CN112650312A - Radar antenna multi-speed control system and control method - Google Patents
Radar antenna multi-speed control system and control method Download PDFInfo
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- CN112650312A CN112650312A CN202011508906.6A CN202011508906A CN112650312A CN 112650312 A CN112650312 A CN 112650312A CN 202011508906 A CN202011508906 A CN 202011508906A CN 112650312 A CN112650312 A CN 112650312A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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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
- H01Q3/005—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 remotely controlled antenna positioning or scanning
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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
Abstract
The invention discloses a radar antenna multi-speed control system and a control method, wherein the system comprises a man-machine interaction unit, a central processing unit, a servo driver, a servo motor, a speed reducer and a worm gear transmission mechanism, the central control unit classifies and sets the rotating acceleration of a radar antenna according to the relation between a speed instruction N1 and an antenna turntable rotating speed N acquired in real time and the radar antenna, wherein if the antenna is in a stop state, the antenna is accelerated by N2 per second until the antenna rotating speed is N1; if the current rotation speed of the antenna is judged to be greater than N1, the antenna is decelerated at N3 per second until the rotation speed of the antenna is N1; if the current rotation speed of the antenna is judged to be less than N1, the antenna is accelerated at N4 per second until the rotation speed of the antenna is N1. The multi-stage speed control system of the radar antenna enables the radar antenna to flexibly select the rotating speed of the antenna according to the moving speeds of different detection targets, prevents the detection targets from being lost, and improves the performance of the radar antenna for detecting the targets.
Description
Technical Field
The invention relates to a radar antenna multi-speed control system and a control method.
Background
With the continuous development of radar technology, the requirement on controlling the rotation speed of a radar antenna is higher and higher to adapt to different detection targets, for example, when the detection target is an airplane, the rotation speed of the antenna is only 3r/min, when the detection target is a cruise missile, the rotation speed of the antenna is required to reach 12r/min, and when the detection target is a fast moving target, the rotation speed of the antenna is required to be higher, so that a better detection effect is achieved.
The traditional radar adopts the execution elements of a three-phase asynchronous motor and a variable frequency motor.
The common three-phase asynchronous motor can not regulate the speed, the radar antenna can only rotate at one rotating speed, and when the motor is started, the instantaneous starting current is very large, so that the interference to a power grid is generated.
Although the variable frequency motor can adjust the speed within a certain range, in order to avoid the jitter caused by sudden acceleration of the antenna, a relatively long acceleration and deceleration time is set in the frequency converter, so that the response speed is slow, the speed precision is not sufficient, no feedback exists, and the terminal cannot know the actual rotating speed of the antenna.
Disclosure of Invention
The invention aims to provide a multi-speed control system and a multi-speed control method for a radar antenna, so as to improve the response speed of the radar antenna.
To this end, the present invention provides a radar antenna multi-speed control system, which includes a human-computer interaction unit, a central processing unit, a servo driver, a servo motor, a reducer, and a worm gear transmission mechanism, wherein the human-computer interaction unit is used for inputting a rotation speed command, wherein, the rotating speed instruction range is 0-30r/min, the central processing unit controls the servo driver to work after receiving the rotating speed instruction, the servo motor feeds speed information back to the central control unit in real time, the central control unit classifies and sets the rotating acceleration of the radar antenna according to the relation between the speed instruction N r/min and the real-time collected antenna turntable rotating speed N and the radar antenna, if the antenna is in the stop state, accelerating the antenna at N2 r/min per second until the rotation speed of the antenna is N1; if the current rotating speed of the antenna is judged to be greater than N1, the antenna is decelerated at N3 r/min per second until the rotating speed of the antenna is N1; if the antenna is judged to be equal to the current rotating speed, keeping the current rotating speed; if the current rotation speed of the antenna is judged to be less than N1, the antenna is accelerated at N4 r/min per second until the rotation speed of the antenna is N1.
According to another aspect of the present invention, there is provided a radar antenna multi-speed control method, including the steps of: acquiring a speed instruction N1 and a real-time rotating speed N of an antenna turntable; judging the magnitude relation between the speed command N1 and the real-time rotating speed N of the antenna turntable, and setting the rotating acceleration of the radar antenna according to the magnitude relation, wherein if the antenna is in a stop state, the antenna is accelerated at N2 r/min per second until the rotating speed of the antenna is N1; if the current rotating speed of the antenna is judged to be greater than N1, the antenna is decelerated at N3 r/min per second until the rotating speed of the antenna is N1; if the antenna is judged to be equal to the current rotating speed, keeping the current rotating speed; if the current rotation speed of the antenna is judged to be less than N1, the antenna is accelerated at N4 r/min per second until the rotation speed of the antenna is N1.
The multi-stage speed control system of the radar antenna enables the radar antenna to flexibly select the rotating speed of the antenna according to the moving speeds of different detection targets, prevents the detection targets from being lost, and improves the performance of the radar antenna for detecting the targets.
The invention adopts a structural transmission form that the servo motor is matched with the worm and gear, is applied to a radar transmission system, has high rotating speed precision and high response speed, and can feed back the rotating speed information of the antenna in real time.
The invention adopts a multi-speed control algorithm, so that the radar antenna can be freely switched at 0-30r/min, the antenna does not need to be stopped and accelerated to another rotating speed, the time is saved, longer acceleration and deceleration time does not need to be set in a driver in order to avoid the antenna jitter brought by the acceleration or deceleration process, and the dynamic response is strong. Only the rotating speed needs to be input on a man-machine interaction interface, and the operation is convenient.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of a radar antenna multi-speed control system according to the present invention; and
fig. 2 is a flowchart of a radar antenna multi-speed control method according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows a block diagram of a system structure of the present invention, and as shown in fig. 1, the system is composed of a human-computer interaction unit (input of a rotational speed instruction), a central processing unit, a servo driver, a servo motor, a speed reducer, a worm gear transmission mechanism and the like, and drives an antenna turntable to rotate.
The man-machine interaction unit is used as an upper computer and sends out a rotating speed instruction (0-30 r/min). For example, by inputting a turntable speed value or by selecting a detection target class, a corresponding rotational speed command is output.
After receiving the instruction of the upper computer, the central processing unit controls the driver to work, and the driver feeds back speed information to the central processing unit to form closed-loop control. The servo driver and the servo motor form closed-loop control.
The servo motor drives the speed reducer to rotate, the speed reducer drives the worm to rotate, so that the antenna rotates at a certain rotating speed, and the position information of the antenna is simultaneously fed back to the central processing unit to form closed-loop control.
The traditional radar adopts a gear transmission mechanism, and the gear transmission has the defects of low precision and return stroke difference, so that the error of the rotating speed of the antenna is caused. The radar antenna has the advantages that the servo motor is adopted as the executing element, the servo motor has the advantages of quick response and feedback, the terminal can acquire the rotating speed of the radar antenna in real time, the worm gear mechanism is adopted as the transmission mechanism, the worm gear can obtain a large transmission ratio, the rotating speed precision is improved, the mechanism has self-locking performance, reverse locking can be realized, and the wind resistance of the antenna is greatly improved.
Fig. 2 shows a software flow chart of the system of the present invention, and as shown in fig. 2, the work flow is as follows: firstly, a central processing unit receives an antenna turntable speed instruction N r/min, and the central processing unit acquires real-time information of the current antenna turntable rotating speed in real time, wherein the current antenna turntable rotating speed has four conditions.
The first method comprises the following steps: the antenna is currently in a stopped state, i.e. N1 is 0r/min, at which time the antenna needs to accelerate by N2 r/min per second, and when N1 is N, at which time the antenna stops accelerating, the antenna maintains the current speed.
And the second method comprises the following steps: the current rotation speed of the antenna is larger than the set N r/min, namely N1> N r/min, the antenna needs to be decelerated by N3 r/min every second, and when N1 is equal to N, the antenna stops decelerating, and the antenna keeps the current speed.
And the third is that: the current rotation speed of the antenna is equal to set N r/min, namely N1 is N r/min, and at the moment, the antenna does not need to be accelerated or decelerated, and the current speed of the antenna is kept.
And fourthly: the current rotation speed of the antenna is less than the set N r/min, namely N1< N r/min, at the moment, the antenna needs to accelerate by N4 r/min per second, and when N1 is equal to N, the antenna stops accelerating at the moment, and the current speed of the antenna is kept.
It should be noted that the values of N2, N3 and N4 in acceleration N2 r/min per second, deceleration N3 r/min per second and acceleration N4 r/min per second are converted according to the time required for acceleration to a certain rotation per minute proposed by a client, and the values of N2, N3 and N4 are reasonably set in consideration of whether the antenna has an antenna jitter phenomenon during acceleration and deceleration.
The present invention obtains the above values of N2, N3, and N4 by designing a jitter test of a radar antenna, and the test procedure is as follows.
The radar antenna is made to rotate at the highest gear speed (e.g. 30r/min), and the maximum acceleration is determined by decelerating from the highest gear speed to the lowest gear speed (e.g. 3r/min) in n seconds: first, n is taken to be large so that the antenna does not dither, and then Δ n is incrementally increasedReducing the value of n until the antenna jitters, where n is nShakingIf the acceleration corresponding to the previous test of the current antenna jitter test is the maximum acceleration N3 of dynamic deceleration, N3 is (3-30)/(N)ShakingAnd n), when the antenna still does not shake when n is 1, the maximum acceleration is-27 r/min per second.
The radar antenna is made to rotate at the lowest gear speed (e.g. 3r/min), and the maximum acceleration is determined by accelerating the lowest gear speed to the highest gear speed (e.g. 30r/min) in n seconds: firstly, the larger value of N is adopted to enable the antenna not to shake, then the value of N is gradually reduced until the antenna shakes, and the acceleration corresponding to the previous test of the antenna shaking test at this time is the maximum acceleration N4 of dynamic acceleration. If the antenna still does not shake when n is 1, 27r/min per second is taken as the maximum acceleration.
The radar antenna is stopped, and the maximum acceleration of static acceleration is determined by accelerating from 0 to the highest rotation speed (for example, 30r/min) in n seconds: firstly, the larger value of N is used to make the antenna not shake for 10s, and then the value of N is gradually reduced until the antenna shakes, and the acceleration corresponding to the previous test of the antenna shaking test of this time is the maximum acceleration N2 of static acceleration. If the antenna still does not shake when n is 1, 27r/min is the maximum acceleration of static acceleration.
In the present invention, the radar antenna rotation speed 3r/min required for detecting the aircraft is generally set as the lowest gear rotation speed, and the upper limit value of the speed command, for example, 30r/min, may be set as the highest gear rotation speed.
The radar antenna multi-speed control method can be implemented in a radar antenna multi-speed control system, and can also be integrated in external electronic equipment, wherein the electronic equipment can be a server or equipment such as a terminal.
The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as cloud service, a cloud database, cloud computing, a cloud function, cloud storage, Network service, cloud communication, middleware service, domain name service, security service, Network acceleration service (CDN), big data and an artificial intelligence platform.
The computer-readable storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, etc., which stores a radar antenna multi-speed control program, and the program is used to implement the steps of the radar antenna multi-speed control method when executed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A radar antenna multi-speed control system is characterized by comprising a man-machine interaction unit, a central processing unit, a servo driver, a servo motor, a speed reducer and a worm and gear transmission mechanism,
the man-machine interaction unit is used for inputting a rotating speed instruction, wherein the rotating speed instruction range is 0-30r/min, the central processing unit controls the servo driver to work after receiving the rotating speed instruction, the servo motor feeds speed information back to the central control unit in real time,
the central control unit classifies and sets the rotating acceleration of the radar antenna according to the relation between the speed instruction N r/min and the real-time acquired rotating speed N of the antenna turntable and the radar antenna,
if the antenna is in the stop state, accelerating the antenna at N2 r/min per second until the rotation speed of the antenna is N1; if the current rotating speed of the antenna is judged to be greater than N1, the antenna is decelerated at N3 r/min per second until the rotating speed of the antenna is N1; if the antenna is judged to be equal to the current rotating speed, keeping the current rotating speed; if the current rotation speed of the antenna is judged to be less than N1, the antenna is accelerated at N4 r/min per second until the rotation speed of the antenna is N1.
2. The radar antenna multi-segment speed control system according to claim 1, wherein the human-computer interaction unit provides a human-computer interaction software interface for inputting a turntable speed value or outputting a corresponding speed command by selecting a detection target category.
3. The radar antenna multi-speed control system of claim 1, wherein the N2 is a maximum acceleration for static acceleration of the radar antenna, the N3 is a maximum acceleration for dynamic deceleration of the radar antenna, and the N3 is a maximum acceleration for dynamic acceleration of the radar antenna.
4. The radar antenna multi-speed control system according to claim 3, wherein the N3 is obtained from the following test procedure: the radar antenna is made to rotate at the highest gear speed, and the maximum acceleration is determined by the speed reduction of the highest gear rotating speed to the lowest gear rotating speed in n seconds: firstly, taking a larger value for N to enable the antenna not to shake, then gradually reducing the value of N until the antenna shakes, wherein the acceleration corresponding to the previous test of the antenna shaking test at this time is the maximum acceleration N3 for dynamic deceleration, and if the antenna does not shake when N is 1, taking the difference value between the highest gear rotating speed and the lowest gear rotating speed as the numerical value of the maximum acceleration N3 for dynamic deceleration.
5. The radar antenna multi-speed control system according to claim 3, wherein the N4 is obtained from the following test procedure: the radar antenna is made to rotate at the lowest gear speed, and the maximum acceleration is determined by accelerating the lowest gear rotating speed to the highest gear rotating speed in n seconds: firstly, taking a larger value for N to enable the antenna not to shake, then gradually reducing the value of N until the antenna shakes, wherein the acceleration corresponding to the previous test of the current antenna shaking test is the maximum acceleration N4 of dynamic acceleration, and if the antenna does not shake when N is 1, taking the difference value between the highest gear rotating speed and the lowest gear rotating speed as the numerical value of the maximum acceleration N3 of dynamic acceleration.
6. The radar antenna multi-speed control system according to claim 3, wherein the N2 is obtained from the following test procedure: stopping the radar antenna, and determining the maximum acceleration by accelerating from 0 to the highest gear rotating speed in n seconds: firstly, taking a larger value for N to enable the antenna not to shake, then gradually reducing the value of N until the antenna shakes, wherein the acceleration corresponding to the previous test of the current antenna shaking test is the maximum acceleration N2 of static acceleration, and if the antenna does not shake when N is 1, taking the highest gear rotation speed value as the value of the maximum acceleration N2 of static acceleration.
7. A radar antenna multi-segment speed control method is characterized by comprising the following steps:
acquiring a speed instruction N1 and a real-time rotating speed N of an antenna turntable; and
judging the magnitude relation between the speed instruction N1 and the real-time rotating speed N of the antenna turntable, setting the rotating acceleration of the radar antenna according to the classification,
if the antenna is in the stop state, accelerating the antenna at N2 r/min per second until the rotation speed of the antenna is N1; if the current rotating speed of the antenna is judged to be greater than N1, the antenna is decelerated at N3 r/min per second until the rotating speed of the antenna is N1; if the antenna is judged to be equal to the current rotating speed, keeping the current rotating speed; if the current rotation speed of the antenna is judged to be less than N1, the antenna is accelerated at N4 r/min per second until the rotation speed of the antenna is N1.
8. The radar antenna multi-speed control method according to claim 7, wherein the N2 is a maximum acceleration of static acceleration of the radar antenna, the N3 is a maximum acceleration of dynamic deceleration of the radar antenna, and the N3 is a maximum acceleration of dynamic acceleration of the radar antenna.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011508906.6A CN112650312A (en) | 2020-12-18 | 2020-12-18 | Radar antenna multi-speed control system and control method |
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| CN202011508906.6A CN112650312A (en) | 2020-12-18 | 2020-12-18 | Radar antenna multi-speed control system and control method |
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| CN1356561A (en) * | 2001-12-29 | 2002-07-03 | 北京航空航天大学 | Antenna tracking device for robot helicopter and its operation method |
| CN102360231A (en) * | 2011-06-16 | 2012-02-22 | 成都西科微波通讯有限公司 | Rate gyroscope-based flexible antenna servo control system |
| CN104199465A (en) * | 2014-07-16 | 2014-12-10 | 北京遥测技术研究所 | Self-tracking servo control system for flat plate with high integration and high precision |
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Application publication date: 20210413 |