CN110120586A - A kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method - Google Patents
A kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method Download PDFInfo
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- CN110120586A CN110120586A CN201910514922.7A CN201910514922A CN110120586A CN 110120586 A CN110120586 A CN 110120586A CN 201910514922 A CN201910514922 A CN 201910514922A CN 110120586 A CN110120586 A CN 110120586A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/34—Adaptation for use in or on ships, submarines, buoys or torpedoes
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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Abstract
The invention discloses a kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method, system and equipment, and this approach includes the following steps, include the following steps, obtain antenna azimuth and antenna elevation angle；Threshold range and antenna elevation angle are tracked in low elevation angle threshold range in side board in antenna azimuth, obtain speed limit threshold value corresponding with the ship rolling signal of acquisition；There are one-to-one mapping relations between ship rolling signal and speed limit threshold value；Antenna pitching branch movement velocity voltage is exported according to error voltage, when antenna pitching branch movement velocity voltage reaches voltage value corresponding to speed limit threshold value, the movement velocity of the corresponding voltage control antenna of output speed limit threshold value.Under the premise of above-mentioned boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method ensures the low-elevation tracking performance of boat-carrying two degrees of freedom servo-system; effectively extend between servo operation hand reaction time; the risk that thus antenna to structural damage can occur minimizes, and improves safety.
Description
Technical field
The present invention relates to boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method, system and equipment, are related to
Boat-carrying two degrees of freedom servo-system technical field.
Background technique
Boat-carrying two degrees of freedom servo-system, function is exactly that the wave beam of antenna is made to be directed at aircraft, to enable the antenna to feel
The electromagnetic wave from target should be arrived.When target enters within the scope of radar line of sight, servo subsystem should be able to be searched for and be caught automatically
Target is obtained, target is continuously tracked with certain tracking accuracy, target is made to be in the approximate centerline of antenna main beam always, thus
Echo signal is reliably continuously received with maximum gain.Two degrees of freedom servo-system, antenna are pitching-day orientation type (A-E)
Line, orientation can rotate between ± 360 °, and pitching working range is at 0~180 °.The antenna structure of two degrees of freedom servo-system is such as
Shown in Fig. 1.
It is different from the servo-system at land cloth station, boat-carrying two degrees of freedom servo-system in the process of running inevitably by
The influence shaken to ship, boat-carrying two degrees of freedom servo-system are all made of the mode of side board tracking when tracking low elevation angle target to keep away
Exempt from blocking for signal, the movement of such servo-system, which will unavoidably be shaken by ship, to be influenced, in order to avoid boat-carrying large size servo
System encounters the accident for causing antenna structure to occur damaging because of antenna movement during low-elevation tracking, is tracking low elevation angle mesh
When mark, antenna structure safety is generally ensured using two kinds of means of mechanical position limitation and rate limitation.
Mechanical position limitation is divided into electric limiting and mechanical position limitation two parts, and electric limiting device includes stroke dog, limits and open
Pass and control protection electric circuit.When antenna turns to extreme position, stroke dog touches limit switch, passes through control protection electricity
Road powers off driving motor or plugging.Two sets of stroke dogs and limit switch is arranged: first grade is pre- limit, is first cut
Disconnected control signal, deceleration；Second gear is limit eventually, removes excitation electromagnetic braking simultaneously, antenna is made to stop operating.Machinery limit
Position device is antenna may to be made to get over since limit switch failure, brake malfunctions or other fortuitous events occur when antenna
It crosses stop zone, bump against antenna mount and damage antenna or antenna pedestal, mechanical buffer unit is set in antenna extreme sport position,
Play buffer shock-absorbing.
When rate limitation is referred in order to avoid low-elevation tracking, there is safety problem and damages its mechanical structure in antenna,
Speed-limiting protection measure is taken in speed loop, at present by way of installing speed relay on speed loop plate, to ring
Road voltage is limited, to reach speed limiting function.By limiting the movement velocity of antenna pitching branch, servo can be increased
In the reaction time of manipulator, reducing antenna leads to the probability of structural damage because the elevation angle is too low.
Both the above method is the antenna protection measure that current boat-carrying two degrees of freedom servo-system is used, and both of which has
Its limitation, mechanical stop limiter are only capable of shielding in structure, are unable to look-ahead antenna movement trend, nor
Operator can be allowed to have the enough operation time, and speed limit is carried out to servo pitching branch on speed loop circuit, limitation
Velocity amplitude rule of thumb set, usually than more conservative, the value of setting is relatively low, and cannot be adjusted, and shakes or mesh in ship
It will limit servo-system low-elevation tracking performance in the case that mark movement velocity is big, due to the presence of speed-limiting protection, caused to watch
There are biggish dynamic lags during tracking for dress system, and with the continuous accumulation of tracking error, tracking target has gone out antenna
Beam area eventually leads to target loss, thus, too low speed-limiting protection will lead to servo-system low-elevation tracking exception, make
At BREAK TRACK risk.
Summary of the invention
The technical problems to be solved by the present invention are: providing, one kind is easy to adjust, flexibility is high and can effectively realize low face upward
Boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method, system and the equipment of angle tracking speed-limiting protection.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions:
A kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method, includes the following steps,
Obtain antenna azimuth and antenna elevation angle；
Track threshold range and antenna elevation angle in low elevation angle threshold range in side board in antenna azimuth, obtain with
The corresponding speed limit threshold value of ship rolling signal of acquisition；There is one-to-one mapping to close between ship rolling signal and speed limit threshold value
System；
Antenna pitching branch movement velocity voltage is exported according to error voltage, when antenna pitching branch movement velocity voltage reaches
When to voltage value corresponding to speed limit threshold value, the movement velocity of the corresponding voltage control antenna of output speed limit threshold value.
Preferably, setting ship rolling signal and speed limit threshold value between one-to-one mapping relations method include with
Lower step:
Ship rolling signal includes ship rolling amplitude and ship rolling period；Ship is obtained according to ship rolling amplitude and ship rolling period
Rolling velocity；
According to error voltage signal and the antenna movement speed exported under the normal tracking mode of boat-carrying two degrees of freedom servo-system
Interative computation relationship between degree；And side board tracking mode is gone ashore rolling velocity, target velocity, antenna movement speed and error
The interative computation relationship of voltage obtains mapping relations computation model；
By ship rolling period, the error voltage signal that exports under normal tracking mode and the target in above-mentioned computation model
Speed is equivalent to empirical value, obtains antenna movement speed as antenna according to the computation model and the ship rolling amplitude of acquisition
Threshold speed.
Preferably, the step of acquisition mapping relations computation model, includes:
Error voltage letter is obtained according to the P I control mode of speed loop in boat-carrying two degrees of freedom servo-system track loop
Relationship number between antenna movement speed:
In above formula (1), T is signal sampling interval time；KpAnd KIThe respectively ratio and integral coefficient of track loop；V
It (kT) is the antenna movement speed control voltage of kth moment servo-system output；E (kT) is the tracking of kth moment servo-system
The error voltage of receiver input, k=0,1,2 ..., n；
Ship rolling velocity is obtained according to ship rolling amplitude and ship rolling period:
In above formula (2), VSFor ship rolling velocity, TsFor ship rolling period；A is ship rolling amplitude；
When ship rolling influences maximum to antenna movement, according to side board tracking mode go ashore rolling velocity, target velocity with
And antenna movement speed obtains error voltage:
E (kT+T)=E (kT)+(VS(kT+T)-V(kT)+VT)×T×KT (3)
In above formula (3), VTFor target speed, KTFor the corresponding error voltage conversion coefficient of antenna beam displacement；
The mathematical model as shown in following formula (4) is established in convolution (1), (2), (3):
The antenna fortune at kth moment is obtained according to the error voltage of input, target velocity, ship rolling period, ship rolling amplitude
Dynamic speed control voltage V (kT), antenna movement speed control voltage are proportional to antenna pitching movement velocity；
Obtained different antenna movement speed control under different ship rolling amplitude ranges is calculated according to mathematical model
Voltage, multiple speed limit threshold values that the mutiple antennas movement velocity of acquisition control voltage is moved as antenna pitching.
Preferably, the step of acquisition vessel rolling signal, includes:
Obtain the positive value of the ship rolling amplitude maximum in multiple ship rolling periods；
Multiple positive values are averaged, using average value as ship rolling amplitude input signal.
Preferably, in the ship rolling amplitude in the first preset range, the antenna movement speed control that will be calculated
The maximum value of voltage processed is as the first gear speed limit threshold value；
In the ship rolling amplitude in the second preset range, most by the antenna movement speed control voltage being calculated
Speed limit threshold value of the big value as the second gear.
A kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection system, including memory and processor, institute
It states memory and is stored with boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection program, described in processor operation
When boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection program, execute as above-mentioned boat-carrying two degrees of freedom servo-system is low
The step of low-angle tracking speed-limiting protection method.
A kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection equipment, freely including such as above-mentioned boat-carrying two
Servo-system low-elevation tracking speed-limiting protection system is spent, and:
Angular transducer, for obtaining antenna azimuth and antenna elevation angle；
Receiver, for obtaining error voltage signal；
Gyroscope, for obtaining ship rolling period and ship rolling amplitude；
The angular transducer, receiver, gyroscope be both connected to the low elevation angle of the boat-carrying two degrees of freedom servo-system with
The input terminal of track speed-limiting protection system；
The output end of the boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection system is connected to antenna pitching
The control terminal of motor.
Compared with prior art, technical solution of the present invention has the beneficial effect that
One, it can judge whether antenna is in compared with side board tracks threshold range by the antenna azimuth obtained in real time
Side board tracking mode can determine that whether antenna is in compared with low elevation angle threshold range by the antenna elevation angle obtained in real time
Low elevation angle state, when tracking low elevation angle state in side board, servo-system is according under the conditions of normally tracking target and ship shake
The error voltage of input, the speed limit threshold value that output changes according to not shipmate rolling amplitude, by the limit of speed limit threshold value control antenna
Fast range, thus appearance the case where the low-elevation tracking performance of antenna can be met according to the different ship conditions of shaking, avoided with losing；
Two, since the movement velocity of antenna pitching branch is can be added to maximum speed by current control with moment, because
And if antenna cracking may move to 0 degree of pitching branch or less and then cause structural damage without speed limit, and
Manipulator is arranged in the present invention in the process but that operating antenna does not make its stopping in time between enough performance reaction times
The speed limit threshold value of system output, namely the speed of antenna pitching movement is limited, the tracking performance for meeting antenna while,
Antenna maximum operational speed is limited, the operation of manual termination antenna, energy are removed between servo operation hand can be allowed to have performance reaction time
Antenna is enough effectively reduced and the risk probability of structural damage occurs；
Three, entire speed-limiting protection process is all based on servo-control system progress, because without watching to boat-carrying two degrees of freedom
Take control system and carry out hardware modifications, only need to increase corresponding control module in servo control software, reduce system development at
This, load is flexible.
Detailed description of the invention
The following further describes the present invention with reference to the drawings:
Fig. 1 is the antenna structure view of boat-carrying two degrees of freedom servo-system of the invention；
Fig. 2 is the control flow chart of one embodiment of the invention；
Fig. 3 be the present invention in a period of time, and under the conditions of 1~1.5 ° of ship rolling, speed limit threshold value is 0.7 °/s formula
Low elevation angle speed limit tracking test datagram；
Fig. 4 be the present invention in a period of time, and under the conditions of 1~2 ° of ship rolling, speed limit threshold value is the low of 1.5 °/s formula
Elevation angle speed limit tracking test datagram.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses:
A kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method, includes the following steps,
Antenna azimuth and antenna elevation angle are obtained first；Threshold range and antenna are tracked in side board in antenna azimuth
Pitch angle obtains speed limit threshold value corresponding with the ship rolling signal of acquisition in low elevation angle threshold range；Ship rolling signal and limit
There are one-to-one mapping relations between fast threshold value；Antenna pitching branch movement velocity voltage is exported according to error voltage, when
When antenna pitching branch movement velocity voltage reaches voltage value corresponding to speed limit threshold value, the corresponding voltage control of output speed limit threshold value
The movement velocity of antenna processed obtains ship rolling amplitude in multiple ship rolling periods most in acquisition vessel roll amplitude value first
The positive value being worth greatly；Then multiple positive values are averaged, using average value as ship rolling amplitude input signal, thus can maximum journey
Current ship is reacted on degree and shakes characteristic, and the ship for improving acquisition shakes the accuracy of amplitude signal；
Then, error is obtained according to the P I control mode of speed loop in boat-carrying two degrees of freedom servo-system track loop
Relationship between voltage signal and antenna movement speed,
In servo control software, the sampling error voltage signal for implementing input is carried out in P I control process, input quantity
It is error voltage E, characterization servo antenna deviates the displacement of target's center, and target deviation electrical boresight of antenna center is more, and input is watched
The error voltage of clothes control software is bigger；Output quantity is antenna pitching movement velocity voltage V, which directly controls servo-system
Speed loop voltage, the speed direct proportionality with antenna movement.Thus, in current sample period, control software pair
The error voltage amount of input carries out shown in the computation model relational expression such as following formula (1) of PI control, the output next frame sampling period
Antenna movement velocity voltage, so that the Closed loop track control of antenna is completed,
In above formula (1), T is signal sampling interval time；KpAnd KIThe respectively ratio and integral coefficient of track loop；V
It (kT) is the antenna movement speed control voltage of kth moment servo-system output；E (kT) is the tracking of kth moment servo-system
The error voltage of receiver input, k=0,1,2 ..., n；
Then ship rolling velocity is obtained according to ship rolling amplitude and ship rolling period, kinetic characteristic is shaken according to ship, by ship cross
It shakes movement function and is equivalent to a just/remaining side of a ship function, then the ship that kth is carved shakes amplitude calculation expression and isAnd
Ship rolling velocity VSIt is then the differential expressions of ship roll amplitude, wherein kth moment ship rolling velocity calculation expression such as following formula
(2) shown in,
In above formula (2), VSFor ship rolling velocity, TsFor ship rolling period；A is ship rolling amplitude；
When ship rolling influences maximum to antenna movement, go ashore rolling velocity, target velocity further according to side board tracking mode
And antenna movement speed obtains error voltage,
During actual tracking, go out the Horizon low elevation angle stage in target, servo antenna is in and faces hull side board
Carry out the state of tracking, thus antenna pitching branch moves the double drive by target and ship rolling motion at this time, and in reality
In, the theoretical running track of target movement can be all precalculated in advance and calculates the average movement velocity of target, therefore
Target speed can be reflected as to the speed of a uniform motion target on pitching branch road, and by the day of servo-system
The error voltage that line pitching branch is directed toward is characterized as position under the conditions of ship rolling is superimposed with target velocity within a sampling period
Shifting amount, when ship rolling motion is just to be superimposed with target movement, convolution (1) can obtain antenna error voltage and ship rolling speed
The relationship of degree, target velocity and antenna movement speed, as shown in following formula (3),
E (kT+T)=E (kT)+(VS(kT+T)-V(kT)+VT)×T×KT (3)
In above formula (3), VTFor target speed, KTFor the corresponding error voltage conversion coefficient of antenna beam displacement；
The mathematical model as shown in following formula (4) is established in convolution (1), (2), (3):
The antenna fortune at kth moment is obtained according to the error voltage of input, target velocity, ship rolling period, ship rolling amplitude
Dynamic speed control voltage V (kT), antenna movement speed control voltage are proportional to antenna pitching movement velocity；
Obtained different antenna movement speed control under different ship rolling amplitude ranges is calculated according to mathematical model
Voltage, multiple speed limit threshold values that the mutiple antennas movement velocity of acquisition control voltage is moved as antenna pitching；
In the ship rolling amplitude in the first preset range, obtained according to preset target velocity and error voltage signal
Antenna movement speed in maximum value as the first gear antenna pitching move speed limit threshold value；
In the ship rolling amplitude in the second preset range, obtained according to preset target velocity and error voltage signal
Antenna movement speed in maximum value as the second gear antenna pitching move speed limit threshold value.
In practical calculating process, preset range value can according to need, and can according to need and preset multiple rolling
Amplitude range then corresponds to the speed limit threshold value of multiple gears.
In the present embodiment, by the setting of the angle of antenna bearingt branch 90 ° or 270 ° nearby for namely antenna electricity
Axis face hull side board, at this point, the influence that ship shakes to the movement of antenna pitching branch is maximum, and pitch angle threshold angle range is 6
Degree no longer carries out limit protection to antenna hereinafter, if the deck in ship structure elevation angle is greater than 6 degree.
The invention further relates to a kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection systems, including memory
And processor, the memory is stored with boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection program, at the place
When managing the device operation boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection program, the boat-carrying two degrees of freedom is executed
The step of servo-system low-elevation tracking speed-limiting protection method.
In addition, the invention further relates to a kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection equipment, including
The boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection system and angular transducer, for obtaining antenna
Azimuth and antenna elevation angle；Receiver, for obtaining error voltage signal；Gyroscope, for obtaining ship rolling period and ship
Rolling amplitude；The angular transducer, receiver, position sensor, gyroscope are both connected to the boat-carrying two degrees of freedom servo
The input terminal of system low-elevation tracking speed-limiting protection system；The boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection
The output end of system is connected to the control terminal of antenna pitching motor.
As shown in Fig. 2, by taking practical side board low-elevation tracking process as an example, the control process of speed-limiting protection specifically include with
Lower step,
Step 1, boat-carrying two degrees of freedom servo-system detect deck in ship structure elevation value；
Step 2, if the deck in ship structure elevation value detected, which is greater than in system, presets extreme angles, speed-limiting protection
Process terminates, if the deck in ship structure elevation value detected, which is less than in system, presets extreme angles, continues starting speed limit guarantor
Shield process；
Step 3, selection starting automatic speed-limiting mode is general to be selected by human-computer interaction interface, in the present embodiment, is
It is convenient to manually adjust speed-limiting protection as needed, it is provided in the boat-carrying two degrees of freedom servo-system and manually selects speed limit mould
Formula, the manual speed limit mode and automatic speed-limiting mode be two differences and can free switching Control for Speed Limitation mode, the hand
The speed limit priority of dynamic selection speed limit mode is higher than automatic speed-limiting mode, in the step 3, if selection starting manually selects limit
Fast mode, then the speed limit gear namely speed limit threshold value for manually controlling selection antenna as needed by operator carry out manual speed limit
Protection can according to need to switch under automatic speed-limiting mode at any time and manually select speed limit mode and in practical applications,
Ship is thus avoided to shake suddenly when there is larger fluctuation, automatic speed-limiting mode can not calculate in time ship and shake amplitude and lead to speed limit gear
Namely speed limit threshold value switching not in time the problem of；
Step 4, after starting automatic speed-limiting protected mode, boat-carrying two degrees of freedom servo-system is calculated according to automatic collection
Ship roll amplitude, if the ship calculated shakes amplitude within the scope of a preset wherein ship rolling, boat-carrying two degrees of freedom servo
System is according to the corresponding speed limit threshold value of the signal acquisition inputted at this time, namely realizes the selection course of speed limit gear, is then
Start the speed-limiting protection process that current ship shakes under amplitude to repeat the above process if the ship amplitude of shaking is slowly increased or reduces, then weighs
The new speed limit threshold value for obtaining respective notch, and start in new speed-limiting protection process.
In practical applications, if after opening speed-limiting protection, in the case where signal input is normal and system operates normally,
The hoisting speed of servo antenna is not up to the velocity amplitude of maximum value namely speed limit threshold restriction, and when input signal is disturbed
Or after system breaks down, will cause error voltage occur it is abnormal, at this time error voltage cannot really reflect target with
Positional relationship between antenna direction, if error voltage becomes larger extremely, passes through PI and controls output under low elevation angle autotracking state
Servo pitching branch speed also will increase, when pitching branch speed control voltage increases to current speed limit threshold value, system is then
Speed limit threshold value can be exported to control the movement velocity of antenna pitching branch, the branch movement velocity of servo pitching at this time controls voltage will
Speed limit threshold value is not exceeded, stops antenna movement to the servo operation hand enough reaction time, it is ensured that antenna structure safety is kept away
Exempt from antenna and structural damage occur, the above process is equally applicable to manual speed-limiting protection process.
And due to being provided with speed limit threshold value, thus the hoisting speed of antenna will receive limitation, thus occur in error voltage
When abnormal, the hoisting speed of antenna will not suddenly increase to biggish velocity amplitude, then antenna pitching be made to move to pitching
0 degree of time below of branch will increase, and continues to move to go in the reaction time to terminate antenna to operator, antenna is avoided to go out
Existing structural damage.
It shakes the corresponding different antenna pitching speed-limiting protection range of amplitude to different ships below to be illustrated, if mesh
Mark speed is 0.15 °/s, vessel-shake period 11s, is calculated by mathematical model in normal tracking, not shipmate to shake amplitude pair
The low-elevation tracking pitching speed limit range answered is as shown in table 1 below,
Table 1
| Ship roll amplitude (°) | Pitching speed limit range (°/s) |
| < 1 | ≥0.78 |
| 1~2 | ≥1.41 |
| 2~3 | ≥2.03 |
| 3~4 | ≥2.66 |
| 4~5 | ≥3.28 |
In upper table, listing in normally tracking target, the different ship amplitudes of shaking corresponds to different pitching speed limit ranges,
Within the scope of corresponding ship rolling, the hoisting speed of antenna needs to meet corresponding pitching speed limit range, is just being able to satisfy target just
Normal tracking performance, and the minimum value of pitching speed limit range therein is that the antenna being calculated under corresponding ship roll amplitude is bowed
Face upward the maximum speed that movement is likely to occur, corresponding antenna movement speed control voltage namely corresponding speed limit threshold value.
In the present embodiment, the experiment of trace simulation target, the verifying present invention are carried out in the case of shaking by true ship at sea
The performance of servo control software in technical solution.Wherein, in Fig. 3, abscissa indicates the time, and unit is (ms/20), ordinate
Three components are the movement velocity of the error voltage of servo pitching branch, ship cross level angle and antenna pitching branch respectively, wherein
Left axis of ordinates is the common coordinate axis of error voltage and ship cross level angle, and right axis of ordinates is that the movement velocity of antenna pitching branch is sat
Parameter, overall data graphical representation is at 1~1.5 ° of ship rolling, and under conditions of rolling period is 11s, setting ACU software is limited
Fast threshold value is 0.7 °/s, and antenna is in side board trace simulation target conditions.From figure 3, it can be seen that in 2-3 rolling period,
The case where servo-system appearance causes target to be lost because of speed limit, if illustrating, speed limit condition is mismatched, and tracking process error can be continuous
Accumulation, beyond after 6 °, the error voltage and antenna pitching angular speed of servo-system tracking occur at tracking pitching deck angle
Biggish jump eventually leads to the loss of tracking target.
Wherein, in Fig. 4, abscissa indicates the time, and unit is (ms/20), and three components of ordinate, are servo pitching respectively
The movement velocity of the error voltage of branch, ship cross level angle and antenna pitching branch, wherein left axis of ordinates is error voltage and ship
The common coordinate axis of cross level angle, right axis of ordinates are the movement velocity reference axis of antenna pitching branch, overall data graphical representation
In 1-2 ° of ship rolling, under the conditions of rolling period is 11s, servo-system that setting servo control software speed limit threshold value is 1.5 °/s
Track situation.It can be seen from the figure that turning down in reasonable ship, correct speed limit threshold value is set, it can be in protection servo system
Effectively evading speed limit while system low-elevation tracking influences low-elevation tracking bring, thus illustrates technical solution of the present invention
Low-elevation tracking speed-limiting protection process is effectively realized, and improves safety.
It is emphasized that: the above is only presently preferred embodiments of the present invention, not make in any form to the present invention
Limitation, any simple modification, equivalent change and modification to the above embodiments according to the technical essence of the invention,
All of which are still within the scope of the technical scheme of the invention.
Claims (7)
1. a kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method, it is characterised in that: include the following steps,
Obtain antenna azimuth and antenna elevation angle；
Threshold range and antenna elevation angle are tracked in low elevation angle threshold range in side board in antenna azimuth, are obtained and are acquired
The corresponding speed limit threshold value of ship rolling signal；There are one-to-one mapping relations between ship rolling signal and speed limit threshold value；
Antenna pitching branch movement velocity voltage is exported according to error voltage, when antenna pitching branch movement velocity voltage reaches limit
When voltage value corresponding to fast threshold value, the movement velocity of the corresponding voltage control antenna of output speed limit threshold value.
2. boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method according to claim 1, feature exist
In, the method for the one-to-one mapping relations between ship rolling signal and speed limit threshold value is set the following steps are included:
Ship rolling signal includes ship rolling amplitude and ship rolling period；Ship rolling is obtained according to ship rolling amplitude and ship rolling period
Speed；
According to the error voltage signal that is exported under the normal tracking mode of boat-carrying two degrees of freedom servo-system and antenna movement speed it
Between interative computation relationship；And side board tracking mode is gone ashore rolling velocity, target velocity, antenna movement speed and error voltage
Interative computation relationship obtain mapping relations computation model；
By ship rolling period, the error voltage signal that exports under normal tracking mode and the target velocity in above-mentioned computation model
It is equivalent to empirical value, antenna movement speed is obtained as day linear velocity according to the computation model and the ship rolling amplitude of acquisition
Threshold value.
3. boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method according to claim 2, feature exist
Include: in the step of, acquisition mapping relations computation model
According in boat-carrying two degrees of freedom servo-system track loop speed loop PI control mode obtain error voltage signal with
Relationship between antenna movement speed:
In above formula (1), T is signal sampling interval time；KpAnd KIThe respectively ratio and integral coefficient of track loop；V (kT) is
The antenna movement speed control voltage of kth moment servo-system output；E (kT) is the track receiver of kth moment servo-system
The error voltage of input, k=0,1,2 ..., n；
Ship rolling velocity is obtained according to ship rolling amplitude and ship rolling period:
In above formula (2), VSFor ship rolling velocity, TsFor ship rolling period；A is ship rolling amplitude；
When ship rolling influences maximum to antenna movement, gone ashore rolling velocity, target velocity and day according to side board tracking mode
Line movement velocity obtains error voltage:
E (kT+T)=E (kT)+(VS(kT+T)-V(kT)+VT)×T×KT (3)
In above formula (3), VTFor target speed, KTFor the corresponding error voltage conversion coefficient of antenna beam displacement；
The mathematical model as shown in following formula (4) is established in convolution (1), (2), (3):
The antenna movement speed at kth moment is obtained according to the error voltage of input, target velocity, ship rolling period, ship rolling amplitude
Degree control voltage V (kT), antenna movement speed control voltage are proportional to antenna pitching movement velocity；
Obtained different antenna movement speed control voltage under different ship rolling amplitude ranges is calculated according to mathematical model,
Multiple speed limit threshold values that the mutiple antennas movement velocity of acquisition control voltage is moved as antenna pitching.
4. boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method according to claim 1, feature exist
Include: in the step of, acquisition vessel rolling signal
Obtain the positive value of the ship rolling amplitude maximum in multiple ship rolling periods；
Multiple positive values are averaged, using average value as ship rolling amplitude input signal.
5. according to the described in any item boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection methods of claim 2~4,
It is characterized in that,
In the ship rolling amplitude in the first preset range, by the maximum value for the antenna movement speed control voltage being calculated
As the first gear speed limit threshold value；
In the ship rolling amplitude in the second preset range, by the maximum value for the antenna movement speed control voltage being calculated
Speed limit threshold value as the second gear.
6. a kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection system, which is characterized in that including memory and
Processor, the memory is stored with boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection program, in the processing
When device runs the boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection program, execute as claim 1-5 is any
The step of item boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection method.
7. a kind of boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection equipment, which is characterized in that wanted including such as right
Boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection system described in asking 6, and:
Angular transducer, for obtaining antenna azimuth and antenna elevation angle；
Receiver, for obtaining error voltage signal；
Gyroscope, for obtaining ship rolling period and ship rolling amplitude；
The angular transducer, receiver, gyroscope are both connected to the boat-carrying two degrees of freedom servo-system low-elevation tracking limit
The input terminal of fast protection system；
The output end of the boat-carrying two degrees of freedom servo-system low-elevation tracking speed-limiting protection system is connected to antenna pitching motor
Control terminal.
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| CN201910514922.7A CN110120586B (en) | 2019-06-14 | 2019-06-14 | Low-elevation tracking speed-limiting protection method for shipborne two-degree-of-freedom servo system |
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