CN113346818B - Servo control system and method for loading MSK signal of mechanical antenna - Google Patents
Servo control system and method for loading MSK signal of mechanical antenna Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a servo control system loaded by MSK signals of a rotary permanent magnet mechanical antenna, wherein the rotary permanent magnet mechanical antenna comprises a magnetic source, a motor and a controller, and the signal frequency and phase modulation are respectively mapped into control of average rotating speed and instantaneous position according to the corresponding relation between the motion control characteristic of a radiation source and the output characteristic of the mechanical antenna, so that the input given of the rotary servo system is generated. And then the rotating speed and the current of the motor are controlled by adopting double closed-loop control, and meanwhile, the relative position of the motor is also controlled by closed-loop control. The method ensures that the additional phase change of each code element periodic signal is +/-pi/2 by controlling the relative position of the output in real time; the signal frequency difference satisfies +/-1/(4T) by indirectly controlling the output rotating speed difference s ) The MSK digital modulation signal is loaded.
Description
Technical Field
The invention belongs to the field of permanent magnet synchronous motor servo control, and particularly relates to a relative position closed-loop control method for loading a mechanical antenna MSK signal.
Background
In the field of low-frequency electromagnetic communication, the existing low-frequency transmitting antennas are all electrically small antennas, and have the problems of low radiation efficiency, large volume and transmitting power and the like, so that the wide application of the low-frequency electromagnetic communication in the related fields is limited. The mechanical antenna is a new type of low frequency electromagnetic transmission technology which directly excites electromagnetic wave by using mechanical moving electric charge or magnetic moment. According to different radiation materials and mechanical motion modes, mechanical antennas can be divided into technical systems such as a vibration electret type, a vibration permanent magnet type, a rotation electret type and a rotation permanent magnet type. Thanks to the mature application of rare earth permanent magnetic materials and rotary servo control technology in the military and civil fields, the rotary permanent magnetic mechanical antenna has become the key direction of research in the field at home and abroad.
Because the mechanical antenna relates to the crossing of multidisciplinary fields, according to the electromagnetic emission and information loading mechanism of the mechanical antenna, in order to realize high-efficiency application, the design, analysis and application of the mechanical antenna face a series of problems and challenges.
In order to improve the power amplification efficiency, constant envelope modulation strategies such as Frequency Shift Keying (FSK) and minimum frequency shift keying (MSK) are mainly adopted at present, and frequency and phase control of a transmission signal is involved. Different from the prior electrically small antenna, the frequency and the phase of the output voltage/current of the power amplifier need to be controlled by a modulator, and the mechanical antenna can realize information loading by changing the motion state of a radiation source. However, different modulation parameters need to be mapped to state parameters of the vibration or rotation motion, and corresponding motion excitation and control are performed.
Due to inertia influence, the motion state of the radiation source cannot change suddenly, which requires continuous phase of the modulation waveform, so the MSK digital signal modulation strategy is selected. Meanwhile, the modulation performance of the mechanical antenna is affected by state errors such as the position (angle) and the speed (rotating speed) of the radiation source. Therefore, it is necessary to study the correspondence between the radiation source motion control characteristic and the mechanical antenna output characteristic, and to implement real-time control of the radiation source motion state based on the correspondence. In order to improve transmission bandwidth and signal-to-noise ratio, for the control process, the controlled state parameters are required to be capable of fast responding and have no steady-state error, and the core is to design and adopt a proper servo control strategy and an implementation system thereof so as to improve the dynamic following performance and the load disturbance resistance of vibration or rotation servo control, thereby improving the dynamic performance and the robustness of the system.
Disclosure of Invention
The invention provides a relative position closed-loop control method for MSK signal loading of a rotary permanent magnet type mechanical antenna, which realizes motion state control of a mechanical antenna radiation source through a rotary servo control system, thereby realizing the loading of MSK digital modulation signals.
The technical scheme adopted by the invention is as follows:
the servo control system loaded by the MSK signal of the mechanical antenna comprises a control circuit and a power circuit, wherein the control circuit controls the output voltage and current of the power circuit, the output end of the power circuit is connected with a motor of the mechanical antenna, the control circuit comprises,
the position regulator receives the given relative position and the feedback relative position and regulates the output rotating speed difference;
the rotating speed regulator receives the rotating speed difference, the basic rotating speed and the rotating speed feedback and regulates the given output quadrature axis current;
the quadrature axis current regulator receives quadrature axis current setting and quadrature axis current feedback and outputs quadrature axis voltage setting;
the direct-axis current regulator receives direct-axis current setting and direct-axis current feedback and outputs direct-axis voltage setting;
and the driving signal generator is used for outputting a driving signal of the power circuit according to the quadrature-axis voltage setting and the direct-axis voltage setting.
The relative position setting is obtained according to the corresponding relation between the MSK code element signal and the motor rotation state.
The relative position feedback is obtained by subtracting the basic angular velocity from the real-time rotation angular velocity of the motor and performing integral operation.
The rotating speed regulator, the quadrature-axis current regulator and the direct-axis current regulator are proportional-integral regulators.
The basic angular speed is the angular speed of the motor which runs stably before the MSK modulation signal is loaded, and the basic rotating speed is obtained by calculation according to the basic angular speed.
The mechanical antenna MSK signal loading servo control method comprises
step 4, adjusting the difference value between the given relative position and the feedback relative position to obtain a rotation speed difference;
step 5, adjusting the difference value of the sum of the rotating speed difference and the basic rotating speed and the rotating speed feedback to obtain a given quadrature axis current;
step 6, adjusting the difference between the quadrature axis current given value and the quadrature axis current feedback value, and the difference between the direct axis current given value and the direct axis current feedback value to obtain a quadrature axis voltage and a direct axis voltage;
step 7, calculating to generate a switch driving signal according to the quadrature axis voltage and the direct axis voltage;
and 8, driving an inverter to output a voltage signal for driving a motor in the mechanical antenna by using the switch driving signal.
The method for adjusting in step 4, step 5 and step 6 is to use a proportional-integral regulator to perform the adjustment.
In step 6, the driving signal is generated by using SVPWM.
The method has the advantages that the relative position closed-loop control method for MSK signal loading of the rotary permanent magnet type mechanical antenna is simple and easy to implement, the corresponding relation between the radiation source motion control characteristic and the mechanical antenna output characteristic is clear, and the frequency of a digital signal can be changed on the basis of ensuring the continuity of the signal phase. The relative position, the rotating speed and the current of the motor are subjected to closed-loop control, so that the phase positions of the motor and the magnetic source are directly controlled, and the rotating speed is indirectly controlled.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a basic schematic diagram of a rotating permanent magnet mechanical antenna.
Fig. 2 is a diagram of an additional phase network for the MSK signal.
Fig. 3 is a schematic diagram of the corresponding relationship between the MSK signal and the motor rotation speed and phase information.
Fig. 4 is a waveform diagram of a variation in rotational angular velocity of an actual motor.
Fig. 5 is a control block diagram of a servo control system for loading a mechanical antenna MSK signal.
Fig. 6 is a flow chart of servo control of mechanical antenna MSK signal loading.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention are clearly and completely described according to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
As shown in fig. 1, it is a basic schematic diagram of a rotating permanent-magnet mechanical antenna. The rotary permanent magnet type mechanical antenna comprises a magnetic source 1, a motor 2 and a servo control system 3, wherein the servo control system 3 drives the motor 2, the motor 2 drives the magnetic source 1 to move, so that the control of the motion state of the magnetic source 1 is realized, low-frequency electromagnetic wave signals are excited, and information loading is realized. The method comprises the steps of converting code element data to be transmitted into input commands, changing the voltage and the current of a motor 2 in real time by a servo control system 3 according to the input commands and the state feedback of a magnetic source 1 (namely, a rotor of the motor 2) and combining a certain control strategy, so that the output torque of the motor 2 is adjusted in real time, the rotating state of the magnetic source 1 is tracked and input commands in real time, electromagnetic signals to be transmitted are generated, and information loading is realized. The magnetic source 1 comprises a permanent magnet and a sheath, the permanent magnet is used for generating a required static high-intensity magnetic field, and the sheath is made of a non-magnetic material and used for reducing mechanical stress of the permanent magnet during high-speed rotation. The motor 2 generates the electromagnetic torque required for the rotation of the magnetic source 1.
FIG. 2 shows an additional phase network diagram, θ, of the MSK signal k (T) is an additional phase function of the MSK signal, T s Is the symbol period. The MSK signal has continuous phase and high frequency band utilization rate, and the frequency difference between two frequencies of the signal is 1/(2T) s ). The magnitude of the additional phase of the MSK signal can be calculated according to the frequency difference, and the additional phase function theta k (t) is a linear equation with the slope being the angle of rotationSpeed difference:
in any one symbol period T s In the method, if the code element data to be transmitted is 1, theta k (t) increases linearly by π/2; if the code element data to be transmitted is 0, then theta k (t) decreases linearly by π/2. From this relationship, θ is plotted k All possible paths of (t) are additional phase network graphs of the MSK signal.
FIG. 3 is a schematic diagram showing the corresponding relationship between the MSK signal and the motor speed and phase information, θ k Relative position, ω, of motor 2 and magnetic source 1 c Is the base angular velocity, ω, of the motor 1 And omega 2 The rotation angular velocities corresponding to modulation symbols of 1 and 0, respectively. From the foregoing, it can be seen that the key to implementing digital modulation information loading is to map different modulation parameters to state parameters of the radiation source motion. To achieve information loading of the MSK, the frequency and phase modulation are mapped as a control of the mean rotational speed and the instantaneous position, respectively. Omega c And theta k There is a certain mathematical relation with the difference of the rotating speed of the motor and the period of the code element. Because the MSK modulation signal is in one time duration T of the code element s Its additional phase always changes by + -pi/2, theta when the symbol is 1 k (t) the phase increases linearly by π/2, and when the symbol is 0, θ k The phase of (t) decreases linearly by π/2. Thus for the motor, the control objectives are: at T s In the method, the actual rotation angular velocity omega of the motor is subtracted by the base angular velocity omega without modulation c The latter integral quantity, i.e. relative position θ k Is + -pi/2 rad. According to the mathematical relation delta omega ═ theta k /T s If theta k At T s Increasing pi/2 rad, the corresponding rotation angular velocity of the motor is omega 1 ＝ω c +Δω＝ω c +2π/(4T s ) (ii) a If theta k At T s When pi/2 rad is internally reduced, the corresponding rotation angular speed of the motor is omega 2 ＝ω c -Δω＝ω c -2π/(4T s )。
As shown in FIG. 4, a waveform of change in actual rotational angular velocity of the motor is shown by Δ t 1 Rise time, Δ t, for motor up-speed 2 The fall time for motor deceleration. In actual operation, the angular velocity of rotation of the motor cannot be directly represented by ω 1 Step change to ω 2 And the motor rotation angular velocity is increased by the rise time Δ t of Δ ω 1 And a fall time Deltat of the angular velocity decrease Deltaomega 2 Is not uniform, thus resulting in a difference in T s Inner theta k Not π/2rad, while the cumulative error will get larger and larger over time. Therefore, if the traditional rotation speed-current double closed-loop control can cause phase offset, the invention provides a relative position closed-loop control method, which is used for controlling the relative position theta of the motor 2 and the magnetic source 1 k Controlling the relative position θ in real time as a direct control variable k Tracking is given, ensuring that each symbol period T s Theta of output k Is + -pi/2 rad.
As shown in fig. 5, a MSK signal loading control block diagram based on vector control of the permanent magnet synchronous motor is shown, which illustrates a specific method for driving the motor 2 by the controller 3, and realizes the relative position θ between the motor 2 and the magnetic source 1 k And (5) controlling. The servo control system 3 comprises a control circuit 31 and a power circuit 32, wherein the control circuit 31, the power circuit 32 and the motor 2 jointly form three closed-loop control of relative position-rotating speed-current, so that the control of the rotating speed and the rotor position of the motor 2 is realized.
According to a certain modulation mode, such as MSK modulation, the information loading module maps the input signal data into a motion state control signal of the radiation source as a given signal of the servo control system 3, namely, a relative position given theta k * . The modulation mode adopts MSK modulation, and the signal data takes 101010 as an example to obtain the given relative position theta k * The waveform is similar to a triangular wave, if the modulation code element is 1, then theta k * At T s Increasing pi/2 rad linearly; if the modulation symbol is 0, then θ k * Given at T s The linearity decreases by π/2 rad.
Relative position rings including position adjustmentA position regulator 311, the position regulator 311 receiving a relative position given by theta k * And relative position feedback θ k . Given value theta of said relative position k * And the feedback value theta k The difference of (d) is a relative position error, and is input to the position regulator 311, resulting in a rotational speed difference Δ n as part of the rotational speed loop input. Obtaining a given relative position theta according to the corresponding relation between the MSK code element signal and the rotation state of the motor 2 k * . Real-time angular velocity ω of the motor 2 minus the base angular velocity ω c After that, a relative position feedback θ is obtained by operation of the integrator 3111 k . The position detection module 319 (position sensor) on the motor 2 monitors the rotor position θ of the motor 2 in real time r The rotation speed calculation module 3110 calculates a rotation speed based on the rotor position θ r And calculating the rotating speed n of the motor in real time according to the time difference, wherein the real-time rotating angular speed omega is obtained by converting the measured rotating speed n.
The speed loop includes a speed regulator 312, the speed regulator 312 receiving a speed difference Δ n, a base speed n c And feeding back the rotating speed n. The difference between the rotational speed Deltan and the basic rotational speed n c After superposition, as a speed ring, a given speed n * . Obtaining the rotation speed difference delta n of 15/T according to the corresponding relation between the MSK signal and the motor rotation speed and phase information s The speed ring is given as n c ±15/T s . The rotating speed feedback n is obtained by real-time detection and calculation of the motor position detection module 319 and the rotating speed calculation module 3110. Given value n of the rotational speed * The difference value from the feedback value n is the rotation speed error, and is input to the rotation speed regulator 312 to obtain the quadrature axis current given i q * 。
The current loop comprises a current regulator 313 and a current regulator 314, which respectively receive the AC/DC axis current given i q * 、i d * Quadrature axis current feedback i q And a direct axis current i d . Using permanent-magnet synchronous motors i d The given value i of the quadrature axis current is set in a 0-vector control mode q * I.e. the output of the above mentioned speed loop, the direct axis current given i d * Is 0. By Hall current sensorsDetecting the phase current i of the three phases of the motor 2 in real time a 、i b 、i c And obtaining the quadrature axis current feedback value i through a coordinate transformation module 317 (such as clark transformation) and 318 (such as Park transformation) according to the rotor position angle q And a direct axis current feedback value i d . Given value i of the quadrature-direct axis current q * And i d * And a feedback value i q And i d The difference of (c) is a current error, and is inputted to the current regulators 313 and 314 to obtain a quadrature axis voltage given u q * And direct axis voltage given u d * 。
The quadrature axis voltage is given u q * And direct axis voltage given u d * After the coordinate transformation module 315 (e.g., inverse Park transformation), the three-phase static coordinate (α β coordinate) is converted, and then the SVPWM module 316 obtains the on-off state timings of the six switching tubes, and outputs the on-off state timings to the power circuit 32.
The power circuit 32 includes a DC power supply U dc And an inverter. The inverter 321 includes six switching tubes, and the on-off state timing thereof is determined by the output of the control portion 31. The direct current U is switched on and off through six switching tubes dc Converted into three-phase sine alternating current u a ，u b ，u c Thereby driving the motor 2 to rotate.
In order to ensure that the rotating speed is converted when the position of the motor rotor is n pi/2, the phase of the motor is monitored and judged in real time, and the MSK modulation is switched in when the position of the motor rotor is 0 or pi, so that the phase continuity of the MSK signal can be ensured.
The servo control system changes the voltage and the current of the driving motor in real time through the controller according to the input given and the state feedback of the magnetic source and in combination with a certain servo control strategy, so that the output torque of the driving motor is adjusted in real time, the rotating state of the magnetic source tracks the input given in real time, the electromagnetic signal required to be transmitted is generated, and information loading is realized.
Fig. 6 is a flowchart of servo control of loading of the mechanical antenna MSK signal, and shows specific steps of the servo control method.
step 4, adjusting the difference value between the given relative position and the feedback relative position to obtain a rotation speed difference;
step 5, adjusting the difference value of the sum of the rotating speed difference and the basic rotating speed and the rotating speed feedback to obtain a given quadrature axis current;
step 6, adjusting the difference between the quadrature axis current given value and the quadrature axis current feedback value, and the difference between the direct axis current given value and the direct axis current feedback value to obtain a quadrature axis voltage and a direct axis voltage;
step 7, calculating to generate a switch driving signal according to the quadrature axis voltage and the direct axis voltage;
and 8, driving an inverter to output a motor voltage signal in the mechanical antenna by using the switch driving signal.
The method for adjusting in the step 4, the step 5 and the step 6 is to use a proportional-integral regulator for adjustment.
In the step 6, the driving signal is generated by using SVPWM.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (6)
1. The servo control system loaded by the MSK signal of the mechanical antenna is characterized by comprising a control circuit and a power circuit, wherein the control circuit controls the output voltage and current of the power circuit, the output end of the power circuit is connected with a motor of the mechanical antenna, the control circuit comprises,
the position regulator receives the relative position setting of the motor relative to the magnetic source and the relative position feedback of the motor relative to the magnetic source, and regulates the output rotating speed difference, wherein the relative position setting of the motor relative to the magnetic source is obtained according to the corresponding relation between the MSK code element signal and the rotating state of the motor;
the rotating speed regulator receives the rotating speed difference, the rotating speed of the motor which stably runs before loading the MSK signal and the rotating speed feedback, and regulates the given output quadrature axis current;
the quadrature axis current regulator receives quadrature axis current setting and quadrature axis current feedback and outputs quadrature axis voltage setting;
the direct-axis current regulator receives direct-axis current setting and direct-axis current feedback and outputs direct-axis voltage setting;
and the driving signal generator is used for outputting a driving signal of the power circuit according to the quadrature-axis voltage setting and the direct-axis voltage setting.
2. The mechanical antenna MSK signal loading servo control system of claim 1, wherein the relative position feedback of the motor with respect to the magnetic source is obtained by integral operation after subtracting the angular velocity of the motor during stable operation before loading the MSK signal from the real-time rotation angular velocity of the motor.
3. A mechanical antenna MSK signal loaded servo control system according to claim 2, wherein the position regulator, the rotational speed regulator, the quadrature current regulator and the direct current regulator are proportional integral regulators.
4. The servo control method for loading the MSK signal of the mechanical antenna is characterized by comprising
Step 1, sampling three-phase current of a motor in a mechanical antenna and detecting the position of the motor;
step 2, calculating quadrature axis and direct axis current feedback of the motor according to the three-phase current, and calculating rotating speed feedback and angular speed of the motor according to the position of the motor;
step 3, calculating the relative position feedback of the motor relative to the magnetic source according to the angular velocity of the motor;
step 4, adjusting a difference value fed back by a relative position of the motor relative to the magnetic source and a relative position of the motor relative to the magnetic source to obtain a rotation speed difference, wherein the relative position of the motor relative to the magnetic source is obtained according to a corresponding relation between the MSK code element signal and the motor rotation state;
step 5, adjusting the rotation speed difference, and obtaining the given quadrature axis current by the difference between the sum of the rotation speeds of the motor in stable operation before loading the MSK signal and the rotation speed feedback;
step 6, adjusting the difference between the quadrature axis current given value and the quadrature axis current feedback value, and the difference between the direct axis current given value and the direct axis current feedback value to obtain a quadrature axis voltage and a direct axis voltage;
step 7, calculating to generate a switch driving signal according to the quadrature axis voltage and the direct axis voltage;
and 8, driving an inverter to output a voltage signal for driving a motor in the mechanical antenna by using the switch driving signal.
5. The servo control method for loading the MSK signal on the mechanical antenna according to claim 4, wherein the adjusting method in step 4, step 5 and step 6 is adjusting by using a proportional-integral adjuster.
6. The servo control method for loading the MSK signal on the mechanical antenna according to claim 5, wherein the driving signal is generated by SVPWM in step 7.
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