CN115799799A - Gantry frame type holder for antenna test and control method thereof - Google Patents
Gantry frame type holder for antenna test and control method thereof Download PDFInfo
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Abstract
The invention relates to a gantry frame type cradle head for antenna test and a control method thereof, wherein the cradle head comprises a base, an azimuth control motor, a rolling control motor, a gantry, a pitching control unit arranged below the gantry, and an antenna installation unit arranged on the pitching control unit; the antenna mounting unit comprises an antenna polarization direction control motor, a middle shaft and an antenna mounting seat; the tripod head adopts an azimuth-pitch control mode in the ascending stage and the descending stage of the vertical semicircular flight of the unmanned aerial vehicle, adopts a roll-pitch control mode in the overhead stage, and smoothly switches the control modes in the transition stage. The gantry frame type holder is adopted, so that the problem that the directional test antenna cannot be always aligned to the target when the existing unmanned aerial vehicle flies in a vertical semicircle is solved, the test antenna can be more accurately pointed to the target to be tested, and the polarization direction of the test antenna is kept; in the overhead flight phase, the singularity problem can be avoided.
Description
Technical Field
The invention relates to a cloud deck carried by an unmanned aerial vehicle and a control method thereof, in particular to an unmanned aerial vehicle cloud deck for testing an antenna and a control method thereof.
Background
The document "how the unmanned aerial vehicle technology will change the satellite antenna test, microwave magazine, 2020,9/10 months, p8-14" describes an application case of the unmanned aerial vehicle technology in the satellite antenna test. This document has shown communication in moving antenna test unmanned aerial vehicle, and unmanned aerial vehicle carries the standard two degrees of freedom position every single move cloud platform, and the directional horn antenna that covers X wave band and Ku wave band is installed to the cloud bench, can accomplish communication in moving antenna's commercialization test according to the SOMAP requirement. There are two problems in the design of cloud platform and application in the antenna test unmanned aerial vehicle that the literature shows: first, when a large roll angle occurs due to wind interference during a test, the pointing accuracy of the test antenna is affected, and even if the test antenna is redirected to a target by a fast azimuth control, the polarization direction of the test antenna is changed. Secondly, when the vertical semicircle overhead flight test is carried out, the cloud platform antenna test system has a singular problem, namely near directly over the antenna to be tested, small roll deviation or lateral deviation can cause large-scale jumping of the azimuth control angle of the cloud platform, so that the cloud platform can not accurately point to the target to be tested.
Disclosure of Invention
The invention aims to provide a gantry type cradle head for antenna test and a control method thereof, and solves the technical problems that the existing test cradle head cannot accurately control the polarization direction of a test antenna and cannot accurately point to a tested target during overhead test.
The technical solution of the invention is as follows:
a gantry frame type tripod head for antenna test is characterized by comprising a base, an azimuth control motor and an azimuth shaft which are vertically arranged on the base, a rolling control motor fixing frame fixedly connected with the azimuth shaft, a rolling control motor and a rolling shaft which are horizontally arranged on the rolling control motor fixing frame, a gantry arranged on the rolling shaft, a pitching control unit arranged below the gantry, and an antenna mounting unit arranged on the pitching control unit; the gantry comprises a gantry beam and two gantry columns; the gantry beam is vertically and fixedly connected with the rolling shaft; the pitching control unit comprises a pitching control motor and a middle frame; the pitching control motor is fixed at the lower end of one of the gantry columns; one side frame of the middle frame is fixedly connected with an output shaft of the pitching control motor; the other side frame of the middle frame is rotationally connected with the lower end of the other gantry upright; the antenna mounting unit comprises an antenna polarization direction control motor, a middle shaft and an antenna mounting seat which are connected in sequence; the antenna polarization direction control motor is fixed at the rear frame of the middle frame; the middle shaft penetrates through the front frame of the middle frame and is fixedly connected with the antenna mounting seat; the antenna mounting seat is used for mounting a test antenna.
In order to adapt to test antennas with different specifications, the antenna mounting unit can further comprise a counterweight arranged in the middle frame.
In order to facilitate the quick replacement of test antennas of different specifications, the antenna mounting base can be a quick-release mounting base.
The control method of the gantry frame type holder for the antenna test specifically comprises the following steps: the cradle head adopts an azimuth-pitch control mode in an ascending stage and a descending stage of vertical semicircular flight of the unmanned aerial vehicle, adopts a roll-pitch control mode in an overhead stage, and smoothly switches the control modes in a transition stage from the ascending stage to the overhead stage and a transition stage from the overhead stage to the descending stage.
In the above control method of the gantry frame type pan-tilt for the antenna test, the interval range of each stage is as follows: taking the right upper part of a measured target as 0 degree, the interval range of the rising stage is 90-A, and the value range of A is 55-10 degrees; the interval range of the descending transition stage is B to-90 degrees, and the value range of B is-10 degrees to-55 degrees; the transition range from the rising stage to the over-top stage is A-A + C, and C is not more than 6 degrees; the transition interval from the over-top stage to the down-rise stage is in the range of B-D, D is not more than 6 degrees.
In the above control method of the gantry frame type pan-tilt for the antenna test, the preferred values of the interval ranges of each stage are as follows: a =60 °; b = -60 °; c =5 °; d =5 °.
In the above control method of the gantry frame type pan/tilt for the antenna test, the azimuth-pitch control mode specifically includes:
desired pan tilt angle θ gd Calculated by the following formula
Desired pan tilt azimuth psi gd Is calculated according to the following formula
Expected pan/tilt angle phi gd Calculated by the following formula
The roll-pitch control mode specifically includes:
desired pan tilt azimuth psi gd Is calculated according to the following formula
Desired pan tilt angle θ gd Calculated by the following formula
θ gd ＝arcsin(xcosψ g -ysinψ g )；
Expected pan/tilt angle phi gd Calculated according to the following formula
Wherein:
ψ vhc the desired azimuth for the vertical semicircular task;
R ij an element of an ith row and j columns of an unmanned aerial vehicle direction cosine matrix R;
φ g the current cradle head roll angle;
ψ g the current cradle head azimuth angle;
x, y, z is the desired test antenna pointing vector z P Three coordinate components of (a);
z P for the desired test antenna pointing unit vector, the following equation is calculated
In the formula (I), the compound is shown in the specification, B O a position coordinates of an origin of a test antenna coordinate system under a body coordinate system; B P t is the position of the measured antenna in the body coordinate system.
The control mode smooth switching specifically includes:
when the stage is transited from the ascending stage to the over-top stage, the expected azimuth angle of the holder is calculated according to the azimuth-pitch control mode and is recorded as psi gdy (ii) a Meanwhile, the expected azimuth angle of the holder calculated according to the roll-pitch control mode is recorded as psi gdr Then the azimuth angle of the desired pan-tilt in the transition stage is psi gd ＝kψ gdy +(1-k)ψ gdr Wherein the coefficient k varies from 1 to 0 over time in N seconds; then, under the current azimuth angle of the tripod head, the expected roll angle phi of the tripod head is calculated according to the roll-pitch control mode gd And a desired pitch angle θ gd ；
When the transition is carried out from the over-top stage to the descending stage, the expected pan-tilt roll angle is obtained by calculation according to the roll-pitch mode and is recorded as phi gdr (ii) a Meanwhile, the expected pan-tilt roll angle obtained by calculation according to the azimuth-pitch mode is recorded as phi gdy Then the expected pan-tilt roll control angle in the transition stage is phi pzt ＝kφ gdr +(1-k)φ gdy Wherein the coefficient k varies from 1 to 0 over time in N seconds; then, under the current roll angle of the tripod head, calculating the expected azimuth psi of the tripod head according to the azimuth-pitch control mode gd And desire to bendElevation angle theta gd 。
The coefficient k varies from 1 to 0 in 1 second over time, depending on the normal flying speed of the drone.
The invention discloses a simplified gantry frame type holder for antenna testing, which is characterized by comprising a base, an azimuth control motor and an azimuth shaft which are vertically arranged on the base, a rolling control motor fixing frame fixedly connected with the azimuth shaft, a rolling control motor and a rolling shaft which are horizontally arranged on the rolling control motor fixing frame, a gantry arranged on the rolling shaft, a pitching control unit arranged below the gantry, and an antenna mounting unit arranged on the pitching control unit; the gantry comprises a gantry beam and two gantry columns; the gantry beam is vertically and fixedly connected with the rolling shaft; the pitching control unit comprises a pitching control motor and a middle frame; the pitching control motor is fixed at the lower end of one gantry upright post; one side frame of the middle frame is fixedly connected with an output shaft of the pitching control motor; the other side frame of the middle frame is rotationally connected with the lower end of the other gantry upright; the antenna mounting unit comprises an antenna mounting base; the antenna mounting seat is arranged on the front frame of the middle frame; the antenna mounting seat is used for mounting a test antenna.
The invention has the beneficial effects that:
1. the gantry type holder for the antenna test solves the problem that the existing directional test antenna cannot always align to a target and keep an expected polarization direction when the existing unmanned aerial vehicle flies in a vertical semicircle by adopting a four-axis or three-axis gantry type holder. The tripod head realizes the rotation of a pitching axis within +/-180 degrees through the design of the outer frame gantry, and can enable a test antenna to continuously and uninterruptedly aim at a target and accurately keep an expected polarization direction in a vertical semicircle test. Particularly, in a non-overhead flight stage, the rolling motion of the unmanned aerial vehicle can be quickly compensated, so that the test antenna can be more accurately pointed to a tested target, and meanwhile, the polarization direction of the test antenna can be accurately kept; in the overhead flight stage, the singular point problem can be avoided, so that the test antenna above the target of the antenna to be tested can also accurately, smoothly and smoothly point to the target to be tested; the polarization direction of the antenna can be continuously controlled and tested in the test process, and the requirements of certain special antenna test tasks are met.
2. According to the gantry type tripod head for the antenna test, the rolling axis and the pitching axis of the tripod head are simultaneously used for compensating the attitude change of the unmanned aerial vehicle, so that the pointing control precision of the antenna is improved, and the problem of control singularity existing in a single azimuth-pitching control mode is solved.
3. According to the control method of the gantry frame type tripod head for the antenna test, the azimuth-pitching control mode is adopted by the tripod head in the ascending and descending stages of vertical semicircular flight, the rolling-pitching control mode is adopted in the overhead stage, and the transition is smooth in the transition stage, so that the continuous control is ensured, and the control stability is improved.
4. According to the gantry type tripod head for the antenna test, the antenna polarization direction control motor is connected with the test antenna through the middle shaft, and the gantry type tripod head has a counterweight function, so that the test antenna protrudes forwards as far as possible, and is far away from an unmanned aerial vehicle as far as possible, and therefore antenna test data have lower background interference noise.
Drawings
FIG. 1 is a schematic structural diagram of a gantry frame type pan-tilt for antenna testing according to the present invention;
FIG. 2 is a schematic view of the position of the antenna on the pan/tilt head of the present invention pointing directly forward;
FIG. 3 is a schematic view of the position of the antenna on the pan/tilt head of the present invention pointing directly downward;
FIG. 4 is a schematic view of the position of the antenna on the pan/tilt head of the present invention pointing 45 downward from the rear;
fig. 5 is a schematic view of zone control of the holder in vertical semicircle flight.
Reference numerals: 1-a base; 2-an azimuth control motor; 3-rolling control motor; 4-gantry beam; 5-rolling the control motor fixing frame; 6-gantry; 7-gantry column; 8-antenna polarization direction control motor; 9-pitch control motor; 10-middle frame; 11-the medial axis; 12-an antenna mount; 13-test antenna.
Detailed Description
Referring to fig. 1, the gantry frame type tripod head for antenna testing of the invention comprises a base, a rolling control motor fixing frame, a gantry, a middle frame, a middle shaft, an azimuth control motor, a rolling control motor, a pitching control motor, an antenna polarization direction control motor and an antenna mounting seat.
The cloud platform base is fixed on unmanned aerial vehicle load shock attenuation frame, and cloud platform base installation thin wall bearing bears cloud platform and antenna load weight. The cradle head dragon door frame structure is designed to ensure that the pointing direction of the antenna can be continuously changed at +/-180 degrees, as shown in fig. 2, 3 and 4.
The holder azimuth axis is designed to compensate for disturbance changes of the aircraft yaw angle and control the antenna to point to a target in the horizontal direction. The cradle head rolling shaft is designed to compensate the rolling attitude change of the airplane, keep the horizontal frame of the cradle head gantry horizontal and control the direction of the antenna when the vertical semicircular flight has lateral deviation. The design of the pitching shaft of the holder is mainly used for controlling the antenna to point to a target and compensating the attitude disturbance change of the pitching angle. The center shaft of the holder is designed to control the polarization direction of the antenna.
An antenna mounting seat is designed at the tail end of the holder and is used for adapting to different test antennas. The antenna mounting base can adopt a common connection mode, and can also adopt quick-release connection modes such as a spring and a buckle, so that the test antenna can be conveniently replaced without tools. The antenna polarization direction control motor is far away from the pitching axis of the holder, so that the balancing effect can be achieved, and extra balance weight is added at the antenna end or the motor end when necessary.
The control process of the invention is as follows:
1. roll motion compensation
First of all define phi g ,θ g ,ψ g Defining phi for the current roll angle, pitch angle and azimuth angle of the holder gd ,θ gd ,ψ gd The desired pan tilt angle, and the desired pan tilt azimuth angle.
Referring to fig. 5, in the azimuth-pitch control interval, it is desirable to compensate for drone motion by the roll axis, keeping the gantry beam level at all times. The vector of the gantry beam in the ground coordinate system is expressed as
Wherein B y R Is a representation of the beam vector in the body coordinate system, W y R the beam vector is represented in a ground coordinate system, and R is an unmanned aerial vehicle direction cosine matrix. The gantry beam is kept horizontal. Only need to order W y R (3) =0, expected pan/tilt angle
Wherein: r ij And the ith row and j column elements of the unmanned aerial vehicle direction cosine matrix R are represented.
2. Test antenna pointing calculation
Calculating the position of the measured antenna in the body coordinate system
B P t ＝R T ( W P t -t) (3)
In the formula: W P t the position coordinates of the measured antenna in the ground coordinate system are shown, the coordinates are input into the unmanned aerial vehicle as task parameters before takeoff, B P t representing the position coordinates, R, of the measured antenna in the body coordinate system T And (3) representing the transposition of the directional cosine matrix of the unmanned aerial vehicle, and t representing a coordinate transformation translation vector, namely the position of the unmanned aerial vehicle in a ground coordinate system.
The position coordinate of the origin of the coordinate system of the test antenna under the coordinate system of the machine body can be calculated according to the positive kinematic relation of the holder and the rotation angle of each shaft of the holder B O a
Wherein L is a Is the distance, L, from the upper surface of the base to the origin of the coordinate system of the body b Is the distance from the gantry beam to the upper surface of the base, L c Is the distance L from the pitching axis of the pan-tilt to the gantry beam d The distance from the center of the antenna mounting seat to the pitching axis of the holder. Therefore, the expected directional unit vector of the test antenna under the body coordinate system can be obtained
3. Pan/tilt/azimuth control mode
Referring to fig. 5, an azimuth-elevation control mode is adopted in an azimuth-elevation control interval of vertical semicircular flight, and the rotation of a roll axis of a tripod head is used for compensating the rolling motion of an airplane. Firstly, the rotational angle phi of the holder is measured g In the case of certainty, let psi gd ,θ gd The antenna pointing vector z can be obtained through a positive kinematics equation of the tripod head for expecting the azimuth angle of the tripod head and expecting the pitch angle of the tripod head P Making it equal to the above formula
Wherein: x, y, z represents the desired antenna pointing vector z P Three coordinate components. Solving the equation can yield
4. Pan-tilt roll-pitch control mode
Referring to fig. 5, the roll-pitch control mode is adopted in the roll-pitch control section of the vertical semicircular flight. Firstly, the azimuth angle psi of the holder g In the case of the determination, the antenna pointing vector equation is
Solving this equation yields the desired pan tilt head roll angle and the desired pan tilt head pitch angle.
Solving for expected pan-tilt azimuthHopefully, the orientation of the roll axis of the pan-tilt and the desired orientation psi of the vertical semicircle after the azimuth axis of the pan-tilt rotates t (the direction from the starting point of the vertical semicircle to the ending point of the vertical semicircle) are consistent. Firstly, the bit vector of the tripod head rolling axis under the body coordinate system is calculated as
Conversion to ground coordinate system
W x R ＝R B x R (11)
The azimuth angle of the projection of the vector on the ground is enabled to be equal to the expected azimuth angle psi of the vertical semicircular task vhc Are consistent, can obtain
Thereby obtaining a desired azimuth angle of the pan/tilt head of
5. Motion control mode smooth switching
If the azimuth-pitch control interval and the roll-pitch control interval are directly switched, the cradle head has obvious shake, a transition interval needs to be added, and smooth processing is carried out on the control mode switching. In the azimuth-pitching target tracking mode, the tripod head rolling control maintains the gantry horizontal, the tripod head azimuth controls the lateral deviation, and the tripod head pitching controls the longitudinal deviation. And in the rolling-pitching target tracking mode, the azimuth of the holder is controlled to face the semicircular direction, the lateral deviation is controlled through rolling, and the longitudinal deviation is controlled through pitching. Referring to fig. 5, the azimuth-pitch control interval is 90 to 30 degrees and-35 to-90 degrees; the roll-pitch control interval is 25 degrees to-30 degrees; there is a transition zone between the two, each transition zone being 5 °.
1) Azimuth-pitch control interval to roll-pitch control interval
The expected azimuth angle of the holder calculated according to the azimuth-pitch control mode in the transition process is recorded as psi gdy And the expected azimuth angle of the pan-tilt head calculated according to the roll-pitch control mode is recorded as psi gdr Then the desired azimuth angle of the pan/tilt head in the transition stage is
ψ gd ＝kψ gdy +(1-k)ψ gdr (14)
Wherein: the coefficient k changes from 1 to 0 in 1 second over time.
Then, under the current azimuth angle of the tripod head, the expected roll angle phi of the tripod head is calculated according to the roll-pitch control mode gd And a desired pitch angle θ gd 。
2) Roll-pitch control interval to azimuth-pitch control interval
The expected pan-tilt roll angle calculated according to the roll-pitch mode in the transition process is recorded as phi gdr And simultaneously recording the expected pan-tilt roll angle obtained by calculation according to the azimuth-pitch mode as phi gdy And then the rolling control angle of the pan-tilt is as follows:
φ pzt ＝kφ gdr +(1-k)φ gdy (15)
where the coefficient k varies from 1 to 0 in 1 second over time. Then, under the current roll angle of the pan-tilt, the expected azimuth psi of the pan-tilt is calculated according to the azimuth-pitch control mode gd And a desired pitch angle θ gd 。
The design principle of the invention is as follows:
(a) The design of the gantry frame type pitch axis realizes the +/-150-degree continuous rotation of the pitch axis, and the antenna can be conveniently tested to track a tested target below.
(b) The roll axis is designed in the middle above the gantry frame and is perpendicular to the pitch axis but does not intersect to a point, when the target is positioned in front or behind, the roll axis is mainly used for roll motion compensation of the unmanned aerial vehicle, and when the target is positioned below, the roll axis is simultaneously used for roll motion compensation and target tracking control.
(c) The tail end of the holder is provided with an antenna polarization direction control shaft, so that the change of the antenna polarization direction is conveniently tested, and the continuous control of the antenna polarization direction in the aerial test is realized in some special tests.
(d) In the vertical semicircular flight, a cradle head mode transition interval exists from the ascending stage to the over-top stage, and in order to prevent cradle head shake caused by switching of cradle head control modes, a cradle head instruction is smoothed in the transition interval.
Claims (10)
1. The utility model provides a gantry frame formula cloud platform is used in antenna test which characterized in that:
the device comprises a base (1), an azimuth control motor (2) and an azimuth shaft which are vertically arranged on the base (1), a rolling control motor fixing frame (5) fixedly connected with the azimuth shaft, a rolling control motor (3) and a rolling shaft which are horizontally arranged on the rolling control motor fixing frame (5), a gantry (6) arranged on the rolling shaft, a pitching control unit arranged below the gantry (6) and an antenna installation unit arranged on the pitching control unit;
the gantry (6) comprises a gantry beam (4) and two gantry columns (7); the gantry beam (4) is vertically and fixedly connected with the rolling shaft;
the pitching control unit comprises a pitching control motor (9) and a middle frame (10); the pitching control motor (9) is fixed at the lower end of one gantry upright post (7); one side frame of the middle frame (10) is fixedly connected with an output shaft of the pitching control motor (9); the other side frame of the middle frame (10) is rotationally connected with the lower end of the other gantry upright post (7);
the antenna mounting unit comprises an antenna polarization direction control motor (8), a middle shaft (11) and an antenna mounting seat (12) which are connected in sequence; the antenna polarization direction control motor (8) is fixed at the rear frame of the middle frame (10); the middle shaft (11) penetrates through the front frame of the middle frame (10) and is fixedly connected with the antenna mounting seat (12); the antenna mounting seat (12) is used for mounting a test antenna (13).
2. The gantry frame type cradle head for antenna test according to claim 1, wherein:
the antenna mounting unit further includes a weight provided in the center frame (10).
3. The gantry frame type cradle head for antenna test according to claim 1 or 2, characterized in that:
the antenna mounting seat (12) is a quick-release mounting seat.
4. The method for controlling a gantry frame type pan-tilt for antenna testing according to any one of claims 1 to 3, comprising:
the cradle head adopts an azimuth-pitch control mode in an ascending stage and a descending stage of vertical semicircular flight of the unmanned aerial vehicle, adopts a roll-pitch control mode in an overhead stage, and smoothly switches the control modes in a transition stage from the ascending stage to the overhead stage and a transition stage from the overhead stage to the descending stage.
5. The method for controlling the gantry frame type pan-tilt for the antenna test according to claim 4, wherein the method comprises the following steps:
taking the right upper part of a measured target as 0 degree, the interval range of the rising stage is 90-A, and the value range of A is 55-10 degrees; the interval range of the descending transition stage is B to-90 degrees, and the value range of B is-10 degrees to-55 degrees;
the transition range from the rising stage to the top-passing stage is A-A + C, and C is not more than 6 degrees;
the transition interval from the over-top stage to the down-rise stage is in the range of B-D, D is not more than 6 degrees.
6. The method for controlling the gantry frame type pan-tilt for the antenna test according to claim 5, wherein the method comprises the following steps:
A＝60°；B＝-60°；C＝5°；D＝5°。
7. the method for controlling a gantry frame type pan-tilt for the antenna test according to claim 4, 5 or 6, wherein the method comprises the following steps:
the azimuth-elevation control mode is as follows:
desired pan tilt angle θ gd Calculated by the following formula
Desired pan tilt azimuth psi gd Is calculated according to the following formula
Expected pan/tilt angle phi gd Calculated by the following formula
The roll-pitch control mode is as follows:
desired pan tilt azimuth psi gd Is calculated according to the following formula
Desired pan tilt angle θ gd Calculated by the following formula
θ gd ＝arcsin(xcosψ g -ysinψ g )；
Expected pan/tilt angle phi gd Calculated by the following formula
Wherein:
ψ vhc the desired azimuth for the vertical semicircular task;
R ij an element of an ith row and j columns of an unmanned aerial vehicle direction cosine matrix R;
φ g the current cradle head roll angle;
ψ g the current cradle head azimuth angle;
x, y, z is the desired test antenna pointing vector z P Three coordinate components of (a);
z P for the desired test antenna pointing unit vector, the following equation is calculated
In the formula (I), the compound is shown in the specification, B O a position coordinates of an origin of a test antenna coordinate system under a body coordinate system; B P t is the position of the measured antenna in the body coordinate system.
8. The method for controlling a gantry-frame pan-tilt for antenna test according to claim 7, wherein the smoothly switching the control modes comprises:
when the stage is transited from the ascending stage to the over-top stage, the expected azimuth angle of the holder is calculated according to the azimuth-pitch control mode and is recorded as psi gdy (ii) a Meanwhile, the expected azimuth angle of the holder, which is obtained by calculation according to the roll-pitch control mode, is marked as psi gdr Then the azimuth angle of the desired pan-tilt in the transition stage is psi gd ＝kψ gdy +(1-k)ψ gdr Wherein the coefficient k varies from 1 to 0 over time in N seconds; then, under the current azimuth angle of the tripod head, the expected roll angle phi of the tripod head is calculated according to the roll-pitch control mode gd And a desired pitch angle θ gd ；
When the transition is carried out from the over-top stage to the descending stage, the expected pan-tilt roll angle is obtained by calculation according to the roll-pitch mode and is recorded as phi gdr (ii) a Meanwhile, the expected pan-tilt roll angle obtained by calculation according to the azimuth-pitch mode is recorded as phi gdy Then the expected pan-tilt roll control angle in the transition stage is phi pzt ＝kφ gdr +(1-k)φ gdy Wherein the coefficient k varies from 1 to 0 over time in N seconds; then, under the current roll angle of the tripod head, calculating the expected azimuth psi of the tripod head according to the azimuth-pitch control mode gd And a desired pitch angle θ gd 。
9. The method for controlling a gantry frame pan and tilt head for antenna testing according to claim 8, wherein N =1.
10. The utility model provides a gantry frame formula cloud platform is used in antenna test which characterized in that:
the device comprises a base (1), an azimuth control motor (2) and an azimuth shaft which are vertically arranged on the base (1), a rolling control motor fixing frame (5) fixedly connected with the azimuth shaft, a rolling control motor (3) and a rolling shaft which are horizontally arranged on the rolling control motor fixing frame (5), a gantry (6) arranged on the rolling shaft, a pitching control unit arranged below the gantry (6) and an antenna installation unit arranged on the pitching control unit;
the gantry (6) comprises a gantry beam (4) and two gantry columns (7); the gantry beam (4) is vertically and fixedly connected with the rolling shaft;
the pitching control unit comprises a pitching control motor (9) and a middle frame (10); the pitching control motor (9) is fixed at the lower end of one gantry upright post (7); one side frame of the middle frame (10) is fixedly connected with an output shaft of the pitching control motor (9); the other side frame of the middle frame (10) is rotationally connected with the lower end of the other gantry upright post (7);
the antenna mounting unit comprises an antenna mounting base (12); the antenna mounting seat (12) is arranged on the front frame of the middle frame (10); the antenna mounting seat (12) is used for mounting a test antenna (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211419726.XA CN115799799A (en) | 2022-11-14 | 2022-11-14 | Gantry frame type holder for antenna test and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211419726.XA CN115799799A (en) | 2022-11-14 | 2022-11-14 | Gantry frame type holder for antenna test and control method thereof |
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