CN115185304A - Novel satellite tracking rotating platform - Google Patents
Novel satellite tracking rotating platform Download PDFInfo
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- CN115185304A CN115185304A CN202210801127.8A CN202210801127A CN115185304A CN 115185304 A CN115185304 A CN 115185304A CN 202210801127 A CN202210801127 A CN 202210801127A CN 115185304 A CN115185304 A CN 115185304A
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- 230000010287 polarization Effects 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 9
- 101100063069 Caenorhabditis elegans deg-1 gene Proteins 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The invention provides a novel satellite tracking rotating platform, which comprises various mounting plates for mounting various antennas, a satellite tracking rotating platform for controlling the rotation of various antennas, and a bracket for supporting the satellite tracking rotating platform; the satellite tracking rotating platform comprises: an X axis, a Y axis and an R rotating shaft; the X axis and the Y axis can both rotate 180 degrees in the direction vertical to the ground, the R axis can rotate 360 degrees in the direction horizontal to the ground, and the X axis and the Y axis are positioned at the top of the R axis; each type of mounting panel passes through the pedestal mounting on the X axle, and the X axle sets up in Y axle top and the position be the quadrature setting, and the support setting is in R axle bottom for realize that each type antenna polarization is rotatory and control every single move angle. The invention has the following beneficial effects: through the rotation of XY angle and the cooperation of azimuth axis, can realize the arbitrary polarization angle rotation of certain azimuth and every single move axle.
Description
Technical Field
The invention provides a satellite ground station technology, belongs to the field of measurement and control, and particularly relates to an XY-form satellite tracking rotating platform.
Background
For tracking purposes, the satellite tracking rotary table has two implementation modes, namely an azimuth/pitching two-axis rotary table, also called an AE rotary table, an orthogonal two-axis rotary table, also called an XY rotary table,
when the AE turntable is used, the azimuth axis rotates 360 degrees, and the pitch axis rotates 0-90 degrees, so that the whole sky of the upper hemisphere can be pointed. In XY turret use, a +/-90 degree rotation of each of the XY axes may also achieve full sky pointing to the upper hemisphere.
In the use of a turntable, it is sometimes necessary to change the polarization angle of the antenna, for example, the direction of the moon at the current position, i.e. the azimuth angle of 30 degrees and the pitch angle of 40 degrees, which can be described as a straight line leading to the moon, and if there is a camera aligned with the moon and rotating one turn around this straight line, only one turn of the moon in the field of view is seen in the camera. Therefore, for both the AE turntable and the XY turntable, the polarization rotation is performed by adding a polarization axis after the pointing is realized. That is, the axis controlling the rotation of polarization is located at the tip of the AE axis or the tip of the XY axis.
Adding a set of polarization axis at the top of the turntable causes a series of other problems, for example, the load and torque of the two axes at the bottom are required due to the weight increase of the top, and the top is provided with a separate polarization axis, so that a separate seal box, a power connector and the like are designed, and valuable top space is occupied.
Disclosure of the invention
In view of this, the present invention provides a novel XY satellite tracking rotation platform to solve the problem of space occupation by polarization rotation of various antennas and to realize antenna polarization rotation in a certain pointing direction.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a novel satellite tracking rotary table comprises various mounting plates for mounting various antennas, a satellite tracking rotary table for controlling the rotation of various antennas, and a bracket for supporting the satellite tracking rotary table;
the satellite tracking rotating platform comprises: an X axis, a Y axis and an R rotating shaft;
the X axis and the Y axis can both rotate 180 degrees in the direction vertical to the ground, the R axis can rotate 360 degrees in the direction horizontal to the ground, and the X axis and the Y axis are positioned at the top of the R axis;
each type of mounting panel passes through the pedestal mounting on the X axle, and the X axle sets up in Y axle top and the position be the quadrature setting, and the support setting is in R axle bottom for realize that each type antenna polarization is rotatory and control every single move angle.
The X-axis and the Y-axis are integrally formed and comprise two motor installation shells which are orthogonally arranged, the two motor installation shells are connected through a connecting rod, and a double-shaft motor is installed in each motor installation shell;
the two bases are arranged at the bottoms of the various types of templates, and one ends of the two bases are arranged on two rotating shafts of the top double-shaft motor;
two symmetrical mounting lugs extend out of the top of the R shaft, and a rotating shaft of a double-shaft motor of the Y shaft is mounted between the two mounting lugs;
the R axis adopts a 360-degree rotating platform, can compensate the rotating angles of the X axis and the Y axis, and can accurately control the rotation and the pitching angle of each type of antenna.
Compared with the prior art, the novel satellite tracking rotating platform control method has the following advantages:
(1) According to the novel satellite tracking rotating platform, the R axis is an azimuth axis, and the rotation of a certain direction and the rotation of the polarization angle of a pitch axis can be realized through the rotation of XY angles and the cooperation of the azimuth axis.
(2) The novel satellite tracking rotating platform simplifies the rotation requirement and the space requirement of a radio frequency component at the back of a rotating shaft; various types of templates and radio frequency components are fixed together to integrally rotate and polarize.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the invention without limitation. In the drawings:
fig. 1 is a schematic structural view of a novel satellite tracking rotary table according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a control method of a novel satellite tracking rotation platform according to an embodiment of the present invention.
Description of reference numerals:
1. a base; 2. an X axis; 3. a Y axis; 4. a control box; 5. an R axis; 6. a tripod; 41. mounting lugs; 21. a motor mounting case; 22. a connecting rod.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The invention will be described in detail with reference to the following embodiments with reference to the attached drawings.
As shown in fig. 1, a novel satellite tracking rotary table includes various types of mounting plates for mounting various types of antennas, a satellite tracking rotary table for controlling rotation of the antennas, and a support for supporting the satellite tracking rotary table;
the satellite tracking rotating platform comprises: x-axis 2, Y-axis 3, R-axis 5;
the X axis 2 and the Y axis 3 can rotate 180 degrees in the vertical direction, the R axis 5 can rotate 360 degrees in the horizontal direction, and the X axis 2 and the Y axis 3 are positioned at the top of the R axis 5;
each type of mounting panel passes through base 1 to be installed on X axle 2, and X axle 2 sets up and is set up for the quadrature in 3 tops of Y axle and position, and Y axle 3 is located the electric cabinet top, and the electric cabinet is installed at 5 tops on the R axle, and the support setting is in 5 bottoms on the R axle for realize that each type of antenna polarization is rotatory and control every single move angle.
The X-axis 2 and the Y-axis 3 are integrally formed and comprise two motor installation shells 21 which are orthogonally arranged, the two motor installation shells 21 are connected through a connecting rod 22, and a double-shaft motor is installed in each motor installation shell 21;
the two bases 1 are arranged at the bottoms of various types of plates, and one ends of the two bases 1 are arranged on two rotating shafts of a top double-shaft motor;
two symmetrical mounting lugs 41 extend from the top of the electric cabinet, and a rotating shaft of a double-shaft motor of the Y-shaft 3 is mounted between the two mounting lugs 41;
as shown in fig. 1, wherein various types of templates adopt various types of templates of the existing portable satellite ground station, the detailed structure is not described in detail, the base 1 is fixed at the bottom of various types of templates through bolts, the base 1 is rotated and installed at the rotating shaft end of the double-shaft motor of the X shaft 2, the rotation is carried out through the X shaft 2, various types of templates can be controlled to rotate +/-90 degrees, the Y shaft 3 is arranged below the X shaft 2 and is arranged in an orthogonal position with the X shaft 2, the double-shaft motor of the Y shaft 3 is rotated and installed on an installation ear 41 at the top of an electric control box, the rotation of +/-90 degrees can be realized, and the rotation of the polarization shaft of various types of antennas can be controlled by matching with the X shaft 2.
The electric cabinet bottom is then installed at 5 tops on the R axle, and R axle 5 adopts 360 revolving stages, can compensate X axle 2 and 3 rotation angles on the Y axle, can accurate rotation and the every single move angle of controlling each type antenna.
A novel satellite tracking rotating platform control method comprises the following steps:
s1, converting the expected azimuth angle and the expected pitch angle into XYZ coordinates under a polar coordinate system;
s2, solving new coordinates of the XYZ coordinates in the polar coordinate system in the offset coordinate system;
s3, solving a body coordinate system of the Y-axis cross arm according to the set ground vector;
s4, converting the coordinate system into longitude and latitude;
and S5, calculating an included angle between the satellite tracking rotating platform and the ground through cosine theorem water supply according to the longitude and the latitude, and controlling the satellite tracking rotating platform to rotate according to the included angle.
As shown in fig. 2, the specific control method comprises the following processes:
according to a coordinate transfer formula of the XY tracking turntable, after an expected azimuth angle deg0, a pitch angle deg1 and a polarization angle deg2 are input, the following conversion is performed:
1.x＝cos(deg1),z＝sin(deg1),y＝x*sin(deg0),x＝x*cos(deg0)
2.k＝pow(pow(x,2)+pow(z,2),0.5)
3.t＝atan2(x,z),x＝k*sin(t),z＝k*cos(t)
4.k＝pow(pow(y,2)+pow(z,2),0.5)
5.t＝atan2(y,z)
6.y＝k*sint,z＝k*cost
the azimuth angle and the pitch angle are converted into XYZ coordinates under a polar coordinate system
7.t＝atan2(y,x),t＝t+deg2；
8.k＝pow(pow(x,2)+pow(y,2),0.5)
9.x＝k*cos(t),y＝k*sin(t)
10.k＝pow(pow(x,2)+pow(y,2)+pow(z,2),0.5)
11.deg0＝pow(pow(x,2)+pow(z,2),0.5)
12.k＝pow(pow(x,2)+pow(z,2),0.5)
13.deg1＝atan2(y,k)
The above is to obtain new coordinates of XYZ coordinates in the offset coordinate system
14. Then, the ground vector xyz is set to:
15.x＝0,t＝90,k＝1,t＝t+deg1
16.y＝k*sin(t),z＝k*cos(t)
17.k＝pow(pow(x,2)+pow(z,2),0.5)
18.t＝atan2(x,z)
19.x＝k*sin(t+deg0),z＝k*cos(t+deg0)
the body coordinate system vector of the Y-axis cross arm is obtained
20.t＝atan2(y,x)
21.t＝t-deg2
22.k＝pow(pow(x,2)+pow(y,2),0.5)
23.x＝k*cost,y＝k*sint
The coordinate system is then converted from XY to AE
24.t＝atan2(y,z)
25.k＝pow(pow(x,2)+pow(z,2),0.5)
26.y＝k*sint,z＝k*cost
27.t＝atan2(x,z)
Chord length was determined by 28.k = pow (pow (x, 2) + pow (z, 2), 0.5)
29.x＝k*sint,z＝k*cost
30.a＝pow(pow(x,2)+pow(y,2)+pow(z,2),0.5)
31.b＝pow(pow(xa,2)+pow(ya,2)+pow(za,2),0.5)
32.c＝pow(pow((x-xa),2)+pow((y-ya),2)+pow((z-za),2),0.5)
33. Calculating an included angle f = acos (a + b-c)/2/a/b) with the ground according to a cosine theorem formula
34. At this time, an trial solution is obtained, the process from the first step to the 35 th step is continuously repeated, the corresponding relation between the fixed azimuth angle and the fixed pitch angle, the bottom azimuth axis and the polarization angle can be obtained, the step length in the calculation process is fine enough, a result with sufficient accuracy can be obtained, and the offset lower than 0.1 degree is very accurate according to experience.
The above process is a computer automatic execution process.
The polarization axis of rotation of original positive feedback antenna need exceed 14 kilograms of weight (contains the motor, the speed reducer, control circuit, the shell, connector etc.), this patent then only adopt motor and speed reducer can, occupation space is less to and the electric cabinet in this application is located the azimuth epaxial side, and this structure electric cabinet can rotate, has avoided original satellite tracking revolving stage top to need to set up control system alone, occupies more space.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (4)
1. A novel satellite tracking rotary table comprises a mounting plate for mounting an antenna, a satellite tracking rotary table for controlling the rotation of the antenna, and a bracket for supporting the satellite tracking rotary table; it is characterized in that the satellite tracking rotating platform comprises: an X axis (2), a Y axis (3), and an R axis (5);
the X axis (2) and the Y axis (3) can rotate 180 degrees in the vertical direction, the R axis (5) can rotate 360 degrees in the horizontal direction, and the X axis (2) and the Y axis (3) are positioned at the top of the R axis (5);
the mounting panel passes through base (1) to be installed on X axle (2), and X axle (2) set up Y axle (3) top and the position be the quadrature setting, and install at R axle (5) top Y axle (3), and the support setting is in R axle (5) bottom for realize that all types of antenna polarization is rotatory and the antenna is directional.
2. A novel satellite tracking rotary table according to claim 1, wherein: x axle (2) and Y axle (3) integrated into one piece, including motor installation shell (21) that two orthogonals set up, connect through connecting rod (22) between two motor installation shells (21), motor installation shell (21) internally mounted has the biax motor.
3. A novel satellite tracking rotary table according to claim 2, wherein: the base (1) comprises at least one antenna for mounting different types, and one end of the base (1) is mounted on two rotating shafts of the top double-shaft motor.
4. A novel satellite tracking rotary table according to claim 1, wherein: two symmetrical mounting lugs (41) extend out of the top of the R shaft, and a rotating shaft of a double-shaft motor of the Y shaft (3) is mounted between the two mounting lugs (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210801127.8A CN115185304A (en) | 2022-07-08 | 2022-07-08 | Novel satellite tracking rotating platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210801127.8A CN115185304A (en) | 2022-07-08 | 2022-07-08 | Novel satellite tracking rotating platform |
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| CN115185304A true CN115185304A (en) | 2022-10-14 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060124063A (en) * | 2005-05-30 | 2006-12-05 | 충남대학교산학협력단 | A satellite antenna |
| CN101451968A (en) * | 2007-12-04 | 2009-06-10 | 北京卫星环境工程研究所 | High precision in-situ measurement equipment for calorific radiation performance of satellite surface |
| CN103155283A (en) * | 2010-06-27 | 2013-06-12 | 西泰尔股份有限公司 | Three-axis pedestal having motion platform and piggy back assemblies |
| CN203250853U (en) * | 2013-02-27 | 2013-10-23 | 宁波森富机电制造有限公司 | Three-axis stabilization mobile tracking mount of shipborne satellite antenna |
| CN112821029A (en) * | 2020-12-31 | 2021-05-18 | 桂林长海发展有限责任公司 | Shipborne satellite antenna seat and shipborne satellite antenna tracking system |
-
2022
- 2022-07-08 CN CN202210801127.8A patent/CN115185304A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060124063A (en) * | 2005-05-30 | 2006-12-05 | 충남대학교산학협력단 | A satellite antenna |
| CN101451968A (en) * | 2007-12-04 | 2009-06-10 | 北京卫星环境工程研究所 | High precision in-situ measurement equipment for calorific radiation performance of satellite surface |
| CN103155283A (en) * | 2010-06-27 | 2013-06-12 | 西泰尔股份有限公司 | Three-axis pedestal having motion platform and piggy back assemblies |
| CN203250853U (en) * | 2013-02-27 | 2013-10-23 | 宁波森富机电制造有限公司 | Three-axis stabilization mobile tracking mount of shipborne satellite antenna |
| CN112821029A (en) * | 2020-12-31 | 2021-05-18 | 桂林长海发展有限责任公司 | Shipborne satellite antenna seat and shipborne satellite antenna tracking system |
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