of the auxiliary reflecting surface;
calculating the coordinate value of the actuator target point in the service process of the antenna under the secondary coordinate system;
calculating coordinate values of the reference point target points in the service process of the antenna under a secondary surface coordinate system;
step eight, calculating the coordinate value of the secondary surface coordinate system origin under the reference coordinate system in the service process of the antenna;
calculating a rotation matrix from a secondary surface coordinate system to a reference coordinate system in the service process of the antenna;
step ten, calculating the normal adjustment quantity of the main surface actuator in the service process of the antenna;
step eleven, calculating the secondary surface pose adjustment amount in the service process of the antenna;
and step twelve, continuously repeating the step five to the step eleven in the service process of the antenna, and realizing the real-time shape maintenance.
2. The active primary reflector antenna ideal-shape real-time keeping method based on datum points as claimed in claim 1, wherein: the first step of installing laser measuring equipment and storing the data related to the subreflector is to install a laser distance and angle measuring instrument system on the back of the subreflector, reserve a hole with proper size at the vertex position of the subreflector, move a laser probe to the position of the hole at the vertex of the subreflector, and assume that a measuring coordinate system is coincident with a subreflector coordinate system and is marked as Os-xsyszsIn which O issIs a coordinate origin and is positioned at the vertex position of the auxiliary reflecting surface; calibrating two position and pose positioning points of the secondary reflecting surface on the secondary reflecting surface: o issDot and Os-zsA point D on the axis, the point D being at Os-xsyszsThe coordinates in the coordinate system areWherein the superscript s represents Os-xsyszsCoordinate values in the coordinate system.
3. The active primary reflector antenna ideal-shape real-time keeping method based on datum points as claimed in claim 1, wherein: establishing a reference coordinate system and storing the related data of the main reflecting surface in the second step is to establish the reference coordinate system at the vertex position of the main reflecting surface and is marked as Or-xryrzrIn which O isrThe coordinate system is a coordinate origin and is positioned at the vertex position of the main reflecting surface, and the coordinate axes of the reference coordinate system are respectively parallel and equidirectional with the coordinate axes of the auxiliary reflecting surface coordinate system; three reference points A, B and C are selected in a reference coordinate system, which is at Or-xryrzrThe coordinates in the coordinate system are respectively recorded asAndand in a direction perpendicular to Or-zrOut of plane with the axis, wherein the superscript r denotes Or-xryrzrAnd the datum point can be independent of the reflector to avoid deformation displacement of the reflector or is positioned at a position with smaller deformation displacement at the center of the reflector.
4. The active primary reflector antenna ideal-shape real-time keeping method based on datum points as claimed in claim 1, wherein: pasting the target point and storing the data related to the target point in the third step, namely pasting the target point at the connecting position of the main reflecting surface actuator and the panel, and pasting the target point at the O positionr-xryrzrThe coordinates of the target point are recorded under the coordinate system asDetermining actuator target point normal unit vectorWherein subscript a represents the a-th target point; pasting target points at the three datum point positions in the second step, and neglecting the thickness of the target points, wherein the coordinates of the target points are the same as those of the datum points A, B and C.
5. The active primary reflector antenna ideal-shape real-time keeping method based on datum points as claimed in claim 1, wherein: the fourth step of calculating the relative data of the subreflector under the reference coordinate system is to calculate the relative data of the subreflector under the reference coordinate system O according to the design parameters of the ideal antennar-xryrzrDetermining the vertex O of the sub-reflecting surface under the coordinate systemsCoordinates of pointsDetermining the sub-reflecting surface O in the step ones-zsCoordinates of one point D on axisWherein
6. The active primary reflector antenna ideal-shape real-time keeping method based on datum points as claimed in claim 1, wherein: the step five of calculating the spherical coordinates of the actuator target points of the main reflecting surface under the coordinate system of the auxiliary reflecting surface comprises the following steps:
(5a) in the coordinate system O of the sub-reflecting surfaces-xsyszsDetermining the coordinate value of the actuator target point of the main reflecting surface under the coordinate systemWherein
(5b) In the coordinate system O of the sub-reflecting surfaces-xsyszsUnder the coordinate system, the coordinate value of the actuator target point of the main reflecting surfaceConversion to spherical coordinatesWhereinWhere cart2sph is the Cartesian to spherical coordinate transfer function in MATLAB numerical analysis software.
7. The active primary reflector antenna ideal-shape real-time keeping method based on datum points as claimed in claim 1, wherein: the sixth step of calculating the coordinate values of the actuator target point in the service process of the antenna under the secondary coordinate system comprises the following steps: .
(6a) Measuring the distance from the target point of the actuator to the coordinate origin of the coordinate system of the subreflector by using a laser distance measuring goniometerAnd elevation angleThe first component and the second component of the spherical coordinate of the actuator target point subjected to rigid displacement in the coordinate system of the subreflector after the antenna deformation are respectively represented, wherein the superscript' ″ represents data after the antenna deformation;
(6b) because the main factor influencing the electrical property of the reflector antenna is the axial deformation of the reflector, the third component of the spherical coordinate of the actuator target point after the rigid displacement of the actuator target point in the coordinate system of the subreflector after the antenna deformation is approximately considered by neglecting the rotary displacement of the reflector node around the axial direction
(6c) After calculating the deformationCoordinate value of the actuator target point after rigid displacement in the coordinate system of the subreflectorWhere sph2cart is the spherical to Cartesian coordinate conversion function in MATLAB numerical analysis software.
8. The active primary reflector antenna ideal-shape real-time keeping method based on datum points as claimed in claim 1, wherein: the seventh step of calculating the coordinate values of the reference point target points in the service process of the antenna under the secondary plane coordinate system comprises the following steps:
(7a) measuring the distance from the reference point target point to the coordinate origin of the coordinate system of the auxiliary reflecting surface by using a laser ranging goniometerAnd elevation angleThe first component and the second component of the spherical coordinate of the deformed datum point target point subjected to rigid displacement in the coordinate system of the subreflector are respectively, wherein a subscript "B" represents a datum point A or B or C;
(7b) approximating the third component of the spherical coordinates of the fiducial point after rigid displacement in the subreflector coordinate systemWherein,symbolRepresenting the third component of the vector, when "b" represents reference point a,when "B" represents the reference point B,when "b" represents the reference point C,
(7c) calculating the coordinate value of the datum point target point after rigid displacement in the coordinate system of the subreflector
9. The active primary reflector antenna ideal-shape real-time keeping method based on datum points as claimed in claim 1, wherein: the eight steps of calculating the coordinate values of the secondary surface coordinate system origin under the reference coordinate system in the service process of the antenna comprise:
(8a) let "b" denote the reference points A, B and C in order in step seven, then the distances are obtained in orderAnd elevation angle
(8b) Solving the following equation set and solving to obtain the coordinate value of the secondary surface coordinate system origin in the service process of the antenna under the reference coordinate system
10. The active primary reflector antenna ideal-shape real-time keeping method based on datum points as claimed in claim 1, wherein: the step nine, calculating the rotation matrix from the secondary surface coordinate system to the reference coordinate system in the service process of the antenna, comprises:
(9a) if "b" indicates the reference points A, B and C in order in step seven, the coordinate values are obtained in orderAnd
(9b) the following set of equations is established:
wherein, T's2rRepresenting a rotation matrix from a secondary surface coordinate system to a reference coordinate system in the service process of the antenna;
(9c) writing the equation set of step (9b) in the form of a matrix as follows:
(9d) solving the equation set in the step (9c) to obtain a rotation matrix T's2r：
Wherein]-1Representing the inverse of the matrix;
the step ten of calculating the normal adjustment quantity of the main surface actuator in the service process of the antenna comprises the following steps:
(10a) calculating the coordinates of the actuator target point under the reference coordinate system according to the following formula
(10b) And calculating the cosine value of the axial included angle between the normal vector of the target point of the actuator and the reflecting surface according to the following formula:
(10c) the actuator normal adjustment Δ n is calculated as followsa：
Wherein Δ na> 0 for actuator elongation, Δ na< 0 indicates actuator contraction;
the eleventh step of calculating the secondary surface pose adjustment amount in the service process of the antenna comprises the following steps:
(11a) o is determined as followssAdjustment amount of dots
(11b) Calculating the coordinate value of the D point of the subreflector under the reference coordinate system after rigid displacement
(11c) The adjustment amount (Δ x) of the point D is determined as followsD,ΔyD,ΔzD)
The twelfth step specifically comprises:
and (4) sequentially adjusting each actuator of the main reflecting surface according to the adjustment amount calculation result in the step (10c) to enable the main reflecting surface to keep an ideal shape, adjusting the pose of the auxiliary reflecting surface according to the adjustment amount calculation results in the steps (11a) and (11c) to enable the auxiliary reflecting surface to keep an ideal position, and continuously repeating the process in the service process to realize the real-time maintenance of the ideal surface of the active main reflecting surface antenna.
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| CN109724605A (en) * | 2019-01-15 | 2019-05-07 | 西安电子科技大学 | Large aperture antenna positions of panels posture real-time computing technique based on edge sensor |
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| CN111089535B (en) * | 2020-01-09 | 2021-05-28 | 上海交通大学 | Method and system for detecting deformation of antenna reflecting surface of radio telescope |
| CN115239821A (en) * | 2022-07-15 | 2022-10-25 | 小米汽车科技有限公司 | Parameter information determination method and device, vehicle, electronic equipment and storage medium |
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