CN115714263A - Five-axis linkage self-adaptive antenna attitude automatic control device, control method and system - Google Patents
Five-axis linkage self-adaptive antenna attitude automatic control device, control method and system Download PDFInfo
- Publication number
- CN115714263A CN115714263A CN202211433723.1A CN202211433723A CN115714263A CN 115714263 A CN115714263 A CN 115714263A CN 202211433723 A CN202211433723 A CN 202211433723A CN 115714263 A CN115714263 A CN 115714263A
- Authority
- CN
- China
- Prior art keywords
- antenna
- motor
- angle
- azimuth
- attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention discloses a five-axis linkage self-adaptive antenna attitude automatic control device, a control method and a system, wherein the control device comprises: a base (100), an orientation adjustment assembly (200), a roll adjustment assembly (300), a pitch adjustment assembly (400), a polarization adjustment assembly (500), and a scan adjustment assembly (600); the azimuth adjusting assembly (200), the roll adjusting assembly (300), the pitch adjusting assembly (400), the polarization adjusting assembly (500) and the scanning adjusting assembly (600) all change the rotating angle by driving the meshed big and small gears to rotate through the rotation of the motor, and further change the azimuth angle, the roll angle, the pitch angle, the scanning angle of the antenna and the polarization angle of the feed source. The device keeps the pointing stability of the antenna under the condition of carrier motion by controlling the azimuth angle, the roll angle, the pitch angle, the polarization angle and the scanning angle of the antenna, and can not cause the pointing violent change of the antenna when the carrier violently moves.
Description
Technical Field
The invention belongs to the technical field of satellite antennas, and particularly relates to a five-axis linkage self-adaptive antenna attitude automatic control device, a control method and a system.
Background
A mobile satellite ground station communication system, named as communication in motion, refers to a satellite communication earth station installed on a mobile carrier (such as a mobile carrier of an automobile, a ship, an airplane and the like), and requires that a satellite communication system can work normally in the motion process of the carrier. In order to ensure the normal operation of the communication-in-motion system, the communication-in-motion antenna is always aligned with the communication satellite, and the alignment precision is not more than one eighth of the width of the lobe. Currently, the alignment of the satellite is usually realized by continuously adjusting the attitude of the satellite antenna. For example, chinese patent document CN200910119284 discloses a method for automatically adjusting the posture of a Ka-band mobile satellite communication antenna, which realizes angular motion isolation by three axes in a spatial orthogonality, thereby suspending and isolating the antenna; the azimuth angle, the roll angle and the pitch angle of the antenna are adjusted by driving motors on three shafts, so that the attitude of the antenna is stabilized in a preset pointing direction; the beacon signal of the satellite is tracked, and the rotation angle of the azimuth axis and/or the elevation axis is/are alternately driven to eliminate the pointing deviation caused by the drift of the sensor, so that the antenna is in the optimal receiving state. This method requires high requirements on the mutual position of the three axes and the mounting of the antenna components on the three axes.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention provides a five-axis linkage self-adaptive antenna attitude automatic control device, which keeps the pointing stability of an antenna under the condition of carrier motion by controlling the azimuth angle, the roll angle, the pitch angle, the polarization angle and the scanning angle of the antenna, and does not cause the pointing violent change of the antenna when the carrier violently moves.
The technical scheme is as follows: the invention discloses a five-axis linkage self-adaptive antenna attitude automatic control device, which comprises: a base 100, an orientation adjustment assembly 200, a roll adjustment assembly 300, a pitch adjustment assembly 400, a polarization adjustment assembly 500, and a scan adjustment assembly 600;
the direction adjusting assembly 200 comprises a direction gearwheel 201, an L-shaped rod 202, a direction motor 203 and a direction pinion 204, wherein the direction gearwheel 201 is arranged on the base 100, the tail end of the bottom of the L-shaped rod 202 is connected with the direction motor 203, the bottom of the direction motor is provided with the direction pinion 204, and the direction pinion 204 is externally meshed with the direction gearwheel 201;
the roll adjusting assembly 300 comprises a roll motor 301, a first connecting piece 302 and a U-shaped beam 303; the roll motor 301 is arranged at the upper end of the L-shaped rod 201, and a roll pinion 304 is arranged outside the roll motor 301; one side of the first connecting piece 302 is connected with the U-shaped beam 303 through a bearing, the other side of the first connecting piece is provided with a rolling large gear 305, and the rolling small gear 304 is externally meshed with the rolling large gear 305;
the pitching adjusting assembly 400 comprises a supporting seat 401, a pitching gearwheel 402, a second connecting piece 403, a pitching motor 404 and a pitching pinion 405; the supporting seat 401 is fixedly arranged on the back of the antenna and is connected with the two arms of the U-shaped beam 303 through two bearings; the pitching gearwheel 402 is semicircular and is fixedly arranged on a first side of the supporting seat 401; the second connecting piece 403 is triangular, one side of the second connecting piece 403 is fixedly connected with one arm of the U-shaped beam 303 close to the pitching large gear 402, and the other side is provided with a pitching motor 404; a pitch pinion 405 is arranged outside the pitch motor 404; the pitch pinion 405 externally engages the pitch bull gear 402;
the polarization adjusting assembly 500 comprises a feed source turntable 501, a polarization worm wheel 502, a worm 503 and a polarization motor 504; the feed source turntable 501 is arranged on the back surface of the antenna and is connected with a feed source on the front surface of the antenna; a polarized worm gear 502 is arranged on the outer circumference of the feed source turntable 501; the worm 503 is perpendicular to the first edge of the supporting seat 401 and is driven to rotate by a polarization motor 504 fixed on the supporting seat 401; the worm is meshed with the polarized worm wheel;
the scanning adjusting assembly 600 comprises a scanning motor 601 and an antenna main surface mounting baseplate spindle 602; the scanning motor 601 and the antenna main surface mounting base plate main shaft 602 are respectively mounted on the upper side and the lower side of the second edge of the supporting seat 401, and when the scanning motor 601 rotates, the antenna main surface mounting base plate main shaft 602 is driven to rotate, so that the position of the antenna main surface mounting base plate main shaft is changed, and the regularity of the scanning shape of the cone beam is guaranteed.
Further, 2 limit switches 306 are arranged on the first connecting piece 302, and the limit switches are used for limiting the rotation range of the rolling gear wheel.
On the other hand, the invention also discloses a method for mounting the five-axis linkage self-adaptive antenna attitude automatic control device on a carrier to automatically control the antenna attitude, which comprises the following steps:
step 1, acquiring longitude and latitude, altitude value and satellite parameters to be aimed at of a real-time antenna according to a satellite positioning system, and acquiring a theoretical azimuth angle, a pitch angle and a polarization angle of a current antenna attitude;
step 4, carrying out PID (proportion integration differentiation) conversion on the information acquired in the three steps to obtain the rotating angles of a current azimuth motor, a roll motor, a pitch motor, a polarization motor and a scanning motor; each motor rotates correspondingly, so that the posture of the antenna is adjusted;
and 5, capturing a satellite beacon by the beacon receiver to realize tracking, and finishing antenna satellite-to-satellite.
Furthermore, the satellite positioning system is a Beidou satellite positioning system or a GPS positioning system.
Further, the tracking is step tracking, and when the beacon signal received by the antenna receiving device is greater than a set value, the azimuth motor and/or the pitch motor are/is driven alternately, so that the azimuth angle and the pitch angle are rotated to ensure that the antenna is aligned with the satellite, and the specific tracking method comprises the following steps:
when the beacon signal received by the equipment is greater than the set value, firstly rotating the azimuth angle of the antenna by 0.1-0.3 degrees, comparing the beacon signal value received by the antenna receiving equipment after rotation with the beacon signal value received before, if the beacon signal value is greater than the beacon signal value received before, indicating that the rotating direction of the antenna is correct, then rotating the azimuth angle by 0.1-0.3 degrees, then comparing until the beacon signal value is less than the beacon signal value before, then carrying out the same tracking on the pitch angle, and as long as the received beacon signal is greater than the set value, carrying out the alternate tracking all the time to enable the antenna to be in the best receiving state.
Furthermore, the tracking is a cone beam scanning method, the combination rotation of a scanning motor and a pitching motor is adopted to realize the regulation of the scanning shape of the cone beam, and the scanning motor drives the scanning angle to scan according to the formula (1):
α 0 ＝Asin(ωt) (1)
the pitch motor drives the pitch angle to scan according to the formula (2):
β＝Acos(ωt) (2)
wherein: t is time, omega is rotation angular speed of beam scanning, A is beam off-axis angle, alpha 0 Is the scan angle at time t; beta is the pitch angle at the moment t.
On the other hand, the invention also discloses a control system for realizing the five-axis linkage self-adaptive antenna attitude automatic control method, which comprises the following steps:
the antenna theoretical attitude acquisition module 1 is used for acquiring longitude and latitude, altitude value and satellite parameter to be aimed of a real-time antenna according to a satellite positioning system, and acquiring a theoretical azimuth angle, a pitch angle and a polarization angle of the current antenna attitude;
the relative attitude position acquisition module 2 is used for acquiring the attitude and the position of the antenna relative to the carrier according to the current state of each component in the five-axis linkage self-adaptive antenna attitude automatic control device;
the carrier attitude acquisition module 3 is used for receiving a real-time carrier attitude acquired by a combined navigation system consisting of an MEMS IMU and a satellite positioning system;
the antenna adjustment parameter acquisition module 4 is used for subjecting the information acquired by the antenna theoretical attitude acquisition module 1, the relative attitude position acquisition module 2 and the carrier attitude acquisition module 3 to PID (proportion integration differentiation) proportional integral differential conversion to obtain the rotating angles of a current azimuth motor, a roll motor, a pitch motor, a polarization motor and a scanning motor;
the antenna adjustment parameter sending module 5 is used for sending the rotating angles of the current azimuth motor, the roll motor, the pitch motor, the polarization motor and the scanning motor to each motor so as to adjust the attitude of the antenna;
and the tracking module 6 is used for realizing tracking according to the satellite beacon captured by the beacon receiver and finishing antenna satellite-to-satellite.
Has the advantages that: compared with the prior art, the five-axis linkage self-adaptive antenna attitude automatic control device, the control method and the system disclosed by the invention have the following advantages:
1. the currently applied antenna is mostly driven by a belt wheel, and a servo motor is automatically controlled; the automatic control board of the motor, the power module, the beacon board and the like are independent modules, occupy large space, cause system overstaffed, have poor running stability, have overlarge return difference and instability, cause tracking delay and easily lose satellite tracking signals. The control device disclosed by the invention has the advantages that through five-axis linkage, gear and worm and gear transmission, the mechanical transmission return difference is reduced, the instantaneous compensation condition is reduced, the problem of signal loss caused by sudden change of the position of a carrier is solved, and the purposes of tracking at any time, compensating in time, having multiple climates and being universal in multiple environments are achieved.
2. The control device disclosed by the invention increases the polarization angle adjustment and the scanning angle adjustment of the antenna main face feed source on the basis of adjusting the azimuth, the pitching and the rolling parameters of the antenna, is convenient to install, does not expose an externally hung cable on the whole outside, and achieves the purposes of protecting the service life of a transmission cable and shielding potential interference possibly existing outside.
3. The invention adopts self-lubricating design, is maintenance-free, can be suitable for different environmental spaces, greatly increases the practicability and reduces the cost.
4. The control method disclosed by the invention can quickly adjust and compensate the antenna attitude in various shipborne communication satellite places according to different scenes of environment change, and a polarization fine adjustment mechanism is added, so that the satellite precision of the communication-in-motion antenna is greatly improved, the signal tracking is more stable, and the loss caused by signal loss due to instantaneous position mutation is reduced as much as possible.
Drawings
FIG. 1 is a three-dimensional structure diagram of a five-axis linkage adaptive antenna attitude automatic control device disclosed by the invention;
FIGS. 2a-2d are partial schematic views;
FIG. 3 is a six-view diagram of the automatic attitude control device for a five-axis linkage adaptive antenna disclosed by the invention;
FIG. 4 is a flow chart of a five-axis linkage adaptive antenna attitude automatic control method disclosed by the invention;
fig. 5 is a schematic composition diagram of a five-axis linkage adaptive antenna attitude automatic control system disclosed in the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings and the detailed description.
Example 1:
the invention discloses a five-axis linkage self-adaptive antenna attitude automatic control device, as shown in figure 1, comprising: a base 100, an orientation adjustment assembly 200, a roll adjustment assembly 300, a pitch adjustment assembly 400, a polarization adjustment assembly 500, and a scan adjustment assembly 600;
the base is used for installing the five-axis linkage self-adaptive antenna attitude automatic control device on a carrier. As shown in fig. 2a, the azimuth adjusting assembly 200 is a partial schematic view, and includes an azimuth large gear 201, an L-shaped rod 202, an azimuth motor 203, and an azimuth small gear 204, wherein the azimuth large gear 201 is disposed on the base 100, the bottom end of the L-shaped rod 202 is connected to the azimuth motor 203, the azimuth small gear 204 is disposed at the bottom of the azimuth motor, and the azimuth small gear 204 is externally engaged with the azimuth large gear 201; when the azimuth motor rotates, the azimuth pinion is driven to rotate along the outer circumference of the azimuth gearwheel, so that the L-shaped rod is driven to rotate, and the azimuth angle of the antenna is controlled.
The roll adjusting assembly 300 comprises a roll motor 301, a first connecting piece 302 and a U-shaped beam 303; the roll motor 301 is arranged at the upper end of the L-shaped rod 201, and a roll pinion 304 is arranged outside the roll motor 301; one side of the first connecting piece 302 is connected with the U-shaped beam 303 through a bearing, the other side of the first connecting piece is provided with a rolling large gear 305, and the rolling small gear 304 is externally meshed with the rolling large gear 305; the first connecting member 302 is provided with 2 limit switches 306 for limiting the rotation range of the rack gear, as shown in fig. 2 b. When the rolling motor rotates, the rolling pinion is driven to rotate, and the rolling pinion is meshed with the rolling gearwheel to drive the rolling gearwheel to rotate, so that the U-shaped beam rotates around a shaft of a bearing between the first connecting piece and the U-shaped beam, and the rolling angle of the antenna is controlled.
The pitching adjusting assembly 400 comprises a supporting seat 401, a pitching gearwheel 402, a second connecting piece 403, a pitching motor 404 and a pitching pinion 405; the supporting seat 401 is fixedly arranged on the back of the antenna, in this embodiment, the supporting seat 401 is rectangular, and four sides of the supporting seat are named as a first side, a second side, a third side and a fourth side in sequence; the first edge and the third edge are connected with two arms of the U-shaped beam 303 through two bearings; the pitching gearwheel 402 is semicircular and is fixedly arranged on a first side of the supporting seat 401; the second connecting piece 403 is triangular, one side of the second connecting piece 403 is fixedly connected with an arm of the U-shaped beam 303 close to the large pitching gear 402, and the other side is provided with a pitching motor 404; a pitch pinion 405 is arranged outside the pitch motor 404; the pitch pinion 405 is externally engaged with the pitch bull gear 402; as shown in fig. 2 c. When the pitching motor rotates, the pitching small gear rotates along the pitching big gear, so that the supporting seat rotates around the axial direction of the two bearings between the supporting seat and the U-shaped beam, and the pitching angle of the antenna is controlled.
The polarization adjusting assembly 500 comprises a feed source turntable 501, a polarization worm wheel 502, a worm 503 and a polarization motor 504; the feed source turntable 501 is arranged on the back surface of the antenna and is connected with a feed source on the front surface of the antenna; a polarized worm gear 502 is arranged on the outer circumference of the feed source turntable 501; the worm 503 is perpendicular to the first edge of the supporting seat 401 and is driven to rotate by a polarization motor 504 fixed on the supporting seat 401; the worm meshes with a polarized worm gear as shown in fig. 2 d. When the polarization motor rotates, the worm is driven to rotate, and then the worm wheel is driven to rotate, so that the feed source turntable also rotates, and the feed source polarization angle of the front face of the antenna is adjusted.
The scanning adjustment assembly 600 includes a scanning motor 601 and an antenna main surface mounting base plate spindle 602, as shown in fig. 2d, the scanning motor 601 and the antenna main surface mounting base plate spindle 602 are respectively mounted on the upper and lower sides of the second side of the supporting base 401, and the scanning motor 601 rotates to drive the antenna main surface mounting base plate spindle 602 to rotate, so as to change the position thereof, thereby ensuring the regularity of the scanning shape of the cone beam.
The bearings used in this embodiment are all self-lubricating bearings.
Fig. 3 shows six views of the five-axis linkage adaptive antenna attitude automatic control device, wherein fig. 3 (a) - (f) are a front view, a top view, a left view, a right view, a top view and a rear view, respectively.
When the five-axis linkage self-adaptive antenna attitude automatic control device is used for automatically controlling the attitude of the antenna, the base is firstly arranged on the carrier, the main surface of the antenna is arranged on the supporting seat 401, and the feed source turntable is well connected with the feed source on the front surface of the antenna, so that the feed source turntable can be driven to rotate when rotating. As shown in fig. 4, the method for automatically controlling the attitude of an antenna includes:
step 1, acquiring longitude and latitude, altitude value and satellite parameter to be aimed of a real-time antenna according to a satellite positioning system, and acquiring a theoretical azimuth angle, a pitch angle and a polarization angle of the current antenna attitude;
the satellite positioning system is a Beidou satellite positioning system or a GPS positioning system.
step 4, carrying out PID (proportion integration differentiation) to the information obtained in the three steps to obtain the rotating angles of the current azimuth motor, the roll motor, the pitch motor, the polarization motor and the scanning motor; each motor rotates correspondingly, so that the posture of the antenna is adjusted;
and 5, capturing a satellite beacon by the beacon receiver to realize tracking, and finishing antenna satellite-to-satellite.
The azimuth angle, the roll angle, the pitch angle, the polarization angle and the scanning angle of the antenna are controlled by the rotation of the azimuth motor, the roll motor, the pitch motor, the polarization motor and the scanning motor in the steps 1-5, so that the pointing stability of the antenna can be kept under the condition of carrier motion, and when the carrier moves violently, the pointing violent change of the antenna cannot be caused.
When the carrier is moving vigorously, it is necessary to correct for the slow drift of the antenna pointing, i.e. to eliminate it by mechanical tracking. In this embodiment, step tracking is adopted, and when a beacon signal received by the antenna receiving device is greater than a set value, the azimuth motor and/or the pitch motor are/is alternately driven, so that the azimuth angle and the pitch angle are rotated to ensure that the antenna is aligned with the satellite, and the specific tracking method includes:
when the beacon signal received by the equipment is greater than the set value, firstly rotating the azimuth angle of the antenna by 0.1-0.3 degrees, comparing the beacon signal value received by the antenna receiving equipment after rotation with the beacon signal value received before, if the beacon signal value is greater than the beacon signal value received before, indicating that the rotating direction of the antenna is correct, then rotating the azimuth angle by 0.1-0.3 degrees, then comparing until the beacon signal value received after rotation is less than the beacon signal value received before, then carrying out the same tracking on the pitch angle, and as long as the received beacon signal is greater than the set value, carrying out the alternate tracking all the time to enable the antenna to be in the optimal receiving state.
As shown in fig. 5, the control system for implementing the five-axis linkage adaptive antenna attitude automatic control method includes:
the antenna theoretical attitude acquisition module 1 is used for acquiring longitude and latitude, altitude value and satellite parameter to be aimed of a real-time antenna according to a satellite positioning system, and acquiring a theoretical azimuth angle, a pitch angle and a polarization angle of the current antenna attitude;
the relative attitude position acquisition module 2 is used for acquiring the attitude and the position of the antenna relative to the carrier according to the current state of each component in the five-axis linkage self-adaptive antenna attitude automatic control device;
the carrier attitude acquisition module 3 is used for receiving a real-time carrier attitude acquired by a combined navigation system consisting of the MEMS IMU and the satellite positioning system;
the antenna adjustment parameter acquisition module 4 is used for subjecting the information acquired by the antenna theoretical attitude acquisition module 1, the relative attitude position acquisition module 2 and the carrier attitude acquisition module 3 to PID (proportion integration differentiation) proportional integral differential conversion to obtain the rotating angles of a current azimuth motor, a roll motor, a pitch motor, a polarization motor and a scanning motor;
the antenna adjustment parameter sending module 5 is used for sending the rotating angles of the current azimuth motor, the roll motor, the pitch motor, the polarization motor and the scanning motor to each motor so as to adjust the attitude of the antenna;
and the tracking module 6 is used for realizing tracking according to the satellite beacon captured by the beacon receiver and finishing the antenna-to-satellite.
The tracking module 6 in this embodiment employs step tracking to correct for slow drift in the antenna pointing.
Example 2:
embodiment 1 adopts a step tracking mode to eliminate slow drift, and the tracking method has a slow convergence rate. Yet another is cone beam scanning to achieve tracking.
The principle of cone beam scanning tracking is to make the beam rotate continuously around the direction of the antenna axis, and determine the target direction through the angular position error signal of the antenna axis. The error signal drives the angle servo system to rotate the antenna to the direction of reducing the error, thereby realizing the tracking of the target. In the ideal cone beam scanning, the plane figure vertical to the rotating shaft is a standard circle during scanning, so that the signals obtained by the system are more favorable for adjusting the deviation direction. Two scanning methods are currently used:
1. cone beam scanning is achieved by combined rotation of azimuth and elevation angles, which has two drawbacks, the first being that the azimuth axis is not orthogonal to the antenna beam axis (the azimuth axis and the antenna beam axis are orthogonal only at 0 ° relative elevation angle), the angle of rotation of the azimuth axis and the angle of rotation of the antenna beam are not identical, and they are functionally related to the relative elevation angle of the antenna as follows:
wherein theta is the rotation angle of the azimuth axis of the antenna, psi is the actual scanning angle of the antenna perpendicular to the axial lines of the pitching axis and the beam axis;
is the relative elevation angle of the antenna.
When the elevation angle is not 0 and the posture of the carrier is changed violently when the carrier moves (the relative elevation angle is changed violently at the moment), the shape regularity of cone beam scanning is difficult to ensure, and the tracking performance is directly influenced; another drawback is that the moment of inertia of the azimuth axis is relatively large.
2. The method has the advantages that the rotary inertia is small, so that the load of a scanning motor is small, the cone beam scanning shape is regular, but the method has a fatal defect, the directional diagram characteristic of the antenna is damaged, and the first additional lobe exceeds the standard in actual use.
In this embodiment, improved cone beam scanning is used for tracking, specifically, a scanning motor and a pitch motor are used for combined rotation to realize regularity of the scanning shape of the cone beam, and the scanning motor drives a scanning angle to scan according to formula (1):
α 0 ＝Asin(ωt) (1)
the pitch motor drives the pitch angle to scan according to formula (2):
β＝Acos(ωt) (2)
wherein: t is time, ω is rotational angular velocity during beam scanning, A is beam off-axis angle,α 0 is the scan angle at time t; beta is the pitch angle at the moment t.
It can be known from the formula (1) and the formula (2) that the scanning mode is a parameter equation of a standard circle, and the scanning mode consisting of the scanning angle and the pitch angle of the formula (1) and the formula (2) has the defects of the two cone beam scanning modes, so that the regularity of the scanning shape of the cone beam under different conditions can be ensured, and the directional diagram characteristic of the antenna is not damaged.
Similarly, in the control system of this embodiment, the tracking module 6 performs tracking by using improved cone beam scanning, specifically, the scanning shape of the cone beam is normalized by using the combined rotation of the scanning motor and the pitch motor, and the scanning angle driven by the scanning motor and the pitch angle driven by the pitch motor are scanned according to the above equations (1) and (2), respectively.
Claims (9)
1. The utility model provides a five-axis linkage self-adaptation antenna gesture automatic control device which characterized in that includes: a base (100), an orientation adjustment assembly (200), a roll adjustment assembly (300), a pitch adjustment assembly (400), a polarization adjustment assembly (500), and a scan adjustment assembly (600);
the azimuth adjusting assembly (200) comprises an azimuth large gear (201), an L-shaped rod (202), an azimuth motor (203) and an azimuth pinion (204), wherein the azimuth large gear (201) is arranged on the base (100), the tail end of the bottom of the L-shaped rod (202) is connected with the azimuth motor (203), the azimuth pinion (204) is arranged at the bottom of the azimuth motor, and the azimuth pinion (204) is externally meshed with the azimuth large gear (201);
the roll adjusting assembly (300) comprises a roll motor (301), a first connecting piece (302) and a U-shaped beam (303); the transverse rolling motor (301) is arranged at the upper end of the L-shaped rod (201), and a transverse rolling pinion (304) is arranged on the outer side of the transverse rolling motor (301); one side of the first connecting piece (302) is connected with the U-shaped beam (303) through a bearing, the other side of the first connecting piece is provided with a rolling large gear (305), and the rolling small gear (304) is externally engaged with the rolling large gear (305);
the pitching adjusting assembly (400) comprises a supporting seat (401), a pitching gearwheel (402), a second connecting piece (403), a pitching motor (404) and a pitching pinion (405); the supporting seat (401) is fixedly arranged on the back of the antenna and is connected with two arms of the U-shaped beam (303) through two bearings; the pitching big gear wheel (402) is semicircular and is fixedly arranged on the first side of the supporting seat (401); the second connecting piece (403) is triangular, one side of the second connecting piece (403) is fixedly connected with one arm, close to the pitching big gear (402), of the U-shaped beam (303), and the other side of the second connecting piece (403) is provided with a pitching motor (404); a pitching pinion (405) is arranged on the outer side of the pitching motor (404); the pitch pinion (405) is externally meshed with the pitch gearwheel (402);
the polarization adjusting assembly (500) comprises a feed source turntable (501), a polarization worm wheel (502), a worm (503) and a polarization motor (504); the feed source turntable (501) is arranged on the back surface of the antenna and is connected with a feed source on the front surface of the antenna; a polarized worm wheel (502) is arranged on the outer circumference of the feed source turntable (501); the worm (503) is vertical to the first side of the supporting seat (401) and is driven to rotate by a polarization motor (504) fixed on the supporting seat (401); the worm is meshed with the polarized worm wheel;
the scanning adjusting assembly (600) comprises a scanning motor 601, an antenna main surface mounting baseplate main shaft 602; the scanning motor 601 and the antenna main surface mounting base plate main shaft 602 are respectively mounted on the upper side and the lower side of the second edge of the supporting seat 401, and when the scanning motor 601 rotates, the antenna main surface mounting base plate main shaft 602 is driven to rotate, so that the position of the antenna main surface mounting base plate main shaft is changed, and the regularity of the scanning shape of the cone beam is guaranteed.
2. The automatic five-axis linkage adaptive antenna attitude control device according to claim 1, wherein 2 limit switches (306) are arranged on the first connecting piece (302), and the limit switches are used for limiting the rotation range of the rolling gearwheel.
3. The control method of the five-axis linkage adaptive antenna attitude automatic control device according to any one of claims 1 to 2, wherein a base of the five-axis linkage adaptive antenna attitude automatic control device is mounted on a carrier, and the control method comprises the following steps:
step 1, acquiring longitude and latitude, altitude value and satellite parameter to be aimed of a real-time antenna according to a satellite positioning system, and acquiring a theoretical azimuth angle, a pitch angle and a polarization angle of the current antenna attitude;
step 2, acquiring the attitude and the position of the antenna relative to the carrier according to the current state of each component in the five-axis linkage self-adaptive antenna attitude automatic control device;
step 3, acquiring a real-time carrier attitude by a combined navigation system consisting of an MEMS IMU and a satellite positioning system;
step 4, carrying out PID (proportion integration differentiation) to the information obtained in the three steps to obtain the rotating angles of the current azimuth motor, the roll motor, the pitch motor, the polarization motor and the scanning motor; each motor rotates correspondingly, so that the posture of the antenna is adjusted;
and 5, capturing a satellite beacon by the beacon receiver to realize tracking, and finishing antenna satellite-to-satellite.
4. The control method according to claim 3, wherein the satellite positioning system is a Beidou satellite positioning system or a GPS positioning system.
5. The control method according to claim 3, wherein the tracking is step tracking, and when the beacon signal received by the antenna receiving device is greater than a set value, the azimuth motor and/or the pitch motor are/is driven alternately to rotate the azimuth angle and the pitch angle to ensure that the antenna is aligned with the satellite, and the tracking method comprises:
when the beacon signal received by the equipment is greater than the set value, firstly rotating the azimuth angle of the antenna by 0.1-0.3 degrees, comparing the beacon signal value received by the antenna receiving equipment after rotation with the beacon signal value received before, if the beacon signal value is greater than the beacon signal value received before, indicating that the rotating direction of the antenna is correct, then rotating the azimuth angle by 0.1-0.3 degrees, then comparing until the beacon signal value received after rotation is less than the beacon signal value received before, then carrying out the same tracking on the pitch angle, and as long as the received beacon signal is greater than the set value, carrying out the alternate tracking all the time to enable the antenna to be in the optimal receiving state.
6. The control method according to claim 3, wherein the tracking is cone beam scanning, and the combined rotation of a scan motor and a pitch motor is used to implement the regularization of the scanning shape of the cone beam, and the scan motor drives the scan angle to scan according to equation (1):
α 0 ＝A sin(ωt) (1)
the pitch motor drives the pitch angle to scan according to the formula (2):
β＝A cos(ωt) (2)
wherein: t is time, omega is rotation angular speed of beam scanning, A is beam off-axis angle, alpha 0 Is the scan angle at time t; beta is the pitch angle at the moment t.
7. A five-axis linkage self-adaptive antenna attitude automatic control system is characterized by comprising:
the antenna theoretical attitude acquisition module (1) is used for acquiring longitude and latitude values and altitude values of a real-time antenna and satellite parameters to be aimed according to a satellite positioning system and acquiring a theoretical azimuth angle, a pitch angle and a polarization angle of the current antenna attitude;
the relative attitude position acquisition module (2) is used for acquiring the attitude and the position of the antenna relative to the carrier according to the current state of each component in the five-axis linkage self-adaptive antenna attitude automatic control device;
the carrier attitude acquisition module (3) is used for receiving a real-time carrier attitude acquired by a combined navigation system consisting of the MEMS IMU and the satellite positioning system;
the antenna adjustment parameter acquisition module (4) is used for carrying out PID (proportion integration differentiation) on information acquired by the antenna theoretical attitude acquisition module (1), the relative attitude position acquisition module (2) and the carrier attitude acquisition module (3) to obtain the rotating angles of a current azimuth motor, a roll motor, a pitch motor, a polarization motor and a scanning motor;
the antenna adjustment parameter sending module (5) is used for sending the rotating angles of the current azimuth motor, the roll motor, the pitch motor, the polarization motor and the scanning motor to each motor so as to adjust the attitude of the antenna;
and the tracking module (6) is used for realizing tracking according to the satellite beacon captured by the beacon receiver and finishing the antenna to the satellite.
8. The system for automatically controlling the attitude of the five-axis linkage adaptive antenna according to claim 7, wherein the tracking module (6) adopts step tracking, and when a beacon signal received by the antenna receiving equipment is greater than a set value, the azimuth motor and/or the pitching motor are/is driven alternately, so that the azimuth angle and the pitching angle are rotated to ensure that the antenna is aligned with a satellite, and the specific tracking method comprises the following steps:
when the beacon signal received by the equipment is greater than the set value, firstly rotating the azimuth angle of the antenna by 0.1-0.3 degrees, comparing the beacon signal value received by the antenna receiving equipment after rotation with the beacon signal value received before, if the beacon signal value is greater than the beacon signal value received before, indicating that the rotating direction of the antenna is correct, then rotating the azimuth angle by 0.1-0.3 degrees, then comparing until the beacon signal value received after rotation is less than the beacon signal value received before, then carrying out the same tracking on the pitch angle, and as long as the received beacon signal is greater than the set value, carrying out the alternate tracking all the time to enable the antenna to be in the optimal receiving state.
9. The five-axis linkage adaptive antenna attitude automatic control system according to claim 7, wherein the tracking module (6) adopts a cone beam scanning method, and adopts a combined rotation of a scanning motor and a pitching motor to realize the regulation of the scanning shape of a cone beam, and the scanning motor drives a scanning angle to scan according to formula (1):
α 0 ＝A sin(ωt) (1)
the pitch motor drives the pitch angle to scan according to the formula (2):
β＝A cos(ωt) (2)
wherein: t is time, omega is rotation angular speed of beam scanning, A is beam off-axis angle, alpha 0 Is the scan angle at time t; beta is the pitch angle at time t.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211433723.1A CN115714263A (en) | 2022-11-16 | 2022-11-16 | Five-axis linkage self-adaptive antenna attitude automatic control device, control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211433723.1A CN115714263A (en) | 2022-11-16 | 2022-11-16 | Five-axis linkage self-adaptive antenna attitude automatic control device, control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115714263A true CN115714263A (en) | 2023-02-24 |
Family
ID=85233359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211433723.1A Pending CN115714263A (en) | 2022-11-16 | 2022-11-16 | Five-axis linkage self-adaptive antenna attitude automatic control device, control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115714263A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116722361B (en) * | 2023-07-18 | 2023-12-19 | 中国船舶集团有限公司第七二三研究所 | Antenna polarization stabilizing device and method under swinging platform |
| CN117458148A (en) * | 2023-12-25 | 2024-01-26 | 南京固达万通讯设备有限公司 | Omnidirectional antenna structure assembly capable of automatically steering and adjusting |
-
2022
- 2022-11-16 CN CN202211433723.1A patent/CN115714263A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116722361B (en) * | 2023-07-18 | 2023-12-19 | 中国船舶集团有限公司第七二三研究所 | Antenna polarization stabilizing device and method under swinging platform |
| CN117458148A (en) * | 2023-12-25 | 2024-01-26 | 南京固达万通讯设备有限公司 | Omnidirectional antenna structure assembly capable of automatically steering and adjusting |
| CN117458148B (en) * | 2023-12-25 | 2024-03-19 | 南京固达万通讯设备有限公司 | Omnidirectional antenna structure assembly capable of automatically steering and adjusting |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115714263A (en) | Five-axis linkage self-adaptive antenna attitude automatic control device, control method and system | |
| US7298342B2 (en) | Antenna positioner system | |
| AU2008244292B2 (en) | Device and method for controlling a satellite tracking antenna | |
| EP2789050B1 (en) | Pedestal for tracking antenna | |
| US4156241A (en) | Satellite tracking antenna apparatus | |
| CN202142644U (en) | Satellite antenna and antenna frame controller | |
| EP4022799A1 (en) | Yaw drift compensation for pointing an antenna | |
| CN103138050B (en) | Three-axis stable follow-up tracking device of shipborne satellite antenna | |
| US5517205A (en) | Two axis mount pointing apparatus | |
| CN106602261A (en) | Shipborne satellite communication system and method for shipborne antenna to track satellite | |
| CN111142099A (en) | Method for solving blind target capture problem of spherical phased array antenna tracking over top | |
| CN202737105U (en) | Boat-carrying antenna stabilized platform beam communication system | |
| CN115242296B (en) | Satellite communication terminal assisted by position sensor | |
| CN112259952A (en) | Special-shaped seat frame for ship-borne low-orbit satellite VSAT antenna | |
| CN109895041A (en) | A kind of boat-carrying serial-parallel mirror stabilized platform | |
| CN112928444A (en) | Shipborne universal antenna in motion | |
| CN112821029A (en) | Shipborne satellite antenna seat and shipborne satellite antenna tracking system | |
| DE112009003183T5 (en) | Method, device and system for tracking a subreflector of a reflector antenna | |
| CN116519020A (en) | Inertial navigation calibration device and method for maneuvering measurement and control platform | |
| CN205564988U (en) | Shipborne satellite antenna | |
| CN201629406U (en) | Antenna posture adjusting device of ship-borne satellite antenna control system | |
| CN219874020U (en) | Airborne directional antenna, installation cloud platform and unmanned aerial vehicle | |
| CN111897370A (en) | Dynamic antenna satellite tracking parameter correction method based on attitude and heading reference | |
| Wang et al. | A Method for Calculating the Over-the-Top Tracking Direction of a Small Cross-Beam Airborne Satellite Antenna | |
| CN210852966U (en) | Aerial image acquisition device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |