CN111965438A - Multi-task antenna testing system, method and device based on mechanical arm - Google Patents
Multi-task antenna testing system, method and device based on mechanical arm Download PDFInfo
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention belongs to the technical field of antenna microwave, and discloses a multitask antenna test system, a multitask antenna test method and a multitask antenna test device based on a mechanical arm, wherein the multitask antenna test system is used for testing an antenna to be tested and comprises terminal equipment, a network switch, a radio frequency receiving and transmitting system, a servo control system, a multitask signal simulation system and an optical compensation system, and the terminal equipment generates timing and control signals; the receiving and transmitting radio frequency system collects the test data of each test position point; the servo control system feeds back the in-place pulse of the test probe and the current coordinate of the test probe; the multi-task signal simulation system stores timing signals and control signals of all test tasks of all test position points, receives in-place pulses, sends the control signals of all test tasks of the current test position point to the receiving and transmitting radio frequency system, and sends the timing and control signals to an antenna to be tested; the optical compensation system is used for motion error calibration during the test. The method and the device can be used for efficiently and accurately measuring the three-dimensional directional diagram of the millimeter wave antenna.
Description
Technical Field
The invention belongs to the technical field of antenna microwave, and particularly relates to a system, a method and a device for testing a multi-task antenna based on a mechanical arm.
Background
With the rapid development of 5G mobile communication technology, remote sensing technology and automotive radar technology, millimeter wave antennas are being used in large quantities with their incomparable advantages. The method is an important method for evaluating and analyzing the performance of the antenna, an antenna directional diagram is obtained by measuring the amplitude characteristic and the phase characteristic of the antenna, and antenna performance parameters such as antenna gain, beam width, side lobe level and the like are obtained according to the antenna directional diagram. Millimeter wave antennas often need to obtain three-dimensional radiation characteristics, and therefore, a cylindrical electromagnetic field and a spherical electromagnetic field of the antennas need to be measured.
The wavelength of the millimeter wave is between 1mm and 10mm, and the distance between the source antenna and the antenna to be tested is more than 2D according to the theoretical requirement of antenna far field test2And/lambda, wherein D is the aperture of the antenna to be tested, and lambda is the wavelength), for a miniaturized millimeter wave antenna, the measurement of the far-field directional pattern of the millimeter wave antenna can be completed within a range of several meters, so that the complex mathematical operation on test data can be avoided, and the requirement on the test environment is reduced.
After a test probe of a traditional plane near-field scanning antenna test system moves to a certain test position point, the test probe stops at the test position point to perform different tasks, and multi-task tests of a plurality of test position points under continuous scanning of the test probe cannot be performed, so that the test efficiency is low.
In summary, the conventional testing system for planar near-field scanning antenna can not meet the testing requirement of the millimeter-wave antenna. The millimeter wave antenna test system has the advantages of flexible test, high test efficiency and accurate test result, and can test the plane field, the cylindrical field and the spherical field of the millimeter wave antenna.
Disclosure of Invention
The invention aims to: aiming at the defects of the prior art, the system, the method and the device for testing the multi-task antenna based on the mechanical arm are provided, and the three-dimensional directional diagram of the millimeter wave antenna can be efficiently and accurately measured.
Specifically, the invention is realized by adopting the following technical scheme.
In one aspect, the present invention provides a multi-tasking antenna testing system based on a mechanical arm, which is used for testing an antenna to be tested, and is characterized by comprising a terminal device, a network switch, a radio frequency receiving and transmitting system, a servo control system, a multi-tasking signal simulation system and an optical compensation system, wherein:
the terminal equipment is used for carrying out information interaction with the radio frequency receiving and transmitting system, the servo control system, the multitask signal simulation system and the optical compensation system in a multicast mode through the network switch; the terminal equipment is used for setting signal parameters transmitted and received by the radio frequency transmitting and receiving system, setting motion parameters of the servo control system, writing timing and control signals into the multitask signal simulation system and writing motion parameters of the mechanical arm into the optical compensation system; when the mechanical arm reaches a test position point under the condition of continuous motion, the antenna to be tested receives and transmits data acquired by the radio frequency system when working in a plurality of states, and the data are processed by the terminal equipment;
the receiving and transmitting radio frequency system is used for providing radio frequency signals according to instructions of the terminal equipment, acquiring amplitude-phase data of each test position point and transmitting the amplitude-phase data to the terminal equipment;
the servo control system comprises a mechanical arm and a mechanical arm scanning control cabinet, wherein the mechanical arm is used for carrying a radio frequency test probe to finish the motion of specified tracks such as a plane field, a cylindrical field, a spherical field and the like, and finish the amplitude-phase characteristic test at each space test position; the mechanical arm scanning control cabinet is used for analyzing an instruction sent by the terminal equipment to form a mechanical arm control signal, completing multi-axis control of each joint of the mechanical arm, feeding back an in-place pulse to the multi-task signal simulation system when a test probe on the mechanical arm reaches a specified test position point, and feeding back the current coordinate of the test probe to the optical compensation system in real time;
the multi-task signal simulation system is used for storing control signals of all test tasks of all test position points sent by the terminal equipment; providing a clock reference in a test process; receiving in-place pulses from a servo control system, sending timing signals and control signals of all test tasks of a current test position point to an antenna to be tested according to clock frequencies corresponding to the timing signals of all test tasks of the current test position point, and sending timing trigger signals of all test tasks of the current test position point to a receiving and transmitting radio frequency system according to the clock frequencies corresponding to the timing signals of all test tasks of the current test position point, so that a test probe can complete a plurality of test tasks at the test position point;
the optical compensation system is used for receiving the motion parameters of the mechanical arm from the terminal equipment and calculating the coordinates of each test position point of the current test track according to the received motion parameters of the mechanical arm; in the test process, the motion error of the mechanical arm at the current test position point is calculated according to the current coordinate of the test probe received from the servo control system and the calculated coordinate of each test position point of the current test track, and the error information is fed back to the servo control system for calibration.
Furthermore, the radio frequency transceiving system comprises a vector network analyzer, a test probe, a frequency doubling module, a frequency mixing module, a radio frequency switch and a corresponding radio frequency cable;
when the vector network analyzer transmits signals, the low-frequency microwave signals are subjected to spread spectrum processing by a frequency doubling module to obtain millimeter wave signals; when receiving signals, the signals are subjected to frequency mixing processing by a frequency mixing module to obtain low-frequency microwave signals; the vector network analyzer, the antenna to be tested, the frequency doubling module, the frequency mixing module, an electromagnetic field propagation path between the radio frequency switch and the test probe and the radio frequency cable form a complete radio frequency transmission closed loop link; and the vector network analyzer acquires microwave signal data of each test position point according to the instruction of the terminal equipment and sends the microwave signal data to the terminal equipment.
Furthermore, the multitask signal simulation system comprises a network downloading module, a clock generating module, an external triggering module and an IO module;
the terminal equipment sends the timing and frequency point, wave beam, channel and other control signal parameters of all the test tasks to the network downloading module for temporary storage;
the clock generation module is used for generating a clock reference;
the external trigger module receives in-place pulses from the servo control system and sends timing and control signal parameters of all tasks of one test position to the IO module;
the IO module sends timing signals and control signals of all test tasks of the current test position point to an antenna to be tested according to the clock reference of the clock generation module and the clock frequency corresponding to the timing signals of all test tasks of the current test position point, sends timing trigger signals of all test tasks of the current test position point to an external trigger port of the vector network analyzer according to the clock frequency corresponding to the timing signals of all test tasks of the current test position point, controls antenna state parameters and triggers the vector network analyzer to perform frequency switching and collect amplitude and phase data, and the function that the test probe tests multiple tasks at one position point is achieved.
Further, the optical compensation system comprises a computer and a laser instrument;
the computer receives mechanical arm motion parameters from the terminal equipment, and calculates the coordinates of each test position point of the current track according to the mechanical arm motion parameters to serve as standard coordinate values;
in the process of executing a test task, the laser instrument positions the test probe in real time, the coordinate of each test position point is compared with the standard coordinate value, the computer calculates the error of the mechanical arm at the current test position point, and the error information is fed back to the servo control system for calibration.
On the other hand, the invention also provides a multi-task antenna testing method based on the mechanical arm, which adopts the multi-task antenna testing system based on the mechanical arm to test and comprises the following steps:
1) setting parameters of a mechanical arm, a radio frequency receiving and transmitting system, a multitask signal simulation system and an optical compensation system through terminal equipment; sending timing data of all test tasks and timing sequence data of control signals to a multitask signal simulation system;
2) when the mechanical arm reaches a test position point, the optical compensation system positions the position of the mechanical arm in real time, calculates the motion error of the mechanical arm, transmits error information to the servo control system and calibrates the position of the mechanical arm;
3) after the calibration is finished, the servo control system sends in-place pulses to the multitask signal simulation system; the multi-task signal simulation system sends timing signals of all test tasks and time sequence data of control signals of a current test position point to the antenna to be tested according to the clock frequency corresponding to the timing signals of all test tasks of the current test position point according to the clock reference, and controls the antenna to be tested to work in different states; the multi-task signal simulation system sends time sequence data signals of timing trigger signals of all test tasks of a current test position point to a receiving and transmitting radio frequency system according to clock frequencies corresponding to the timing signals of all test tasks of the current test position point, and triggers the receiving and transmitting radio frequency system to switch the radio frequency signal frequency and collect amplitude and phase data of all tasks of the current test position point;
4) and (3) repeating the steps 2) and 3) every time the mechanical arm reaches one test position point until all test tasks of the last test position point are completed.
In still another aspect, the present invention further provides an electronic device, including a memory and a processor, where the processor and the memory complete communication with each other through a bus; the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the above-mentioned multi-task antenna testing method based on the mechanical arm.
In yet another aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the above-mentioned robotic arm-based multi-tasking antenna testing method.
The invention has the following beneficial effects:
by adopting the multi-task antenna testing method, the device and the system based on the mechanical arm,
by controlling the mechanical arm to continuously move to each testing position point in space according to the set track and by the aid of the multitask signal simulation system, testing of multiple directional diagrams is completed under the condition that the mechanical arm scans once, and testing efficiency of the millimeter wave antenna is improved.
By utilizing the flexible and controllable characteristics of the mechanical arm, the system can realize the test of a plane field, a cylindrical field and a spherical field, and the defect that the traditional plane scanning antenna test system tests the three-dimensional radiation pattern of the millimeter wave antenna is overcome.
Compared with a traditional scanning frame of a planar near-field antenna test system, the mechanical arm is small in size, flexible in system deployment, low in requirement on site environment and simple to install.
Through servo control system, can set for collision coefficient and spacing protection to the arm, system security is higher.
Drawings
Fig. 1 is a schematic diagram of an antenna test system according to an embodiment of the present invention.
Fig. 2 is a flowchart of an antenna testing method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples and the accompanying drawings.
Example 1:
the invention discloses a multi-task antenna testing method and system based on a mechanical arm.
As shown in fig. 1, the multi-task antenna testing system based on a mechanical arm used in this embodiment is used for testing a three-dimensional radiation pattern of an antenna to be tested, and mainly includes a terminal device, a network switch, a radio frequency transceiver system, a servo control system, a multi-task signal simulation system, and an optical compensation system.
The terminal equipment carries out information interaction with a radio frequency transmitting and receiving system, a servo control system, a multitask signal simulation system and an optical compensation system in a multicast mode through a network switch, software for coordinating the work of all the systems is developed and arranged on the terminal equipment, signal parameters transmitted and received by the radio frequency transmitting and receiving system are mainly set, motion parameters such as the position, the posture and the speed of the servo control system are set, timing and control signals are written into the multitask signal simulation system, motion parameters of a mechanical arm are written into the optical compensation system, the fact that when the mechanical arm moves continuously, each test position point is reached, an antenna to be tested works in multiple states, a vector network analyzer carries out data collection, and finally the terminal equipment carries out functions such as data processing, display and storage.
The receiving and transmitting radio frequency system comprises a vector network analyzer, a test probe, a frequency doubling module, a frequency mixing module and a radio frequency switch, and is connected with a radio frequency connector through a radio frequency cable. Because the vector network analyzer works in a low-frequency microwave frequency band in a centralized manner, when a signal is transmitted, a millimeter wave frequency band signal needs to be obtained, and a frequency doubling module is needed for spread spectrum processing; when receiving signals, a frequency mixing module is needed to carry out frequency mixing processing, and low-frequency microwave signals are obtained. When a millimeter wave antenna receiving directional diagram is tested, a port 1 of a vector network analyzer sends a microwave signal, the microwave signal is switched to a frequency doubling module through a radio frequency switch, a low-frequency microwave signal is spread to a millimeter wave frequency band, the millimeter wave signal is radiated to a space through a test probe, an antenna to be tested receives a radiation signal of the test probe, then the signal is mixed to the low-frequency microwave signal from the millimeter wave frequency band through a mixing module, and then the signal is transmitted to a port 2 of the vector network analyzer through the radio frequency switch, so that the test of the receiving amplitude-phase characteristics of the antenna to be tested is. When a millimeter wave antenna emission directional diagram is tested, a port 2 of a vector network analyzer sends a microwave signal, the microwave signal is switched to a frequency doubling module through a radio frequency switch, a low-frequency microwave signal is spread to a millimeter wave frequency band signal, the millimeter wave signal reaches an antenna to be tested, the antenna to be tested radiates the signal to a space, after a test probe receives the spatial radiation signal, the millimeter wave is mixed to low-frequency microwave through a mixing module, and then the millimeter wave reaches a port 1 of the vector network analyzer through the radio frequency switch, so that the test of the emission amplitude-phase characteristics of the antenna to be tested.
The servo control system comprises a mechanical arm scanning control cabinet, a mechanical arm and a base. The mechanical arm scanning control cabinet is used for analyzing the instruction sent by the terminal equipment to form a control signal which can be identified by the mechanical arm scanning control cabinet, completing the multi-axis control of each joint of the mechanical arm, feeding back the in-place pulse of the mechanical arm to the multi-task signal simulation system, and feeding back the current coordinate of the test probe to the optical compensation system in real time. The mechanical arm is used for carrying the radio frequency test probe to complete the motion of specified tracks such as a plane field, a cylindrical field, a spherical field and the like, and assists in completing the amplitude-phase characteristic test at each spatial position. The base is used for installing the mechanical arm.
The multitask test is that a test probe tests a plurality of frequency points, a plurality of beams and a plurality of channel directional diagrams of an antenna under the condition of space scanning once. The multitask signal simulation system is a core module for multitask testing of the millimeter wave antenna of the mechanical arm. The multitask signal simulation system mainly comprises a network downloading module, a clock generating module, an external trigger module and an IO module. The terminal equipment sends timing signals and control signals of frequency points, beams, channels and the like of all test tasks of all test position points to a network downloading module for temporary storage through a network. The clock of the clock generation module is implemented by a DDS (Direct Digital Synthesizer) for providing a clock reference during the test process. The external trigger module receives a mechanical arm in-place pulse (triggered when the test probe reaches a test position point) from the servo control system, and sends timing and control signals of all test tasks of the test position point to the IO module. The IO module sends timing signals and control signals of all test tasks of the current test position point to an antenna array surface according to the clock reference of the clock generation module and the clock frequency corresponding to the timing signals of all test tasks of the current test position point, sends timing trigger signals of all test tasks of the current test position point to an external trigger port of a vector network analyzer of a receiving and transmitting system according to the clock frequency corresponding to the timing signals of all test tasks of the current test position point, controls antenna state parameters and triggers the vector network analyzer to switch radio frequency signal frequency and collect amplitude and phase data, and therefore the function of testing multiple tasks by a test probe at one position point is achieved.
The optical compensation system comprises a computer and a laser instrument. The computer receives mechanical arm motion parameters from the terminal equipment through a network, and calculates the coordinates of each test position point of the current test track according to the received mechanical arm motion parameters. In the test process, the laser instrument positions the test probe in real time, the coordinate of each test position point is compared with the coordinate value calculated in advance by the computer, the computer calculates the motion error of the mechanical arm at the current test position point, and the error information is fed back to the servo control system for calibration.
The antenna testing method based on the mechanical arm comprises the following main steps:
first, receiving direction diagram test
The method comprises the following steps that 1, parameters such as a mechanical arm, a vector network analyzer, a radio frequency switch, a multitask signal simulation system and an optical compensation system are set through terminal equipment. The system is specifically provided with a motion track, a motion speed, a test point number, an initial point and the like of the mechanical arm, and the parameters are sent to a computer of an optical compensation system; setting a vector network analyzer port 1 as a transmitting port, transmitting source power, frequency point number and the like; setting whether a radio frequency switch is switched to a frequency doubling module or not, and whether the radio frequency switch is switched to a frequency mixing module or not; and sending the timing and control signal time sequence data of all the test tasks to a network downloading module of the multitask signal simulation system.
And 2, starting the test, enabling the mechanical arm to reach a test position point, positioning the position of the mechanical arm in real time by a laser instrument of the optical compensation system, comparing the set parameters of the mechanical arm with the current coordinate by the computer, calculating the motion error of the mechanical arm, transmitting error information to a mechanical arm scanning control cabinet, and calibrating the position of the mechanical arm.
And 3, after the calibration is finished, the mechanical arm gives in-place feedback to the mechanical arm scanning control cabinet, and then the mechanical arm scanning control cabinet sends in-place pulse to an external trigger module of the multi-task signal simulation system. The IO module sends the timing signals and the control signals of all the test tasks of the current test position point to the antenna to be tested according to the clock reference of the clock generation module and the clock frequency corresponding to the timing signals of all the test tasks of the current test position point, and controls the antenna to be tested to work in different states; the IO module sends timing trigger signals of all test tasks of the current test position point to a vector network analyzer of a receiving and sending radio frequency system according to clock frequency corresponding to timing signals of all test tasks of the current test position point according to clock reference of a clock generation module, the vector network analyzer is triggered to carry out radio frequency signal frequency switching, data acquisition is carried out, a port 1 of the vector network analyzer transmits low-frequency microwave signals to a frequency doubling module through a radio frequency switch, the low-frequency microwave signals are spread to a millimeter wave frequency band and are radiated to a space by a test probe, an antenna to be tested receives radiation signals from the space, the radiation signals are mixed to low frequency by a frequency mixing module and then return to a port 2 of the vector network analyzer through the radio frequency switch, and amplitude-phase data of all tasks of the current test point are measured.
And (3) repeating the steps 2 and 3 every time the mechanical arm reaches a test position point until all test tasks of the last test position point are completed.
Second, emission pattern testing
1) And parameters such as a mechanical arm, a vector network analyzer, a radio frequency switch, a multitask signal simulation system, an optical compensation system and the like are set through terminal equipment. The system is specifically provided with a motion track, a motion speed, a test point number, an initial point and the like of the mechanical arm, and the parameters are sent to a computer of an optical compensation system; setting a vector network analyzer port 2 as a transmitting port, transmitting source power, frequency point number and the like; the radio frequency switch is switched to the frequency doubling module and the radio frequency switch is switched to the frequency mixing module; and sending the timing and control signal time sequence data of all the test tasks to a network downloading module of the multitask signal simulation system.
2) And when the test is started, the mechanical arm reaches a test position point, the laser instrument of the optical compensation system positions the position of the mechanical arm in real time, the computer compares the set parameters of the mechanical arm with the current coordinate to calculate the motion error of the mechanical arm, and then transmits error information to the mechanical arm scanning control cabinet to calibrate the position of the mechanical arm.
3) After calibration is completed, the mechanical arm gives in-place feedback to the mechanical arm scanning control cabinet, and then the mechanical arm scanning control cabinet sends in-place pulse to an external trigger module of the multi-task signal simulation system. And the IO module sends the timing signals and the control signals of all the test tasks of the current test position point to the antenna to be tested according to the clock reference of the clock generation module and the clock frequency corresponding to the timing signals of all the test tasks of the current test position point, and controls the antenna to be tested to work in different states. The IO module sends timing trigger signals of all test tasks of the current test position point to a vector network analyzer of a receiving and sending radio frequency system according to clock frequency corresponding to timing signals of all test tasks of the current test position point according to clock reference of a clock generation module, the vector network analyzer is triggered to carry out radio frequency signal frequency switching and carry out data acquisition, a port 2 of the vector network analyzer transmits microwave signals to a frequency doubling module through a radio frequency switch, the low-frequency microwave signals are spread to a millimeter wave frequency band and are radiated to a space by an antenna to be tested, after receiving radiation signals from the space, a test probe receives the radiation signals from the space, the radiation signals are mixed to a low frequency through a frequency mixing module, and then the radiation signals return to a port 1 of the vector network analyzer through the radio frequency switch, and amplitude-phase data of all tasks of.
4) And repeating the steps 2) and 3) when the mechanical arm reaches one test position point until all test tasks of the last test position point are completed.
According to the multitask antenna test system based on the mechanical arm, the mechanical arm is controlled to continuously move to each test position point in space according to the set track, and through the multitask signal simulation system, the test of a plurality of directional diagrams is completed under the condition that the mechanical arm scans once, so that the test efficiency of the millimeter wave antenna is improved; by utilizing the flexible and controllable characteristics of the mechanical arm, the system can realize the test of a plane field, a cylindrical field and a spherical field, and the defect that the traditional plane scanning antenna test system tests the three-dimensional radiation pattern of the millimeter wave antenna is overcome; compared with a traditional scanning frame of a planar near-field antenna test system, the mechanical arm is small in size, flexible in system deployment, low in requirement on site environment and simple to install; through servo control system, can set for collision coefficient and spacing protection to the arm, system security is higher.
In some embodiments, certain aspects of the techniques described above may be implemented by one or more processors of a processing system executing software. The software includes one or more sets of executable instructions stored or otherwise tangibly embodied on a non-transitory computer-readable storage medium. The software may include instructions and certain data that, when executed by one or more processors, manipulate the one or more processors to perform one or more aspects of the techniques described above. The non-transitory computer-readable storage medium may include, for example, a magnetic or optical disk storage device, a solid state storage device such as flash memory, cache, Random Access Memory (RAM), etc., or other non-volatile memory device. Executable instructions stored on a non-transitory computer-readable storage medium may be in source code, assembly language code, object code, or other instruction format that is interpreted or otherwise executed by one or more processors.
A computer-readable storage medium may include any storage medium or combination of storage media that is accessible by a computer system during use to provide instructions and/or data to the computer system. Such storage media may include, but is not limited to, optical media (e.g., Compact Discs (CDs), Digital Versatile Discs (DVDs), blu-ray discs), magnetic media (e.g., floppy disks, tape, or magnetic hard drives), volatile memory (e.g., Random Access Memory (RAM) or cache), non-volatile memory (e.g., Read Only Memory (ROM) or flash memory), or micro-electromechanical systems (MEMS) -based storage media. The computer-readable storage medium can be embedded in a computing system (e.g., system RAM or ROM), fixedly attached to a computing system (e.g., a magnetic hard drive), removably attached to a computing system (e.g., an optical disk or Universal Serial Bus (USB) based flash memory), or coupled to a computer system via a wired or wireless network (e.g., Network Accessible Storage (NAS)).
Note that not all of the activities or elements in the general description above are required, that a portion of a particular activity or device may not be required, and that one or more further activities or included elements may be performed in addition to those described. Still further, the order in which the activities are listed need not be the order in which they are performed. Moreover, these concepts have been described with reference to specific embodiments. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the present disclosure as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of present disclosure.
Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments. However, the benefits, advantages, solutions to problems, and any feature(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature of any or all the claims in any or all respects. Moreover, the particular embodiments disclosed above are illustrative only, as the disclosed subject matter may be modified and practiced in different but equivalent manners apparent to those skilled in the art having the benefit of the teachings herein. No limitations are intended to the details of construction or design herein shown, other than as described in the claims below. It is therefore evident that the particular embodiments disclosed above may be altered or modified and all such variations are considered within the scope of the disclosed subject matter. Accordingly, the protection sought herein is as set forth in the claims below.
Claims (7)
1. The utility model provides a multitask antenna test system based on arm for test to the antenna that awaits measuring, its characterized in that includes terminal equipment, network switch, receives and dispatches radio frequency system, servo control system, multitask signal simulation system and optical compensation system, wherein:
the terminal equipment is used for carrying out information interaction with the radio frequency receiving and transmitting system, the servo control system, the multitask signal simulation system and the optical compensation system in a multicast mode through the network switch; the terminal equipment is used for setting signal parameters transmitted and received by the radio frequency transmitting and receiving system, setting motion parameters of the servo control system, writing timing and control signals into the multitask signal simulation system and writing motion parameters of the mechanical arm into the optical compensation system; when the mechanical arm reaches a test position point under the condition of continuous motion, the antenna to be tested receives and transmits data acquired by the radio frequency system when working in a plurality of states, and the data are processed by the terminal equipment;
the receiving and transmitting radio frequency system is used for providing radio frequency signals according to instructions of the terminal equipment, acquiring amplitude-phase data of each test position point and transmitting the amplitude-phase data to the terminal equipment;
the servo control system comprises a mechanical arm and a mechanical arm scanning control cabinet, wherein the mechanical arm is used for carrying a radio frequency test probe to finish the motion of specified tracks such as a plane field, a cylindrical field, a spherical field and the like, and finish the amplitude-phase characteristic test at each space test position; the mechanical arm scanning control cabinet is used for analyzing an instruction sent by the terminal equipment to form a mechanical arm control signal, completing multi-axis control of each joint of the mechanical arm, feeding back an in-place pulse to the multi-task signal simulation system when a test probe on the mechanical arm reaches a specified test position point, and feeding back the current coordinate of the test probe to the optical compensation system in real time;
the multi-task signal simulation system is used for storing control signals of all test tasks of all test position points sent by the terminal equipment; providing a clock reference in a test process; receiving in-place pulses from a servo control system, sending timing signals and control signals of all test tasks of a current test position point to an antenna to be tested according to clock frequencies corresponding to the timing signals of all test tasks of the current test position point, and sending timing trigger signals of all test tasks of the current test position point to a receiving and transmitting radio frequency system according to the clock frequencies corresponding to the timing signals of all test tasks of the current test position point, so that a test probe can complete a plurality of test tasks at the test position point;
the optical compensation system is used for receiving the motion parameters of the mechanical arm from the terminal equipment and calculating the coordinates of each test position point of the current test track according to the received motion parameters of the mechanical arm; in the test process, the motion error of the mechanical arm at the current test position point is calculated according to the current coordinate of the test probe received from the servo control system and the calculated coordinate of each test position point of the current test track, and the error information is fed back to the servo control system for calibration.
2. The robotic-arm-based multi-tasking antenna testing system of claim 1, wherein: the receiving and transmitting radio frequency system comprises a vector network analyzer, a test probe, a frequency doubling module, a frequency mixing module, a radio frequency switch and a corresponding radio frequency cable;
when the vector network analyzer transmits signals, the low-frequency microwave signals are subjected to spread spectrum processing by a frequency doubling module to obtain millimeter wave signals; when receiving signals, the signals are subjected to frequency mixing processing by a frequency mixing module to obtain low-frequency microwave signals; the vector network analyzer, the antenna to be tested, the frequency doubling module, the frequency mixing module, an electromagnetic field propagation path between the radio frequency switch and the test probe and the radio frequency cable form a complete radio frequency transmission closed loop link; and the vector network analyzer acquires microwave signal data of each test position point according to the instruction of the terminal equipment and sends the microwave signal data to the terminal equipment.
3. The robotic-arm-based multi-tasking antenna testing system of claim 2, wherein: the multitask signal simulation system comprises a network downloading module, a clock generating module, an external triggering module and an IO module;
the terminal equipment sends the timing and frequency point, wave beam, channel and other control signal parameters of all the test tasks to the network downloading module for temporary storage;
the clock generation module is used for generating a clock reference;
the external trigger module receives in-place pulses from the servo control system and sends timing and control signal parameters of all tasks of one test position to the IO module;
the IO module sends timing signals and control signals of all test tasks of the current test position point to an antenna to be tested according to the clock reference of the clock generation module and the clock frequency corresponding to the timing signals of all test tasks of the current test position point, sends timing trigger signals of all test tasks of the current test position point to an external trigger port of the vector network analyzer according to the clock frequency corresponding to the timing signals of all test tasks of the current test position point, controls antenna state parameters and triggers the vector network analyzer to perform frequency switching and collect amplitude and phase data, and the function that the test probe tests multiple tasks at one position point is achieved.
4. The robotic-arm-based multi-tasking antenna testing system of claim 1, wherein: the optical compensation system comprises a computer and a laser instrument;
the computer receives mechanical arm motion parameters from the terminal equipment, and calculates the coordinates of each test position point of the current track according to the mechanical arm motion parameters to serve as standard coordinate values;
in the process of executing a test task, the laser instrument positions the test probe in real time, the coordinate of each test position point is compared with the standard coordinate value, the computer calculates the error of the mechanical arm at the current test position point, and the error information is fed back to the servo control system for calibration.
5. A multitask antenna testing method based on a mechanical arm, which adopts the multitask antenna testing system based on the mechanical arm according to any one of claims 1 to 4 to test, and is characterized by comprising the following steps:
1) setting parameters of a mechanical arm, a radio frequency receiving and transmitting system, a multitask signal simulation system and an optical compensation system through terminal equipment; sending timing signals of all test tasks and time sequence data of control signals to a multitask signal simulation system;
2) when the mechanical arm reaches a test position point, the optical compensation system positions the position of the mechanical arm in real time, calculates the motion error of the mechanical arm, transmits error information to the servo control system and calibrates the position of the mechanical arm;
3) after the calibration is finished, the servo control system sends in-place pulses to the multitask signal simulation system; the multi-task signal simulation system sends timing signals of all test tasks and time sequence data of control signals of a current test position point to the antenna to be tested according to the clock frequency corresponding to the timing signals of all test tasks of the current test position point according to the clock reference, and controls the antenna to be tested to work in different states; the multi-task signal simulation system sends time sequence data signals of timing trigger signals of all test tasks of a current test position point to a receiving and transmitting radio frequency system according to clock frequencies corresponding to the timing signals of all test tasks of the current test position point, and triggers the receiving and transmitting radio frequency system to switch the radio frequency signal frequency and collect amplitude and phase data of all tasks of the current test position point;
4) and (3) repeating the steps 2) and 3) every time the mechanical arm reaches one test position point until all test tasks of the last test position point are completed.
6. An electronic device, comprising a memory and a processor, wherein the processor and the memory communicate with each other via a bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the robotic arm-based multi-tasking antenna testing method of claim 5.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method for robotic-based multi-tasking antenna testing according to claim 5.
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