CN111864387B - Radar antenna tracking system and method - Google Patents
Radar antenna tracking system and method Download PDFInfo
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- CN111864387B CN111864387B CN202010638160.4A CN202010638160A CN111864387B CN 111864387 B CN111864387 B CN 111864387B CN 202010638160 A CN202010638160 A CN 202010638160A CN 111864387 B CN111864387 B CN 111864387B
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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
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Abstract
The invention discloses a radar antenna tracking system, which comprises an industrial personal computer, a servo driver, a motor, an antenna pedestal, an antenna, a receiver and a signal processing module, wherein the industrial personal computer is connected with the servo driver; the industrial personal computer comprises a data acquisition card and a position correction module; the control method of the invention improves the dynamic response performance of the large-inertia radar antenna tracking system.
Description
Technical Field
The invention relates to the field of industrial design, in particular to a radar antenna tracking system and a method.
Background
The radar servo system is an important component of the radar system, and the control precision and the dynamic response of the radar are mainly dependent on the control performance of the radar servo system. Therefore, the control performance of the antenna servo system is particularly important in the control performance of the radar, and the radar servo system plays a crucial role in the radar system.
With the development of electronic equipment technology, the performance requirement is higher and higher, the antenna aperture and power are developed in the direction of larger aperture and high power, the load inertia is larger and larger, but with the increase of the load inertia, the structural rigidity is poorer, the structural resonance frequency is lower, and the size of the structural resonance frequency directly influences the bandwidth of a servo system and influences the dynamic response performance of the servo.
The method for improving the dynamic response performance of the radar antenna tracking system is not limited to two ways, namely, the structural rigidity of the transmission system is improved from the structural aspect so as to improve the structural resonance frequency of the transmission system, and the electrical design is optimized from the electrical aspect. Aiming at the first method, the structural rigidity of the transmission system is improved, the size, the weight and the cost of large-caliber equipment are greatly increased, and certain requirements on the size and the weight are met in many occasions, so that the method is limited in increase. The electrical design is optimized by aiming at the second method, and the method for optimizing the electrical design comprises conventional PID correction, a feedforward control technology and an optimal control technology. In a large-caliber servo system, the dynamic response performance of the servo system cannot be further improved by adopting a conventional electrical design, the dynamic response requirement of electronic equipment cannot be met, and the response speed can be improved by adopting a feedforward control technology, but the random difference is increased.
Disclosure of Invention
In order to solve the above problems, the invention provides a radar antenna tracking system, which comprises an industrial personal computer 201, a servo driver 204, a motor 205, a speed reducer 206, a transmission gear 207, an antenna pedestal 208, an antenna 209, a receiver 210 and a signal processing module 211; the industrial personal computer 201 comprises a data acquisition card 202 and a position correction module 203;
initially, before the antenna 209 is located at the target, the industrial personal computer 201 sets the initial flag position to 1;
the receiver 210 acquires the position error between the current position of the antenna 209 and the target, the receiver 210 sends the position error to the signal processing module 211, the signal processing module 211 converts the position error into digital quantity by resolving the position error and then sends the digital quantity to the data acquisition card 202 of the industrial personal computer 201, and the industrial personal computer 201 acquires the position error of the target through the data acquisition card 202;
when the position error is greater than 0 and the flag bit is 1, the position correction module 203 outputs a control signal to the servo driver 204 after the current position error passes through the position correction, and the servo driver 204 controls the motor 205 to rotate forward, so that the antenna 209 continues to move towards the target movement direction;
when the position error is greater than 0 and the flag bit is 0, the position correction module 203 outputs a control signal to the servo driver 204 after the current position error passes through the position correction, and the servo driver 204 controls the motor 205 to rotate reversely so that the antenna 209 moves towards the opposite direction of the target motion to track the target;
when the position error is less than or equal to 0, the flag position is set to 0, the position correction module 203 outputs a control signal to the servo driver 204 after the current position error is subjected to position correction, and the servo driver 204 controls the motor 205 to rotate forward, so that the antenna 209 moves towards the target motion direction to track the target.
Further, the motor 205 drives the transmission gear 207 to rotate through driving the speed reducer 206, the transmission gear 207 drives the antenna pedestal 208 to rotate, and the antenna pedestal 208 drives the antenna 209 to rotate, so that the antenna moves to track the target.
The control method of the radar antenna tracking system is also provided, and the radar antenna tracking system comprises the following steps:
the position of the antenna 209 is in front of the target, and the initial flag bit is 1;
step 1: collecting a position error;
step 2: when the antenna 209 needs to track the target, step 3 is executed;
and step 3: judging whether the position error is larger than 0; if yes, executing the step 4, otherwise, executing the step 5;
and 4, step 4: judging whether the flag bit is 1; if yes, executing step 6, otherwise, executing step 7;
and 5: setting the flag position to 0, and executing the step 6;
step 6: the motor 205 rotates forwards, the antenna 209 moves towards the direction of the target movement, and step 1 is executed until the antenna 209 does not need to track the target any more;
and 7: the motor 205 rotates reversely, the antenna 209 moves towards the opposite direction of the target movement, and step 1 is executed until the antenna 209 does not need to track the target any more;
the position error is an error between the current position of the antenna 209 and the angular position of the target.
Compared with the prior art, the invention has the following beneficial effects:
1. the dynamic response performance of the large-inertia radar antenna tracking system is improved;
2. the volume and the weight of the equipment are reduced, and the development cost is greatly saved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of the system of the present invention.
The reference numerals in the figures denote the following meanings:
the device comprises an industrial personal computer 201, a data acquisition card 202, a position correction module 203, a servo driver 204, a motor 205, a speed reducer 206, a transmission gear 207, an antenna pedestal 208, an antenna 209, a receiver 210 and a signal processing module 211.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Example 1:
the invention provides a radar antenna tracking system, which is structurally shown in figure 2 and comprises an industrial personal computer 201, a servo driver 204, a motor 205, a speed reducer 206, a transmission gear 207, an antenna pedestal 208, an antenna 209, a receiver 210 and a signal processing module 211; the industrial personal computer 201 comprises a data acquisition card 202 and a position correction module 203.
Initially, before the antenna 209 is located at the target, the industrial personal computer 201 sets the initial flag position to 1;
the receiver 210 acquires the position error between the current position of the antenna 209 and the target, the receiver 210 sends the position error to the signal processing module 211, the signal processing module 211 converts the position error into digital quantity by resolving the position error and sends the digital quantity to the data acquisition card 202 of the industrial personal computer 201, after the industrial personal computer 201 acquires the position error of the target through the data acquisition card 202,
when the position error is larger than 0 and the flag bit is 1, the industrial personal computer 201 outputs a control signal to the servo driver 204 after correcting the current position error through the position, and the servo driver 204 controls the motor 205 to rotate forwards so that the antenna 209 continues to move towards the direction of target motion;
when the position error is larger than 0 and the flag bit is not 1, the industrial personal computer 201 outputs a control signal to the servo driver 204 after correcting the current position error through the position, and the servo driver 204 controls the motor 205 to rotate reversely so that the antenna 209 moves towards the opposite direction of the target motion to track the target;
when the position error is less than or equal to 0, the flag position is set to 0, at this time, the industrial personal computer 201 outputs a control signal to the servo driver 204 after the current position error passes through the position correction, and the servo driver 204 controls the motor 205 to rotate forward, so that the antenna 209 moves towards the target movement direction to track the target.
The motor 205 drives the transmission gear 207 to rotate through driving the speed reducer 206, the transmission gear 207 drives the antenna pedestal 208 to rotate, and the antenna pedestal 208 drives the antenna 209 to rotate, so that the antenna moves to track the target.
Example 2:
as shown in fig. 1, the present invention provides a radar antenna tracking method, which is specifically applied to the radar antenna tracking system described in embodiment 1, and specifically includes the following steps:
initially, the antenna 209 is located in front of the target, and the initial flag is 1;
step 1: collecting a position error;
step 2: when the antenna needs to track the target, executing the step 3;
and step 3: judging whether the position error is larger than 0; if yes, executing the step 4, otherwise, executing the step 5;
and 4, step 4: judging whether the flag bit is 1; if yes, executing step 6, otherwise, executing step 7;
and 5: setting the flag position to 0, and executing the step 6;
step 6: the motor 205 rotates forwards, the antenna 209 moves towards the direction of the target movement, and step 1 is executed until the antenna 209 does not need to track the target any more;
and 7: the motor 205 rotates reversely, the antenna 209 moves towards the opposite direction of the target movement, and step 1 is executed until the antenna 209 does not need to track the target any more; the position error is an error between a current position of the antenna and an angular position of the target.
The method leads the antenna 209 to the target in the initial stage, and compared with the classical feedforward, the control precision can be greatly improved; compared with the conventional feedforward control, the random difference is not increased while the response speed is improved.
In summary, the invention provides a control method and a radar antenna tracking system using the same for a radar antenna tracking system, thereby improving the dynamic response performance of the large-inertia radar antenna tracking system; the volume and the weight of the equipment are reduced, and the development cost of the radar antenna tracking system is greatly saved.
Claims (3)
1. The radar antenna tracking system is characterized by comprising an industrial personal computer (201), a servo driver (204), a motor (205), an antenna pedestal (208), an antenna (209), a receiver (210) and a signal processing module (211); the industrial personal computer (201) comprises a data acquisition card (202) and a position correction module (203);
initially, an antenna (209) is positioned in front of a target, and an industrial personal computer (201) sets an initial mark position to be 1;
the method comprises the steps that a receiver (210) obtains a position error between the current position of an antenna (209) and a target, the receiver (210) sends the position error to a signal processing module (211), the signal processing module (211) converts the position error into digital quantity through resolving, and then sends the digital quantity to a data acquisition card (202) of an industrial personal computer (201), and the industrial personal computer (201) acquires the position error of the target through the data acquisition card (202);
when the position error is larger than 0 and the flag bit is 1, the position correction module (203) outputs a control signal to the servo driver (204) after the current position error is subjected to position correction, and the servo driver (204) controls the motor (205) to rotate forward so that the antenna (209) continues to move towards the direction of target motion;
when the position error is larger than 0 and the flag bit is 0, the position correction module (203) outputs a control signal to the servo driver (204) after the current position error is subjected to position correction, and the servo driver (204) controls the motor (205) to rotate reversely so that the antenna (209) moves towards the reverse direction of the target motion to track the target;
when the position error is less than or equal to 0, the mark position is set to 0, the position correction module (203) outputs a control signal to the servo driver (204) after the current position error is subjected to position correction, and the servo driver (204) controls the motor (205) to rotate forward, so that the antenna (209) moves towards the target movement direction to track the target.
2. The radar antenna tracking system according to claim 1, further comprising a speed reducer (206) and a transmission gear (207), wherein the motor (205) drives the speed reducer (206) to drive the transmission gear (207) to rotate, the transmission gear (207) drives the antenna base (208) to rotate, and the antenna base (208) drives the antenna (209) to rotate, so that the antenna moves to track the target.
3. A radar antenna tracking method, characterized in that the radar antenna tracking system according to claim 1 or 2 is used, comprising the steps of:
the position of the antenna (209) is positioned in front of the target at the beginning, and the initial flag bit is 1;
step 1: collecting a position error;
step 2: when the antenna needs to track the target, executing the step 3;
and step 3: judging whether the position error is larger than 0; if yes, executing the step 4, otherwise, executing the step 5;
and 4, step 4: judging whether the flag bit is 1; if yes, executing step 6, otherwise, executing step 7;
and 5: setting the flag position to 0, and executing the step 6;
step 6: the motor (205) rotates forwards, the antenna (209) moves towards the direction of the movement of the target, and the step 1 is executed until the antenna (209) does not need to track the target any more;
and 7: the motor (205) rotates reversely, the antenna (209) moves towards the opposite direction of the movement of the target, and the step 1 is executed until the antenna (209) does not need to track the target any more;
the position error is an angular position error of a current position of the antenna (209) from a target.
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| CN202010638160.4A CN111864387B (en) | 2020-07-03 | 2020-07-03 | Radar antenna tracking system and method |
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