CN109884593B - Measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system and design method - Google Patents
Measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system and design method Download PDFInfo
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Abstract
The invention belongs to the technical field of radar antennas, and discloses a measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system and a design method thereof; arranging an accelerometer on the reflecting surface to acquire acceleration of a measuring point in real time; a 4-rope driving mechanism with a sliding rail is designed and additionally arranged according to the structural size of the antenna; based on the low-order flexible model of measuring point acceleration measurement and consideration force equivalent identification, real-time observation of vibration states generated by wind power and rope tension is performed through a Kalman-like observer; controlling the rope tension through a linear secondary regulator based on the observed vibration state so as to inhibit vibration deformation of the reflecting surface; the measuring system and the control system are integrated into a self-adaptive wind disturbance resisting system, and related programs are written into the industrial personal computer for practical engineering. The invention overcomes the defect of a rotating shaft servo system, not only can estimate the vibration state of the antenna in real time, but also can effectively inhibit the vibration deformation of the reflecting surface and improve the pointing precision of the large antenna under wind disturbance.
Description
Technical Field
The invention belongs to the technical field of radar antennas, and particularly relates to a measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system and a design method.
Background
Currently, the current state of the art commonly used in the industry is as follows: the large reflecting surface antenna is important electronic equipment widely applied to the fields of detection, communication, navigation, radio astronomy and the like, has the characteristics of high gain, long detection and communication distance and the like, but has high pointing precision due to narrow wave beam and high working frequency band. For example, the highest working frequency of the 110-meter caliber ultra-large fully movable reflecting surface antenna QTT (QiTai Radio Telescope) which is built in Xinjiang in China can reach 117GHz, and the pointing accuracy requirement of the antenna also reaches 1.5-degree (0.000416 degrees). Therefore, the large-caliber high-frequency band reflecting surface antenna has extremely strict requirements on the pointing precision. However, on the one hand, as the caliber of the antenna increases, the structural rigidity decreases, and the directional deviation caused by the vibration deformation of the wind-induced reflecting surface is obviously increased due to the randomness and time variability of the wind-induced reflecting surface, for example, the literature (J.Zhang, J.Huang, L.Qiu and R.Song, analysis of reflector vibration-induced pointing errors for large antennas subject to wind disturbance, IEEE Antennas and Propagation megazine.57 (2015): 46-61) simulates the QTT antenna under the wind disturbance of 10m/s, and the directional deviation caused by the vibration deformation of the reflecting surface reaches 0.01 degree and cannot reach the directional precision requirement. On the other hand, the antenna rotating shaft servo system can only measure and control the rotation angle deviation at the pitching azimuth rotating shaft, but cannot sense and inhibit the pointing deviation generated by the vibration deformation of the reflecting surface; the bandwidth of the antenna rotating shaft servo system is smaller than the fundamental frequency of the structural vibration of the reflecting surface of the antenna, so that the rotating shaft servo system does not effectively and actively compensate the pointing deviation generated by the vibration deformation of the reflecting surface. In addition, some passive suppression technology of vibration deformation of the reflecting surface is adopted, and the mesh-shaped reflecting surface antenna has the defect of low-frequency and high-frequency transmission, for example, when the Australian 64-meter antenna works at 43Ghz, only a solid reflecting surface within 17m can be used; the influence of wind on the antenna can be isolated by building a large antenna housing, but the antenna housing can cause gain reduction (particularly in a high frequency band), and for a large and ultra-large antenna, the cost for developing the corresponding antenna housing is high and is difficult to realize in engineering; the high stiffness design may also be used to suppress wind harassment but may result in an increase in antenna weight, for example, a 50 meter LMT antenna in mexico with a high stiffness design may weigh more than twice as much as a 100 meter antenna in germany.
In summary, the problems of the prior art are:
(1) As the antenna aperture increases, the structural rigidity decreases, and the influence of wind disturbance on the pointing accuracy caused by the deformation of the reflecting surface becomes more remarkable.
(2) The antenna rotating shaft servo system can only measure and control the rotation angle deviation at the pitching azimuth rotating shaft, but cannot sense and inhibit the pointing deviation generated by the vibration deformation of the reflecting surface; the bandwidth of the antenna rotating shaft servo system is smaller than the fundamental frequency of the structural vibration of the reflecting surface of the antenna, so that the rotating shaft servo system does not effectively compensate the pointing deviation generated by the vibration deformation of the reflecting surface.
(3) The existing reflection surface vibration suppression technology has the defects of high-frequency transmission, gain reduction, high cost, total increase, large implementation difficulty and the like in the application of the mesh-shaped reflection surface antenna, the mode of building the large-scale radome and the high-rigidity design.
The difficulty of solving the technical problems is as follows: the vibration state of the reflecting surface is sensed in real time by a reflecting surface vibration deformation monitoring system; it is desirable to design a mechanism that is easy to implement and lightweight to dampen reflective surface vibrations; it is desirable to develop a control algorithm that can intelligently adjust the actuator based on the vibration state of the reflective surface.
Meaning of solving the technical problems: a reflection surface vibration deformation monitoring and controlling system is established to effectively inhibit the influence of wind disturbance on the electrical performance, and further normal operation of the antenna under the condition of strong wind is realized; the difficulty of antenna structure design can be reduced, and the weight of the antenna can be reduced to a certain extent, because even if the rigidity of the antenna is small and the vibration deformation is large, the vibration deformation can be restrained by the invention.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system and a design method.
The invention is realized in such a way that a measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system is provided with:
the antenna reflecting surface is provided with a plurality of accelerometers 1, a round slide rail 2 is arranged on the ground, 4 drivers 4 are arranged on the round slide rail, the drivers 4 are connected with the edge of the reflecting surface through ropes 3, an industrial personal computer 5 sends control instructions to the drivers 4 to drive the ropes 3, and rope tension is applied to the edge of the reflecting surface.
Furthermore, the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system is characterized in that a plurality of accelerometers are arranged on an antenna reflecting surface, and the acceleration of a measuring point is obtained in real time.
Further, the circle center of the circular slide rail of the measurement and control integrated large-sized antenna self-adaptive wind interference resistance system is positioned on the antenna base as the center, and the radius is R 2 The method comprises the steps of carrying out a first treatment on the surface of the The driver moves on the slide rail as the antenna azimuth and elevation angle change.
Further, 4 rope forces of the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system act on the edges of the caliber surface of the antenna, and T is formed 1 And T 3 The connecting line of the action points is perpendicular to the pitching axis, T 1 And T 3 In the XZ plane, T 2 And T 4 The action points are connected in parallelIn the pitch axis, T 2 And T 4 The plane is perpendicular to the XY plane.
The invention further provides a design method of the measurement and control integrated large-scale antenna self-adaptive anti-wind-disturbance system, which comprises the following steps:
firstly, arranging an accelerometer on a reflecting surface to acquire acceleration of a measuring point in real time;
secondly, designing and additionally installing a 4-rope driving mechanism with a sliding rail according to the structural size of the antenna;
thirdly, based on a low-order flexible model of measuring point acceleration measurement and consideration force equivalent identification, observing vibration states generated by wind power and rope tension in real time through a Kalman-like observer;
fourthly, controlling the tension of the rope through a linear secondary regulator based on the observed vibration state so as to inhibit vibration deformation of the reflecting surface;
and fifthly, integrating the measuring system of the first step and the third step and the control system of the second step and the fourth step into a self-adaptive wind disturbance resisting system, and writing related programs into an industrial personal computer for practical engineering.
Further, the second step of the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system comprises the following steps:
(1) The center of the circular slide rail is positioned on the antenna base as the center, and the radius is R 2 The method comprises the steps of carrying out a first treatment on the surface of the The drivers can move on the slide rail along with the change of the azimuth angle and the pitch angle of the antenna, and when the azimuth angle is fixed, the drivers 1 and 3 are positioned at the intersection point of the X axis and the slide rail; the distance between the 2 and 4 drivers and the origin of the XYZ coordinate system is L;
L＝d cos E m +l；
wherein E is m The pitch angle is the distance between the pitch axis and the antenna aperture plane, and the distance between the azimuth axis and the pitch axis is the distance between the azimuth axis and the pitch axis;
(2) 4 rope forces act on the radius R of the caliber surface of the antenna 1 At the edge, T 1 And T 3 The connecting line of the action points is perpendicular to the pitching axis, T 1 And T 3 In the XZ plane, T 2 And T 4 The connecting line of the action points is parallel to the pitching axis, T 2 And T 4 The plane is perpendicular to the XY plane;
T i action point height: i= {1,2,3,4};
H 1 ＝H 2 -R 1 cos E m ；H 2 ＝H 4 ＝d sin E m +h；H 3 ＝H 2 +R 1 cos E m ；
wherein h is the pitch axis height; t (T) i Negative included angle with Z axis:
T i components along X, Y and Z:
T 1x ＝T 1 sinα 1 ；T 1y ＝0；T 1z ＝-T 1 cosα 1 ；
T 2x ＝0；T 2y ＝T 2 sinα 2 ；T 2z ＝-T 2 cosα 2 ；
T 3x ＝-T 3 sinα 3 ；T 3y ＝0；T 3z ＝-T 3 cosα 3 ；
T 4x ＝0；T 4y ＝-T 4 sinα 4 ；T 4z ＝-T 4 cosα 4 。
further, the third step of the design method of the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system comprises the following steps:
(1) Establishing a continuous time dynamics model in a three-dimensional space, inputting transient wind power and rope tension which are distributed in space, and outputting the transient wind power and rope tension as a measuring point acceleration value to obtain the vibration state of an antenna reflecting surface; and outputting displacement values of all nodes, and evaluating the pointing deviation generated by vibration deformation of the reflecting surface of the antenna:
(2) Introducing a modal superposition method, writing a continuous dynamics model into a state space equation, and discretizing to obtain a low-order flexible model of the antenna;
(3) Obtaining x k First to F k Identifying; equivalent front and rear modal force
The same:
for a state observer design, the new state equation is:
x k+1 ＝Ax k +BF k +w k ＝Ax k +B e1 F′ k +w k ；
The theoretical equivalent force is:
F′ k ＝B e1 + BF k ；
wherein the method comprises the steps of
Is B e1 Is the pseudo-inverse of (a);
the system output formula becomes:
a k ＝C a x k +DF k +v k ＝C a x k +D e1 F′ k +v k ；
D e1 ＝DB + B e1 ；
then based on the acceleration measurement points and the acceleration data obtained by A, B e1 ，C a And D e1 Low-order flexible model for constituent consideration force equivalent identification, equivalent force and estimated value x of system vibration state k|k Is obtained by an unbiased minimum variance observer.
Further, the fourth step of the design method of the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system comprises the following steps:
for the rope tension controller design, the new state equation is:
B e2 ＝I；
based on the linear quadratic regulator, the estimated value x of the state force of vibration according to the vibration state can be restrained k|k Obtaining:
rope tension T k Production of
The 4 rope tensions are then obtained by:
T k ＝-(BB T ) + K LQR x k|k ；
the control amount is changed into the rope deformation amount, and a saturator is introduced to limit the rope tension:
eventually a rope tension controller is established.
The invention further aims to provide a radar antenna of the large-sized antenna self-adaptive wind disturbance resisting system applying the measurement and control integration.
In summary, the invention has the advantages and positive effects that: in order to solve the problem that the antenna rotating shaft servo system cannot measure and control the vibration deformation of the reflecting surface, the invention aims to: a method for monitoring and suppressing vibration deformation of wind-induced reflecting surface of large antenna is disclosed. Compared with an antenna rotating shaft servo system, the invention can measure the vibration state of the reflecting surface and can restrain the vibration deformation of the reflecting surface; compared with the wind vibration suppression method which uses the net-shaped reflecting surface antenna and builds a large-sized radome and designs high rigidity, the wind vibration suppression method has little influence on the original antenna structure, and the problems of high-frequency transmission, gain reduction, total quantity increase and the like do not exist.
Drawings
FIG. 1 is a schematic diagram of a measurement and control integrated adaptive wind disturbance resisting system of a large antenna according to an embodiment of the present invention;
in the figure: 1. an accelerometer; 2. a circular slide rail; 3. a rope; 4. a driver; 5. and the industrial personal computer.
Fig. 2 is a diagram of geometrical relationships of various elements provided by an embodiment of the present invention.
Fig. 3 is a schematic diagram of an implementation of an adaptive anti-wind interference system for an antenna according to an embodiment of the present invention.
Fig. 4 is a simulated position diagram of an accelerometer, equivalent identification force, and rope tension provided by an embodiment of the invention.
FIG. 5 is a graph of simulated recognition effects of equivalent force provided by an embodiment of the present invention.
Fig. 6 is a simulated rope deflection and tension map provided by an embodiment of the present invention.
Fig. 7 is a control effect diagram of simulation provided by the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The method for monitoring and inhibiting the vibration deformation of the wind-induced reflecting surface of the large-sized antenna is used for reducing the pointing error of the antenna caused by transient wind disturbance, improving the pointing precision of the large-sized reflecting surface antenna under the wind disturbance,
the principle of application of the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the adaptive wind disturbance resisting system for designing a large-scale antenna based on measurement and control integration provided by the embodiment of the invention comprises: accelerometer 1, circular slide rail 2, rope 3, driver 4, industrial computer 5.
The antenna reflecting surface is provided with a plurality of accelerometers 1, a round slide rail 2 is arranged on the ground, 4 drivers 4 are arranged on the round slide rail, the drivers 4 are connected with the edge of the reflecting surface through ropes 3, an industrial personal computer 5 sends control instructions to the drivers 4 to drive the ropes 3, and rope tension is applied to the edge of the reflecting surface.
The principle of application of the invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a plurality of accelerometers are arranged on the reflecting surface of the antenna to obtain the acceleration of the measuring point in real time. The method for determining the number and the positions of the accelerometers can refer to a modal kinetic energy method, an effective independent method and other sensing optimization layout methods.
As shown in fig. 1 and 2, a 4-rope driving mechanism with a sliding rail is designed and added according to the structural size of the antenna. The center of the circular slide rail is positioned on the antenna base as the center, and the radius is R 2 The method comprises the steps of carrying out a first treatment on the surface of the The drivers can move on the slide rail along with the change of the azimuth angle and the pitch angle of the antenna, and when the azimuth angle is fixed, the drivers 1 and 3 are positioned at the intersection point of the X axis and the slide rail; the 2 and 4 drives are L from the XYZ coordinate system origin:
L＝d cos E m +l (1)
wherein E is m The pitch angle, d is the distance between the pitch axis and the antenna aperture plane, and the distance between the azimuth axis and the pitch axis.
4 rope forces act on the antenna aperture plane (radius R 1 ) At the edge, T 1 And T 3 The connecting line of the action points is perpendicular to the pitching axis, T 1 And T 3 In the XZ plane, T 2 And T 4 The connecting line of the action points is parallel to the pitching axis, T 2 And T 4 The plane is perpendicular to the XY plane.
T i Action point height: (i= {1,2,3,4 });
H 1 ＝H 2 -R 1 cos E m ；H 2 ＝H 4 ＝d sin E m +h；H 3 ＝H 2 +R 1 cos E m (2)
wherein h is the pitch axis height;
T i negative included angle with Z axis:
T i components along X, Y and Z:
T 1x ＝T 1 sinα 1 ；T 1y ＝0；T 1z ＝-T 1 cosα 1 ；
T 2x ＝0；T 2y ＝T 2 sinα 2 ；T 2z ＝-T 2 cosα 2 ；
T 3x ＝-T 3 sinα 3 ；T 3y ＝0；T 3z ＝-T 3 cosα 3 ；
T 4x ＝0；T 4y ＝-T 4 sinα 4 ；T 4z ＝-T 4 cosα 4 (4)
based on the measuring point acceleration measurement and the low-order flexible model of consideration force equivalent identification, the vibration states generated by wind power and rope tension are observed in real time through a Kalman-like observer. To describe the flexible vibration of the antenna, a continuous time dynamics model in three dimensions is built. The inputs to the model are the spatially distributed transient wind forces and rope tensions, as shown in fig. 1. The output is a measuring point acceleration value which is used for obtaining the vibration state of the reflecting surface of the antenna; the output is also the displacement value of all nodes, which is used for evaluating the pointing deviation generated by the vibration deformation of the reflecting surface of the antenna:
the antenna reflecting surface has t nodes and m measuring points.
/>
The node displacement, velocity and acceleration vectors in the XYZ coordinate system, respectively, are all 3t x 1 in dimension. F (F) x ，F y ，F z Transient wind power in X, Y and Z directions of each structural node of the antenna reflecting surface respectively, and the dimensions of the transient wind power are t multiplied by 1. Rope tension of 4 x 1 dimension is = [ T ] 1 T 2 T 3 T 4 ] T ，B Tx ，B Ty And B Tz Is a matrix of the resolution of rope tension in the X, Y, Z directions. />
And->
The acceleration output vector of the measuring point is 3m multiplied by 1, and the node displacement is 3t multiplied by 1. M, D and K, both having dimensions 3t, are mass, damping and stiffness matrices, respectively, of the structure. B (B) x ，B y ，B z Are input matrices of dimension t x t. Output matrix C o Is 3m x 3t.
Introducing a modal superposition method, writing a continuous dynamics model into a state space equation, and discretizing to obtain a low-order flexible model of the antenna:
x k+1 ＝Ax k +BF k +w k (7)
a k ＝C a x k +DF k +v k (8)
d k ＝C d x k (9)
wherein k is a time step; x is x k Is a system state; a, B, C a ，C d And D is a system matrix; a, a k And d k Measuring point acceleration and node displacement respectively; f (F) k Including wind and rope tension for dynamic loads; w (w) k Due to model errors generated by model reduction, the covariance matrix is
v k For measuring noise, its covariance matrix is +.>
Consider the state observer of force equivalent recognition:
then to obtain x k Then it is necessary to first pair F k And (5) carrying out identification. On the premise of meeting the criteria of system stability, observability, controllability and direct reversibility, the problem of complex spatial distribution force identification is simplified into the problem of identifying the force of a certain plurality of nodes in a certain direction.
Equivalent front and rear modal force
The same:
for the state observer design, the new state equation of equation (7) is:
x k+1 ＝Ax k +BF k +w k ＝Ax k +B e1 F′ k +w k (11)
The theoretical equivalent force is:
F′ k ＝B e1 + BF k (14)
wherein B is e1 + Is B e1 Is a pseudo-inverse of (a). The pseudo-inverse is implemented by singular value decomposition, not only to solve the inverse of the non-square matrix, but also to avoid instability of the numerical solution due to rank deficiency.
The system output formula (8) becomes:
a k ＝C a x k +DF k +v k ＝C a x k +D e1 F′ k +v k (15)
D e1 ＝DB + B e1 (16)
then based on the acceleration measurement points and the acceleration data obtained by A, B e1 ，C a And D e1 Low-order flexible model for constituent consideration force equivalent identification, equivalent force and estimated value x of system vibration state k|k Is obtained by an unbiased minimum variance observer. The implementation principle of the observer is shown in fig. 3.M is M k And K k The calculation formula of (2) is shown in the following document.
E.Lourens，C.Papadimitriou，S.Gillijns，et al，Joint input-response estimation for structural systems based on reduced-order models and vibration data from a limited number of sensors，Mechanical Systems and Signal Processing.29(2012):310-327.
Based on the observed vibration state, the rope tension is controlled by the linear secondary regulator so as to inhibit the vibration deformation of the reflecting surface.
For the rope tension controller design, the new state equation is:
B e2 ＝I (18)
based on the linear quadratic regulator, the estimated value x of the state force of vibration according to the vibration state can be restrained k|k Obtaining:
rope tension T k Production of
The 4 rope tensions can then be obtained by:
T k ＝-(BB T ) + K LQR x k|k (21)
for convenience of implementation, the control amount is changed into the rope deformation amount, and a saturator is introduced to limit the rope tension:
the rope stiffness is
E is Young's modulus, A r Is the rope cross-section area L i Is the i-th rope length; t (T) max The required stress of the antenna structure and the rope cannot be exceeded. Eventually a rope tension controller as shown in fig. 3 is established.
The related program is written into the industrial personal computer, and the measuring system and the control system are integrated into a self-adaptive wind disturbance resisting system for monitoring and inhibiting vibration deformation of the reflecting surface, so that the pointing accuracy of the large-sized reflecting surface antenna under wind disturbance is improved.
The application effect of the present invention will be described in detail with reference to simulation.
Table 1 adaptive system simulation parameter table
The antenna adaptive anti-wind-disturbance system shown in fig. 1 is established according to table 1, and the layout of the accelerometer and the action points of equivalent recognition force and rope tension are shown in fig. 4. As shown in FIG. 3, the adaptive wind disturbance resisting system works under the action of transient wind power, the simulation time is 4 seconds, the sampling rate is 1000Hz, the average wind speed is 10m/s, and wind blows from the front of the antenna. Figure 5 shows that the identity of the equipotential forces is good with the theoretical equipotential forces. The rope deformation and tension that suppresses the vibration of the reflecting surface are shown in fig. 6. Based on best fit parabolic theory (J.Zhang, J.Huang, L.Qiu and r.song, analysis of reflector vibration-induced pointing errors for large antennas subject to wind disturbance, IEEE Antennas and Propagation magazine.57 (2015): 46-61.), the pointing bias of the antenna can be obtained from the amount of the reflecting surface vibration displacement:
θ＝[θ ⅰ θ ⅱ ] T ＝f(d W ) (24)
wherein θ is ⅰ And theta ⅱ The projection amounts of the directional deviation on the UW and VW planes, d W The displacement vector of the node in the W direction is obtained through coordinate transformation.
As can be seen from fig. 7, the pointing deviation under the control of the rope tension is reduced by 80.26% compared with the uncontrolled condition, which shows that the invention can effectively inhibit the vibration deformation of the reflecting surface and improve the pointing accuracy of the antenna under wind disturbance.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. The design method of the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system is characterized in that the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system is provided with:
the method comprises the steps that a round sliding rail is arranged on the ground, 4 drivers are arranged on the round sliding rail, the drivers are connected with the edges of the reflecting surface through ropes, an industrial personal computer sends control instructions to the drivers to drive the ropes, and rope tension is applied to the edges of the reflecting surface;
the design method of the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system comprises the following steps:
firstly, arranging an accelerometer on a reflecting surface to acquire acceleration of a measuring point in real time;
secondly, designing and additionally installing a 4-rope driving mechanism with a sliding rail according to the structural size of the antenna;
thirdly, based on a low-order flexible model of measuring point acceleration measurement and consideration force equivalent identification, observing vibration states generated by wind power and rope tension in real time through a Kalman-like observer;
fourthly, controlling the tension of the rope through a linear secondary regulator based on the observed vibration state so as to inhibit vibration deformation of the reflecting surface;
fifthly, integrating the measuring system of the first step and the third step and the control system of the second step and the fourth step into a self-adaptive wind disturbance resisting system, and writing related programs into an industrial personal computer for practical engineering;
the third step of the design method of the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system comprises the following steps:
(1) Establishing a continuous time dynamics model in a three-dimensional space, inputting transient wind power and rope tension which are distributed in space, and outputting the transient wind power and rope tension as a measuring point acceleration value to obtain the vibration state of an antenna reflecting surface; and outputting displacement values of all nodes, and evaluating the pointing deviation generated by vibration deformation of the reflecting surface of the antenna:
(2) Introducing a modal superposition method, writing a continuous dynamics model into a state space equation, and discretizing to obtain a low-order flexible model of the antenna;
(3) Obtaining x k First to F k Identifying; equivalent front and rear modal force
The same:
for a state observer design, the new state equation is:
x k+1 ＝Ax k +BF k +w k ＝Ax k +B e1 F′ k +w k ；
B e1 ＝B □ B F ,B＝[B X B Y B Z ]；
and may be any one of X, Y and Z, B □ ∈{B X ,B Y ,B Z },B F A position matrix of q equipotentials; if the force is equivalent to the X direction, B □ Is B X ，B F In (a) and (b)B □ij Is B Xij If the jth equipotential force acts on the ith node, then B Xij =1, otherwise B Xij ＝0；
The theoretical equivalent force is:
F′ k ＝B e1 + BF k ；
wherein the method comprises the steps of
Is B e1 Is the pseudo-inverse of (a);
the system output formula becomes:
a k ＝C a x k +DF k +v k ＝C a x k +D e1 F′ k +v k ；
D e1 ＝DB + B e1 ；
then based on the acceleration measurement points and the acceleration data obtained by A, B e1 ，C a And D e1 Low-order flexible model for constituent consideration force equivalent identification, equivalent force and estimated value x of system vibration state k|k Sequentially obtaining by an unbiased minimum variance observer;
the fourth step of the design method of the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system comprises the following steps:
for the rope tension controller design, the new state equation is:
B e2 ＝I；
based on the linear quadratic regulator, the estimated value x of the state force of vibration according to the vibration state can be restrained k|k Obtaining:
rope tension T k Production of
The 4 rope tensions are then obtained by:
T k ＝-(BB T ) + K LQR x k|k ；
the control amount is changed into the rope deformation amount, and a saturator is introduced to limit the rope tension:
eventually a rope tension controller is established.
2. The method for designing the measurement and control integrated large-scale antenna self-adaptive wind-disturbance-resistant system according to claim 1, wherein the measurement and control integrated large-scale antenna self-adaptive wind-disturbance-resistant system is characterized in that a plurality of accelerometers are arranged on an antenna reflecting surface, and the acceleration of a measuring point is obtained in real time.
3. The method for designing a measurement and control integrated large-scale antenna self-adaptive wind-disturbance-resistant system according to claim 1, wherein the measurement and control integrated large-scale antenna self-adaptive wind-disturbance-resistant system has a circular slide rail with a center at the center of an antenna base and a radius R 2 The method comprises the steps of carrying out a first treatment on the surface of the The driver moves on the slide rail as the antenna azimuth and elevation angle change.
4. The method for designing the measurement and control integrated large-scale antenna self-adaptive wind disturbance resisting system according to claim 1,the self-adaptive wind-disturbance-resistant system is characterized in that 4 rope forces of the measurement and control integrated large-sized antenna self-adaptive wind-disturbance-resistant system act on the edges of the caliber surface of the antenna, T 1 And T 3 The connecting line of the action points is perpendicular to the pitching axis, T 1 And T 3 In the XZ plane, T 2 And T 4 The connecting line of the action points is parallel to the pitching axis, T 2 And T 4 The plane is perpendicular to the XY plane.
5. The method for designing a measurement and control integrated large-scale antenna adaptive anti-wind-disturbance system according to claim 1, wherein the second step of the method for designing the measurement and control integrated large-scale antenna adaptive anti-wind-disturbance system comprises the following steps:
(1) The center of the circular slide rail is positioned on the antenna base as the center, and the radius is R 2 The method comprises the steps of carrying out a first treatment on the surface of the The drivers can move on the slide rail along with the change of the azimuth angle and the pitch angle of the antenna, and when the azimuth angle is fixed, the drivers 1 and 3 are positioned at the intersection point of the X axis and the slide rail; the distance between the 2 and 4 drivers and the origin of the XYZ coordinate system is L;
L＝d cos E m +l；
wherein E is m The pitch angle is the distance between the pitch axis and the antenna aperture plane, and the distance between the azimuth axis and the pitch axis is the distance between the azimuth axis and the pitch axis;
(2) 4 rope forces act on the radius R of the caliber surface of the antenna 1 At the edge, T 1 And T 3 The connecting line of the action points is perpendicular to the pitching axis, T 1 And T 3 In the XZ plane, T 2 And T 4 The connecting line of the action points is parallel to the pitching axis, T 2 And T 4 The plane is perpendicular to the XY plane;
T i action point height: i= {1,2,3,4};
H 1 ＝H 2 -R 1 cos E m ；H 2 ＝H 4 ＝d sin E m +h；H 3 ＝H 2 +R 1 cos E m ；
wherein h is the pitch axis height; t (T) i Negative included angle with Z axis:
T i components along X, Y and Z:
T 1x ＝T 1 sinα 1 ；T 1y ＝0；T 1z ＝-T 1 cosα 1 ；
T 2x ＝0；T 2y ＝T 2 sinα 2 ；T 2z ＝-T 2 cosα 2 ；
T 3x ＝-T 3 sinα 3 ；T 3y ＝0；T 3z ＝-T 3 cosα 3 ；
T 4x ＝0；T 4y ＝-T 4 sinα 4 ；T 4z ＝-T 4 cosα 4 。
6. a radar antenna applying the method for designing a measurement and control integrated large-scale antenna adaptive wind disturbance resisting system according to any one of claims 1 to 5.
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| GB8300947D0 (en) * | 1982-01-28 | 1983-02-16 | Tokyo Shibaura Electric Co | Antenna apparatus |
| WO2017000396A1 (en) * | 2015-06-30 | 2017-01-05 | 中国空间技术研究院 | Truss antenna reflector deployment dynamics modelling method based on multi-body analysis test |
| CN107450588A (en) * | 2017-09-29 | 2017-12-08 | 北京航空航天大学 | A kind of strong disturbance rejection control method of Flexible Spacecraft control system |
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| JP3768933B2 (en) * | 2002-07-25 | 2006-04-19 | 株式会社東芝 | Antenna device |
| CN201515002U (en) * | 2009-09-09 | 2010-06-23 | 李泉洞 | Radio telescope feed cabin positioning system and feed telescope |
| CN103558758B (en) * | 2013-08-09 | 2016-06-08 | 西安电子科技大学 | A kind of large-scale antenna wind disturbance resistance self-adapting compensation method |
| CN106159410B (en) * | 2016-08-19 | 2019-07-02 | 广州来电新动力研究中心有限公司 | A kind of guide tracked portable satellite communications antenna |
| CN106602261A (en) * | 2016-12-21 | 2017-04-26 | 中云卫星通信有限公司 | Shipborne satellite communication system and method for shipborne antenna to track satellite |
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| GB8300947D0 (en) * | 1982-01-28 | 1983-02-16 | Tokyo Shibaura Electric Co | Antenna apparatus |
| WO2017000396A1 (en) * | 2015-06-30 | 2017-01-05 | 中国空间技术研究院 | Truss antenna reflector deployment dynamics modelling method based on multi-body analysis test |
| CN107450588A (en) * | 2017-09-29 | 2017-12-08 | 北京航空航天大学 | A kind of strong disturbance rejection control method of Flexible Spacecraft control system |
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