CN115863990A - Antenna control method, device and system and antenna - Google Patents

Abstract

The invention discloses a control method of an antenna, which relates to the field of communication and is applied to a main processor in a control device of the antenna. The invention also discloses a control device and a control system of the antenna and the antenna, and has the same beneficial effects as the control method of the antenna.

Description

Antenna control method, device and system and antenna

Technical Field

The present invention relates to the field of communications, and in particular, to a method for controlling an antenna. The invention also relates to a control device and a system of the antenna and the antenna.

Background

With the continuous progress of radio technology, antennas, especially communication antennas, are also more and more widely used, how to increase the coverage area of a communication antenna for receiving signals becomes an important direction for promoting the further development of the communication antenna, and for the communication antenna, it mainly implements signal coverage by a vertical plane main beam, so that the coverage area of the communication antenna can be adjusted by adjusting the coverage area of the main beam, but the coverage area of the main beam is relatively fixed, and the overall coverage area is smaller, and there is an area that cannot be covered, and how to adjust and expand the coverage area of the main beam is a key point that needs to be solved urgently at present.

Disclosure of Invention

The invention aims to provide a method, a device and a system for controlling an antenna and the antenna, which realize the adjustment of the antenna at two angles of horizontal and pitching, the angles in the two directions can be adjusted in a combined way, great freedom is provided for the adjustment of the antenna, the coverage range is expanded, multi-directional coverage is realized, and the control of the coverage range is more accurate.

In order to solve the above technical problem, the present invention provides a control method of an antenna, which is applied to a main processor in a control device of the antenna, wherein the control device further comprises a first driver, a second driver, a horizontal motor, a pitching motor and corresponding transmission mechanisms, the first driver is respectively connected with the main processor and the horizontal motor, the second driver is respectively connected with the main processor and the pitching motor, and the horizontal motor and the pitching motor are both connected with the antenna through the corresponding transmission mechanisms; the method comprises the following steps:

determining a last historical operating mode of the level motor and the tilt motor, the historical operating mode including angles of rotation of the level motor and the tilt motor;

determining a target operation mode corresponding to the horizontal motor and the pitching motor at the time;

determining an adjusted operating mode of the level motor and the pitching motor based on a last historical operating mode of the level motor and the pitching motor and a target operating mode corresponding to the level motor and the pitching motor at the time;

controlling, by the first driver, the horizontal motor to start based on the adjusted operating mode until the target operating mode is reached, and controlling, by the second driver, the pitch motor to start based on the adjusted operating mode until the target operating mode is reached.

Preferably, before determining the target operation mode corresponding to the horizontal motor and the pitching motor at this time, the method further includes:

judging whether state parameters of the horizontal motor and the pitching motor in the historical running mode are enabled or not, wherein the state parameters comprise enabled and disabled;

if yes, entering a step of determining a target operation mode corresponding to the horizontal motor and the pitching motor at the time;

if not, adjusting the horizontal motor and/or the pitching motor to a rotation angle corresponding to the historical operation mode, and determining a target operation mode corresponding to the horizontal motor and the pitching motor at the current time.

Preferably, determining the adjusted operation mode of the level motor and the tilt motor based on the last historical operation mode of the level motor and the tilt motor and the target operation mode corresponding to the level motor and the tilt motor at the present time comprises:

subtracting the rotation angle of the horizontal motor in the historical operation mode from the rotation angle of the horizontal motor in the target operation mode to obtain a first angle difference, and taking the first angle difference as the rotation angle of the horizontal motor in the adjustment operation mode;

and subtracting the rotation angle of the pitching motor in the historical operation mode from the rotation angle of the pitching motor in the target operation mode to obtain a second angle difference, and taking the second angle difference as the rotation angle of the pitching motor in the adjustment operation mode.

Preferably, before determining the last historical operating mode of the horizontal motor and the pitching motor, the method further comprises:

judging whether a hardware initialization success command in the main processor is received or not;

if yes, entering a step of determining the last historical operation mode of the horizontal motor and the pitching motor.

Preferably, the determining the target operation mode corresponding to the horizontal motor and the pitching motor at the present time comprises:

acquiring a preset communication data packet, wherein the communication data packet comprises the target operation mode;

and reading the communication data packet and performing unpacking processing to obtain the target operation modes corresponding to the horizontal motor and the pitching motor at this time.

Preferably, after controlling the horizontal motor to be activated based on the adjustment operation mode until the target operation mode is reached by the first driver, and controlling the pitch motor to be activated based on the adjustment operation mode until the target operation mode is reached by the second driver, the method further includes:

acquiring forward clearance compensation parameters, reverse clearance compensation parameters and current rotation states of the horizontal motor and the pitching motor, wherein the rotation states comprise forward rotation, reverse rotation and stop;

when the horizontal motor and/or the pitching motor are/is in forward rotation, forward rotation clearance compensation parameters of the horizontal motor and/or the pitching motor are/is used for enabling the horizontal motor and/or the pitching motor to reach the target operation mode;

reversing the pan motor and/or the tilt motor a reverse backlash compensation parameter to bring the pan motor and/or the tilt motor to the target operating mode when the pan motor and/or the tilt motor is in reverse rotation;

the level motor and/or the tilt motor have reached the target operating mode when the level motor and/or the tilt motor are at a stop.

Preferably, before acquiring the forward clearance compensation parameter, the reverse clearance compensation parameter and the current rotation state of the horizontal motor and the pitching motor, the method further comprises:

controlling a transmission mechanism corresponding to the horizontal motor and the pitching motor to rotate forward by a preset angle to obtain a first angle of the horizontal motor and the pitching motor;

controlling a transmission mechanism corresponding to the horizontal motor and the pitching motor to rotate reversely by a preset angle to obtain a second angle of the horizontal motor and the pitching motor;

subtracting a second angle from the first angle to obtain a forward clearance compensation parameter of the horizontal motor and the pitching motor; and subtracting the first angle from the second angle to obtain the reverse clearance compensation parameters of the horizontal motor and the pitching motor.

In order to solve the above technical problem, the present invention further provides an antenna control device, which includes a first driver, a second driver, a horizontal motor, a pitching motor and corresponding transmission mechanisms, wherein the first driver is connected to the horizontal motor, the second driver is connected to the pitching motor, and the horizontal motor and the pitching motor are both connected to the antenna through the corresponding transmission mechanisms;

further comprising:

a memory for storing a computer program;

and the processor is respectively connected with the first driver and the second driver and is used for realizing the steps of the antenna control method when the computer program is executed.

In order to solve the technical problem, the invention further provides an antenna, which comprises an antenna body and the antenna control device.

In order to solve the above technical problem, the present invention further provides a control system of an antenna, which is applied to a main processor in a control device of the antenna, wherein the control device further comprises a first driver, a second driver, a horizontal motor, a pitching motor and corresponding transmission mechanisms, the first driver is respectively connected with the main processor and the horizontal motor, the second driver is respectively connected with the main processor and the pitching motor, and the horizontal motor and the pitching motor are both connected with the antenna through the corresponding transmission mechanisms; the system comprises:

a history operation mode determination unit for determining a last history operation mode of the horizontal motor and the pitching motor, the history operation mode including rotation angles of the horizontal motor and the pitching motor;

the target operation mode determining unit is used for determining a target operation mode corresponding to the horizontal motor and the pitching motor at the time;

an adjustment operation mode determination unit for determining adjustment operation modes of the horizontal motor and the pitching motor based on a previous history operation mode of the horizontal motor and the pitching motor and a target operation mode corresponding to the horizontal motor and the pitching motor at the time;

and the starting motor unit is used for controlling the horizontal motor to start based on the adjusting operation mode through the first driver until the target operation mode is reached, and controlling the pitching motor to start based on the adjusting operation mode through the second driver until the target operation mode is reached.

The invention provides a control method of an antenna, which is applied to a main processor in a control device of the antenna, wherein the control device also comprises a first driver, a second driver, a horizontal motor, a pitching motor and corresponding transmission mechanisms, an adjustment operation mode is determined by acquiring the previous historical operation mode and the current target operation mode of the horizontal motor and the pitching motor, the driver controls the corresponding motor to start based on the adjustment operation mode, the antenna reaches the target operation mode through the corresponding transmission mechanism, the two drivers and the corresponding motors realize the adjustment of the antenna at two angles of horizontal and pitching, the angles in the two directions can be adjusted in a combined manner, great freedom is provided for the adjustment of the antenna, the coverage range is expanded, the multi-directional coverage is realized, and the control of the coverage range is more accurate.

The invention also provides a control device and a control system of the antenna and the antenna, and has the same beneficial effects as the control method of the antenna.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic flowchart of a method for controlling an antenna according to the present invention;

fig. 2 is a schematic structural diagram of an antenna control device according to the present invention;

fig. 3 is a schematic structural diagram of an antenna provided in the present invention;

fig. 4 is a schematic structural diagram of a control system of an antenna provided in the present invention;

fig. 5 is a schematic structural diagram of another antenna control apparatus provided in the present invention;

fig. 6 is a schematic flowchart of another antenna control method according to the present invention;

fig. 7 is a schematic flow chart of a gap compensation method of an antenna control method according to the present invention.

Detailed Description

The core of the invention is to provide a method, a device and a system for controlling an antenna and the antenna, which realize the adjustment of the antenna at two angles of horizontal and pitching, the angles in the two directions can be adjusted in a combined way, thereby providing great freedom for the adjustment of the antenna, expanding the coverage range, realizing multi-directional coverage and controlling the coverage range more accurately.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic flow chart of an antenna control method according to the present invention;

a control method of an antenna is applied to a main processor in a control device of the antenna, the control device also comprises a first driver 3, a second driver 4, a horizontal motor 5, a pitching motor 6 and corresponding transmission mechanisms, the first driver 3 is respectively connected with the main processor and the horizontal motor 5, the second driver 4 is respectively connected with the main processor and the pitching motor 6, and the horizontal motor 5 and the pitching motor 6 are both connected with the antenna through the corresponding transmission mechanisms; the method comprises the following steps:

s11: determining the previous historical operation modes of the horizontal motor 5 and the pitching motor 6, wherein the historical operation modes comprise the rotation angles of the horizontal motor 5 and the pitching motor 6;

it can be understood that the previous historical operation mode of the horizontal motor 5 and the pitching motor 6 needs to be determined, that is, the previous operation state of the horizontal motor 5 and the pitching motor 6 needs to be read, so as to determine the current position information of the horizontal motor 5 and the pitching motor 6, that is, the current rotation angle of the horizontal motor 5 and the pitching motor 6, so as to control the specific rotation process of the antenna in the following process. The determination of the historical operating mode and the specific reading mode are not particularly limited in this application, and generally, the historical operating mode is obtained from a power-down saving storage area of the main processor.

S12: determining the corresponding target operation modes of the horizontal motor 5 and the pitching motor 6 at this time;

specifically, after determining the historical operation modes of the horizontal motor 5 and the pitching motor 6, the target operation mode of the horizontal motor 5 and the pitching motor 6, which needs to be achieved this time, is determined, the determination of the target operation mode and the specific acquisition mode are not particularly limited in this application, different target operation modes may be preset in the main processor in advance, in practical application, the corresponding target operation mode is selected as the target operation mode corresponding to this time according to the application requirements, and the operation mode which is manually input or preset in advance in other devices may be acquired from other devices or the processing module through the communication module as the target operation mode corresponding to this time.

S13: determining the adjusting operation modes of the horizontal motor 5 and the pitching motor 6 based on the previous historical operation modes of the horizontal motor 5 and the pitching motor 6 and the corresponding target operation modes of the horizontal motor 5 and the pitching motor 6 at this time;

it should be noted that, if the antenna is to reach the corresponding target operation mode this time from the previous historical operation mode, it is necessary to determine an adjustment operation mode that the antenna needs to perform when reaching the target operation mode from the historical operation mode.

S14: the horizontal motor 5 is controlled by the first driver 3 to be started based on the adjustment operation mode until the target operation mode is reached, and the pitch motor 6 is controlled by the second driver 4 to be started based on the adjustment operation mode until the target operation mode is reached.

It can be understood that after the adjustment operation mode is determined, the main processor may control the horizontal motor 5 to start based on the adjustment operation mode through the first driver 3, and control the pitching motor 6 to start based on the adjustment operation mode through the second driver 4 until both the horizontal motor 5 and the pitching motor 6 reach the corresponding target operation mode, and meanwhile, since both the first transmission mechanism 7 corresponding to the horizontal motor 5 and the second transmission mechanism 8 corresponding to the pitching motor 6 are connected to the antenna, the horizontal motor 5 realizes adjustment of the horizontal angle of the antenna through operation control corresponding to the first transmission mechanism 7, and the pitching motor 6 realizes adjustment of the pitching angle of the antenna through operation control corresponding to the second transmission mechanism 8.

It should be noted that, in this process, only the horizontal motor 5 or the pitching motor 6 may be started to adjust the antenna by a single angle, or may be started by the horizontal motor 5 and the pitching motor 6 together, so as to implement the matching adjustment of the two angles of the antenna, so that the coverage of the antenna is extended.

It will be appreciated that the main processor will also determine the state parameters of the level motor 5 and the tilt motor 6 in the target mode of operation, and will only activate the level motor 5 and/or the tilt motor 6 when the level motor 5 and/or the tilt motor 6 are enabled, and will need to compare the state parameters in the target mode of operation with the state parameters in the historical mode of operation to determine if there has been a modification to the state parameters in the level motor 5 and/or the tilt motor 6.

Specifically, the starting process of the horizontal motor 5 and the pitching motor 6 can be realized based on the corresponding motor loop subprogram, and when the condition is met, the corresponding horizontal motor 5 loop subprogram and/or pitching motor 6 loop subprogram is directly entered to realize the starting control of the horizontal motor 5 and the pitching motor 6. The specific starting modes of the two motors are not particularly limited in this application, and the specific implementation and setting modes of the motor loop sub-routine and the like are not particularly limited in this application.

Specifically, the above four steps are all implemented by the control of a main processor in the antenna control device, the adjustment of the downtilt angle of the antenna is mainly based on the principle of antenna electrical tuning, the motor changes the phase of the power signal obtained by each radiation unit in the antenna array through the phase shifter to implement the adjustment of the physical tilt angle of the antenna, the radiation units may also be called as oscillators, and the application is not particularly limited to the specific implementation manner of controlling the antenna by the horizontal motor 5 and the pitching motor 6 through corresponding transmission mechanisms.

It can be understood that the determination of the rotation angle of the motor in the whole process can be realized in various ways, the present application is not limited in particular, a position can be set in advance as a reference angle, the determination of the rotation angle in the subsequent process can be realized by the relative position between the current angle and the reference angle, or instruction information corresponding to each angle can be set in advance, each angle can be distinguished by different instruction information, or the determination of the rotation angle of the motor can be realized by devices such as an encoder and/or a position sensor, etc., the position sensor can select a hall sensor, the present application such as the specific implementation way of the determination of the rotation angle of the motor is not limited in particular, and can be adjusted according to the actual application environment, application requirements, etc.

It should be noted that, the specific implementation of the antenna control device may be an RCU (Remote control unit) system that directly multiplexes the antenna, or may be implemented in other manners. Referring to fig. 5, fig. 5 is a schematic structural diagram of another antenna control device according to the present invention; when the RCU system of the antenna is multiplexed, besides providing a main processor for logic processing and operation and providing a first driver 3 and a second driver 4 for basic hardware realization of a driving motor, the control device of the antenna also comprises modules such as a communication circuit, a signal conditioning circuit, power management, interface integration and the like, wherein the communication circuit can provide an external communication interface for the control device of the antenna; the signal conditioning circuit can provide processed sensor signals, sampled voltage and current signals and the like for a control device of the antenna; the power supply management can reliably and stably supply power for all parts needing power supply of the control device of the antenna; the interface integration can provide an integrated interface for all signals needing external connection of the control device of the antenna, and provides software functions of logic processing, drive realization, communication realization, control realization and the like for the whole antenna; HALL in the figure denotes a HALL sensor. The types and specific implementation manners of the modules are not particularly limited in this application, and may be adjusted according to the actual application environment and the application requirements.

In a specific application process, the power generation device generally comprises an actuating mechanism, a horizontal motor 5 and a pitching motor 6, and a transmission mechanism corresponding to the horizontal motor 5 and the pitching motor 6 for performing form conversion on system power, wherein the transmission mechanism is a Remote Radio Unit (RRU) and/or Radio Remote Head (RRH) device, and the transmission mechanism is connected with the actuating mechanism of an antenna to realize control on the antenna, so that the final control action result is a specific and practical application scene; the RRU and/or RRH equipment is connected with the control device of the antenna through an integrated interface and is a transmitting and receiving module of the antenna. The types and specific implementations of the modules are not particularly limited in this application, and may be adjusted according to the actual application environment and application requirements.

Specifically, the control device of the antenna may be provided in the form of a driving board, and the driving unit as a whole is embedded in the driving board, or may be provided in other manners, and the present application such as a specific arrangement manner of the control device of the antenna is not particularly limited herein, and the present application such as a specific implementation manner and an arrangement method of each module of the control device of the antenna is not particularly limited herein.

The invention provides a control method of an antenna, which is applied to a main processor in a control device of the antenna, wherein the control device also comprises a first driver 3, a second driver 4, a horizontal motor 5, a pitching motor 6 and corresponding transmission mechanisms, an adjustment operation mode is determined by acquiring the previous historical operation mode and the current target operation mode of the horizontal motor 5 and the pitching motor 6, the drivers control the corresponding motors to start based on the adjustment operation mode, the antenna reaches the target operation mode through the corresponding transmission mechanisms, the adjustment of the antenna at two horizontal and pitching angles is realized through the two drivers and the corresponding motors, the angles in the two directions can be adjusted in a combined mode, the great freedom degree is provided for the adjustment of the antenna, the coverage range is expanded, the multi-directional coverage is realized, and the control of the coverage range is more accurate.

On the basis of the above-described embodiments,

as a preferred embodiment, before determining the target operation modes corresponding to the horizontal motor 5 and the pitching motor 6 this time, the method further comprises:

judging whether the state parameters of the horizontal motor 5 and the pitching motor 6 in the historical running mode are enabled or not, wherein the state parameters comprise enabled and disabled;

if yes, entering a step of determining a target operation mode corresponding to the horizontal motor 5 and the pitching motor 6 at this time;

if not, adjusting the horizontal motor 5 and/or the pitching motor 6 to the rotation angle corresponding to the historical operation mode, and performing the step of determining the target operation mode corresponding to the horizontal motor 5 and the pitching motor 6 at this time.

Considering that abnormal conditions such as power failure and application environment influence may exist in the historical operation modes of the horizontal motor 5 and the pitching motor 6, so that the current actual positions of the horizontal motor 5 and the pitching motor 6 are not completely the same as the final positions of the historical operation modes, a self-checking process for the two motors is added, whether the state parameters of the horizontal motor 5 and the pitching motor 6 in the historical operation modes are enabled or not is judged, when the state parameters of the horizontal motor 5 and the pitching motor 6 in the historical operation modes are enabled, the state that the horizontal motor 5 and the pitching motor 6 are still operated when finally stopping is indicated, and other operation processes may exist subsequently, so that the horizontal motor 5 and/or the pitching motor 6 need to be adjusted to the rotation angle corresponding to the historical operation modes first, and the positions of the horizontal motor 5 and the pitching motor 6 are ensured to be the positions consistent with the historical operation modes, so as to determine the adjusted operation modes subsequently.

When the state parameters of the horizontal motor 5 and the pitching motor 6 in the historical operation mode are not enabled but disabled, the state indicates that the horizontal motor 5 and the pitching motor 6 are in the state of being stopped at the final stop last time, no other operation process is possible to follow, the current positions of the horizontal motor 5 and the pitching motor 6 are consistent with the historical operation mode, and the subsequent control process can be directly carried out. The determination processes of the state parameters of the two motors may be performed simultaneously or in a preset sequence, and the specific implementation manner of the determination processes and the like is not particularly limited herein.

Considering that abnormal conditions such as power failure and application environment influence may exist in the historical operation modes of the horizontal motor 5 and the pitching motor 6, and the current actual positions of the horizontal motor 5 and the pitching motor 6 are not completely the same as the final positions of the historical operation modes, the self-checking process of the two motors is added, the current positions of the horizontal motor 5 and the pitching motor 6 are ensured to be consistent with the results in the historical operation modes, the accuracy of subsequent operation mode adjustment is improved, the accuracy of the final control process of the antenna is ensured, the control precision is improved, and the reliability and the safety of the whole control process are ensured.

As a preferred embodiment, the determining of the adjustment operation mode of the leveling motor 5 and the pitching motor 6 based on the previous history operation mode of the leveling motor 5 and the pitching motor 6 and the corresponding target operation mode of the leveling motor 5 and the pitching motor 6 includes:

subtracting the rotation angle of the horizontal motor 5 in the historical operation mode from the rotation angle of the horizontal motor 5 in the target operation mode to obtain a first angle difference, and taking the first angle difference as the rotation angle of the horizontal motor 5 in the adjustment operation mode;

and subtracting the rotation angle of the pitching motor 6 in the historical operation mode from the rotation angle of the pitching motor 6 in the target operation mode to obtain a second angle difference, and taking the second angle difference as the rotation angle of the pitching motor 6 in the adjustment operation mode.

Specifically, determining the adjustment operation mode of the horizontal motor 5 and the pitching motor 6 based on the previous historical operation mode of the horizontal motor 5 and the pitching motor 6 and the target operation mode corresponding to the horizontal motor 5 and the pitching motor 6 this time is a determination process of the difference of the rotation angles, and directly making the difference between the rotation angle in the target operation mode and the rotation angle in the historical operation mode to obtain the rotation angle required by the adjustment operation mode.

As a specific embodiment, the rotation angle of the operation mode is determined by calculating the angle difference, the implementation process is simple, convenient and easy to implement, the follow-up horizontal motor 5 and the pitching motor 6 can be ensured to reach the target operation mode, and the complete implementation of the whole control process is ensured.

As a preferred embodiment, before determining the last historical operating modes of the horizontal motor 5 and the pitching motor 6, the method further comprises the following steps:

judging whether a hardware initialization success instruction in a main processor is received or not;

if yes, the procedure of determining the last historical operating mode of the horizontal motor 5 and the pitching motor 6 is entered.

Considering that the hardware initialization process is performed after the system is powered on, a process for judging whether the hardware initialization is successful is added. When a hardware initialization success command in the main processor is received, the hardware initialization is successful, and a subsequent control process can be carried out; when the hardware initialization success command in the main processor is not received, the hardware initialization fails, the process of hardware initialization needs to be re-entered, and after the hardware initialization success is confirmed, the subsequent control process is entered. The present application, such as a specific implementation manner and a specific setting method of hardware initialization, is not particularly limited herein.

Considering that the hardware initialization process is performed after the system is powered on, a process for judging whether the hardware initialization is successful is added. After the initialization of the hardware is finished, the subsequent control process is started, the reliability and the safety of each hardware component in the control process are ensured, the complete realization of the control process is ensured, the accuracy of the final control process of the antenna is ensured, the control precision is improved, and the reliability and the safety of the whole control process are ensured.

As a preferred embodiment, determining the target operation modes corresponding to the horizontal motor 5 and the pitching motor 6 this time includes:

acquiring a preset communication data packet, wherein the communication data packet comprises a target operation mode;

and reading the communication data packet and unpacking the communication data packet to obtain the corresponding target operation mode of the horizontal motor 5 and the pitching motor 6 at this time.

It can be understood that, in the process of determining the target operation mode, the preset communication data packet may be obtained from the preset position, and the unpacking processing is performed after the communication data packet is read, so as to obtain the corresponding target operation mode of the horizontal motor 5 and the pitching motor 6. The communication data packet may also include other contents such as operating parameters of the antenna control device, and the specific contents and installation method of the communication data packet are not particularly limited in this application.

Specifically, the main processor may obtain a communication data packet based on an AI SG (Antenna interface Standards Group, standard organization for electrically tunable Antenna devices) 2.0 protocol, where the communication data packet may be input manually, preset in the main processor in advance, or obtained from an RRU and/or an RRH device through a communication interface, and a specific obtaining manner of the communication data packet and the like is not particularly limited herein, and may be adjusted according to an actual application environment, an application requirement, and the like.

As a specific embodiment, the determination of the target operation mode corresponding to the horizontal motor 5 and the pitching motor 6 at this time is realized by acquiring the preset communication data packet from the preset position, the realization process is simple, convenient and easy to realize, the realization of the subsequent control process is ensured, the content setting flexibility of the communication data packet is strong, the adjustment is easy, the flexibility of the whole control process is enhanced, and the application range is expanded.

As a preferred embodiment, after controlling the horizontal motor 5 to start based on the adjustment operation mode through the first driver 3 until the target operation mode is reached, and controlling the pitching motor 6 to start based on the adjustment operation mode through the second driver 4 until the target operation mode is reached, the method further comprises:

acquiring forward clearance compensation parameters and reverse clearance compensation parameters of the horizontal motor 5 and the pitching motor 6 and current rotation states of the horizontal motor 5 and the pitching motor 6, wherein the rotation states comprise forward rotation, reverse rotation and stop;

when the horizontal motor 5 and/or the pitching motor 6 are/is in forward rotation, forward clearance compensation parameters of the horizontal motor 5 and/or the pitching motor 6 are/is corrected forward to enable the horizontal motor 5 and/or the pitching motor 6 to reach a target operation mode;

when the horizontal motor 5 and/or the pitching motor 6 are/is in reverse rotation, the horizontal motor 5 and/or the pitching motor 6 are/is reversed to reverse the gap compensation parameter so that the horizontal motor 5 and/or the pitching motor 6 reach the target operation mode;

when the level motor 5 and/or the tilt motor 6 is at a stop, the level motor 5 and/or the tilt motor 6 has reached the target operation mode.

Considering that when the transmission mechanism is a gear, and the determination of the position information of the two motors is implemented by the position sensors, because the transmission mechanism and the position sensors are not arranged on the same transmission shaft, the position sensors are generally arranged at the tail parts of the motors, and the position change of the rotor shafts of the motors is detected, while the feedback position obtained after the positive and negative rotation of the motors due to the unknown meshing degree of the gear of the position information passing through the transmission mechanism has a certain deviation, which can be called as a stroke difference, which causes a certain gap error in the position information obtained by the final position sensor, and needs to perform certain compensation optimization operation. The simple formula of linear relation of the reduction ratio can be used for counteracting, and the method can also be realized in other modes.

The invention provides an accurate clearance compensation method, which comprises the steps of firstly determining forward clearance compensation parameters and reverse clearance compensation parameters of a horizontal motor 5 and a pitching motor 6 through the control of a main processor or manual control, transmitting the determination result to the main processor, and reading the running state issued by the current motor instruction through the change of the detection result of a position sensor or other modes by the main processor so as to determine the current rotating states of the horizontal motor 5 and the pitching motor 6. When the horizontal motor 5 and/or the pitching motor 6 are in different rotation states, corresponding operations are performed on the motors according to corresponding compensation parameters, so that the horizontal motor 5 and the pitching motor 6 reach the target operation mode.

The application of the forward backlash compensation parameter and the reverse backlash compensation parameter of the horizontal motor 5 and the pitching motor 6, and the specific determination mode and implementation process of the current rotation state of the horizontal motor 5 and the pitching motor 6 are not particularly limited herein.

After determining the forward clearance compensation parameters, the reverse clearance compensation parameters and the current rotating states of the horizontal motor 5 and the pitching motor 6, corresponding compensation operation is executed according to the current rotating states of the horizontal motor 5 and the pitching motor 6, so that the horizontal motor 5 and the pitching motor 6 can more accurately reach a target operating mode, the control precision loss caused by the clearance of a transmission mechanism is counteracted, the error is reduced, the dependence of a control device on the consistency of a transmission structure is greatly reduced, the control precision is improved, the accuracy of the final control process on an antenna is ensured, and the reliability and the safety of the whole control process are ensured.

As a preferred embodiment, before acquiring the forward clearance compensation parameter, the reverse clearance compensation parameter and the current rotation state of the horizontal motor 5 and the pitching motor 6, the method further comprises:

controlling the transmission mechanisms corresponding to the horizontal motor 5 and the pitching motor 6 to rotate forwardly for a preset angle to obtain a first angle of the horizontal motor 5 and the pitching motor 6;

controlling transmission mechanisms corresponding to the horizontal motor 5 and the pitching motor 6 to rotate reversely by a preset angle to obtain a second angle of the horizontal motor 5 and the pitching motor 6;

subtracting the second angle from the first angle to obtain a positive clearance compensation parameter of the horizontal motor 5 and the pitching motor 6; and subtracting the first angle from the second angle to obtain the reverse clearance compensation parameters of the horizontal motor 5 and the pitching motor 6.

Specifically, the embodiment provides a determination mode of a forward clearance compensation parameter and a reverse clearance compensation parameter, when a preset angle is 5 degrees, a transmission mechanism is mechanically limited and clamped by +/-5 degrees under the condition of adopting a precision machining part through the control of a main processor, data of a position sensor under the +/-5 degrees condition are obtained, the data are called as a first angle during forward rotation and called as a second angle during reverse rotation, the first angle and the second angle are stored in a storage module, and the forward clearance compensation parameter and the reverse clearance compensation parameter of two motors are determined through calculation of the data under the two conditions subsequently, so that subsequent compensation operation is facilitated.

As a specific embodiment, a determination mode of the forward clearance compensation parameter and the reverse clearance compensation parameter is provided, the operation process is simple, convenient and easy to implement, the determination process of the forward clearance compensation parameter and the reverse clearance compensation parameter is realized through the main processor, the accuracy of a final result is ensured, the control precision is improved, and the reliability and the safety of the whole control process are ensured.

Referring to fig. 6, fig. 6 is a schematic flow chart of another antenna control method according to the present invention;

dividing the flow of the antenna control method into a main program flow and a communication subprogram flow, wherein the main program flow realizes the self-checking processes of hardware initialization and the horizontal motor 5 and the pitching motor 6; after the hardware initialization is completed, the process of reading the last running state, namely determining the last historical running mode of the horizontal motor 5 and the pitching motor 6 is entered, the communication subprogram is set as a subprogram triggered by interruption, and the communication reception is started in the main process, namely after the switch of the communication subprogram is started, the communication subprogram is triggered by a communication interruption signal to be executed. When receiving the data of the communication data packet, the communication subprogram reads and unpacks the data, judges whether state parameters in the data are modified, whether the horizontal motor 5 needs to move or not and whether the pitching motor 6 needs to move or not, namely, determines the process of adjusting the operation mode of the horizontal motor 5 and the pitching motor 6 based on the last historical operation mode of the horizontal motor 5 and the pitching motor 6 and the corresponding target operation mode of the horizontal motor 5 and the pitching motor 6 at this time, and finally realizes corresponding operation through three processing subprograms of modifying the parameter subprogram, a control loop of the horizontal motor 5 and a control loop of the pitching motor 6.

Referring to fig. 7, fig. 7 is a flowchart illustrating a gap compensation method of an antenna control method according to the present invention. The method comprises a gap acquisition process and a gap compensation process, wherein the gap acquisition process is generally carried out in advance, and the gap compensation process can be embedded into a loop sub-process to realize a final correction process. The HALL data in the figure indicate the detection results of HALL sensors. The process of the positive gap data and the negative gap data in the memory before the erasing is carried out at the beginning of the gap acquisition process makes the final detection result more accurate. The target positions in the figure refer to positions that the horizontal motor 5 and the pitch motor 6 reach after the adjustment of the operation mode.

Referring to fig. 2, fig. 2 is a schematic structural diagram of an antenna control device according to the present invention;

in order to solve the technical problem, the invention also provides a control device of the antenna, which comprises a first driver 3, a second driver 4, a horizontal motor 5, a pitching motor 6 and corresponding transmission mechanisms, wherein the first driver 3 is connected with the horizontal motor 5, the second driver 4 is connected with the pitching motor 6, and the horizontal motor 5 and the pitching motor 6 are connected with the antenna through the corresponding transmission mechanisms;

further comprising:

a memory 1 for storing a computer program;

the processor 2 is connected to the first driver 3 and the second driver 4, respectively, and is configured to implement the steps of the above-mentioned antenna control method when executing the computer program.

The type and specific implementation of the memory 1 and the processor 2 are not particularly limited herein, and the memory 1 may include one or more computer-readable storage media, which may be non-transitory. The memory 1 may also include a high speed random access memory 1, as well as a non-volatile memory 1, such as one or more magnetic disk storage devices, flash memory storage devices. In addition, the resources stored in the memory 1 may also include an operating system, data, and the like, and the storage manner may be a transient storage or a permanent storage. The processor 2 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The Processor 2 may be implemented in at least one hardware form of a DSP (digital signal Processor), an FPGA (field programmable Gate Array), and a PLA (programmable logic Array).

The types and specific implementations of the first driver 3, the second driver 4, the horizontal motor 5, and the pitch motor 6 and their corresponding transmission mechanisms are not particularly limited in this application, and may be selected in various ways.

It will be appreciated by those skilled in the art that the configuration shown in figure 2 does not constitute a limitation of the control means of the antenna and may comprise more or less components than those shown.

For the introduction of the antenna control device provided by the present invention, please refer to the above method embodiments, which are not described herein again.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an antenna according to the present invention;

in order to solve the above technical problem, the present invention further provides an antenna, which includes an antenna body 21 and the above antenna control device.

Specifically, the type and specific implementation of the antenna are not particularly limited herein, and may be adjusted according to the actual application environment and application requirements, and the specific implementation of other modules in the antenna is not particularly limited herein.

For the introduction of an antenna provided by the present invention, please refer to the above method embodiments, which are not described herein again.

Referring to fig. 4, fig. 4 is a schematic structural diagram of an antenna control system according to the present invention;

in order to solve the technical problem, the invention also provides a control system of the antenna, which is applied to a main processor in the control device of the antenna, the control device further comprises a first driver 3, a second driver 4, a horizontal motor 5, a pitching motor 6 and transmission mechanisms corresponding to the first driver 3 and the second driver 4, the first driver 3 is respectively connected with the main processor and the horizontal motor 5, the second driver 4 is respectively connected with the main processor and the pitching motor 6, and the horizontal motor 5 and the pitching motor 6 are both connected with the antenna through the respective transmission mechanisms; the system comprises:

a history operation mode determination unit 31 for determining a history operation mode of the horizontal motor 5 and the pitch motor 6 of the last time, the history operation mode including the rotation angles of the horizontal motor 5 and the pitch motor 6;

the target operation mode determining unit 32 is configured to determine a target operation mode corresponding to the horizontal motor 5 and the pitching motor 6 at this time;

an adjustment operation mode determination unit 33 configured to determine an adjustment operation mode of the horizontal motor 5 and the tilt motor 6 based on the previous history operation mode of the horizontal motor 5 and the tilt motor 6 and the target operation mode corresponding to the horizontal motor 5 and the tilt motor 6 at this time;

a starting motor unit 34 for controlling the horizontal motor 5 to be started up based on the adjustment operation mode until the target operation mode is reached by the first driver 3, and controlling the pitch motor 6 to be started up based on the adjustment operation mode until the target operation mode is reached by the second driver 4.

As a preferred embodiment, further comprising:

a first judging unit, configured to judge whether state parameters of the horizontal motor 5 and the pitch motor 6 in the historical operating mode are enabled, where the state parameters include enabled and disabled, and if yes, trigger the target operating mode determining unit 32; if not, triggering an angle adjusting unit;

and an angle adjusting unit for adjusting the horizontal motor 5 and/or the pitching motor 6 to a rotation angle corresponding to the historical operation mode and triggering the target operation mode determining unit 32.

As a preferred embodiment, the adjustment operation mode determination unit 33 includes:

a rotation angle determining unit of the horizontal motor 5, configured to subtract the rotation angle of the horizontal motor 5 in the historical operation mode from the rotation angle of the horizontal motor 5 in the target operation mode to obtain a first angle difference, and use the first angle difference as the rotation angle of the horizontal motor 5 in the adjustment operation mode;

and the rotation angle determining unit of the pitching motor 6 is used for subtracting the rotation angle of the pitching motor 6 in the historical operation mode from the rotation angle of the pitching motor 6 in the target operation mode to obtain a second angle difference, and the second angle difference is used as the rotation angle of the pitching motor 6 in the adjustment operation mode.

As a preferred embodiment, further comprising:

a second determining unit, configured to determine whether a hardware initialization success instruction in the main processor is received, and if yes, trigger the historical operation mode determining unit 31.

As a preferred embodiment, the target operation mode determination unit 32 includes:

the data packet acquiring unit is used for acquiring a preset communication data packet, and the communication data packet comprises a target operation mode;

and the unpacking processing unit is used for reading the communication data packet and unpacking the communication data packet to obtain the corresponding target operation modes of the horizontal motor 5 and the pitching motor 6 at this time.

As a preferred embodiment, further comprising:

the compensation parameter acquiring unit is used for acquiring forward clearance compensation parameters of the horizontal motor 5 and the pitching motor 6, reverse clearance compensation parameters and current rotation states of the horizontal motor 5 and the pitching motor 6, wherein the rotation states comprise forward rotation, reverse rotation and stop;

the forward rotation compensation unit is used for compensating parameters of forward rotation forward clearance of the horizontal motor 5 and/or the pitching motor 6 when the horizontal motor 5 and/or the pitching motor 6 are in forward rotation so as to enable the horizontal motor 5 and/or the pitching motor 6 to reach a target operation mode;

a reverse rotation compensation unit for reversing the horizontal motor 5 and/or the pitching motor 6 to reverse the reverse backlash compensation parameter when the horizontal motor 5 and/or the pitching motor 6 are in reverse rotation so that the horizontal motor 5 and/or the pitching motor 6 reach the target operation mode;

a stop compensation unit for the level motor 5 and/or the tilt motor 6 having reached the target operation mode when the level motor 5 and/or the tilt motor 6 is at a stop.

As a preferred embodiment, further comprising:

the first angle unit is used for controlling the transmission mechanisms corresponding to the horizontal motor 5 and the pitching motor 6 to rotate forward for a preset angle to obtain a first angle of the horizontal motor 5 and the pitching motor 6;

the second angle unit is used for controlling the transmission mechanisms corresponding to the horizontal motor 5 and the pitching motor 6 to rotate reversely by a preset angle to obtain a second angle of the horizontal motor 5 and the pitching motor 6;

a compensation parameter determining unit for subtracting the second angle from the first angle to obtain a forward clearance compensation parameter of the horizontal motor 5 and the pitching motor 6; and subtracting the first angle from the second angle to obtain the reverse clearance compensation parameters of the horizontal motor 5 and the pitching motor 6.

For the introduction of the antenna control system provided by the present invention, please refer to the above method embodiments, which are not described herein again.

In order to solve the above technical problem, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the control method of the above antenna.

It is to be understood that if the method in the above embodiments is implemented in the form of software functional units and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium and executes all or part of the steps of the methods described in the embodiments of the present application, or all or part of the technical solutions. In particular, the computer readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, removable hard disks, etc., or any type of media or device suitable for storing instructions, data, etc., and the present application is not limited thereto.

For the introduction of a computer-readable storage medium provided by the present invention, please refer to the above method embodiments, which are not repeated herein.

It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

Claims (10)

1. The antenna control method is characterized in that the antenna control method is applied to a main processor in a control device of the antenna, the control device further comprises a first driver, a second driver, a horizontal motor, a pitching motor and corresponding transmission mechanisms, the first driver is respectively connected with the main processor and the horizontal motor, the second driver is respectively connected with the main processor and the pitching motor, and the horizontal motor and the pitching motor are both connected with the antenna through the corresponding transmission mechanisms; the method comprises the following steps:

determining a last historical operating mode of the level motor and the tilt motor, the historical operating mode including angles of rotation of the level motor and the tilt motor;

determining a target operation mode corresponding to the horizontal motor and the pitching motor at the time;

determining an adjusted operating mode of the level motor and the pitching motor based on a last historical operating mode of the level motor and the pitching motor and a target operating mode corresponding to the level motor and the pitching motor at the time;

controlling, by the first driver, the horizontal motor to start based on the adjusted operating mode until the target operating mode is reached, and controlling, by the second driver, the pitch motor to start based on the adjusted operating mode until the target operating mode is reached.

2. The method of claim 1, wherein prior to determining the target operation mode to which the horizontal motor and the elevation motor correspond this time, further comprising:

judging whether state parameters of the horizontal motor and the pitching motor in the historical running mode are enabled or not, wherein the state parameters comprise enabled and disabled;

if yes, entering a step of determining a target operation mode corresponding to the horizontal motor and the pitching motor at the time;

if not, adjusting the horizontal motor and/or the pitching motor to a rotation angle corresponding to the historical operation mode, and determining a target operation mode corresponding to the horizontal motor and the pitching motor at the current time.

3. The method of claim 1, wherein determining the adjusted operating mode of the level motor and the tilt motor based on a last historical operating mode of the level motor and the tilt motor and a target operating mode to which the level motor and the tilt motor correspond this time comprises:

subtracting the rotation angle of the horizontal motor in the historical operation mode from the rotation angle of the horizontal motor in the target operation mode to obtain a first angle difference, and taking the first angle difference as the rotation angle of the horizontal motor in the adjustment operation mode;

and subtracting the rotation angle of the pitching motor in the historical operation mode from the rotation angle of the pitching motor in the target operation mode to obtain a second angle difference, and taking the second angle difference as the rotation angle of the pitching motor in the adjustment operation mode.

4. The method of claim 1, wherein prior to determining the last historical operating mode of the level motor and the tilt motor, further comprising:

judging whether a hardware initialization success command in the main processor is received or not;

if yes, entering a step of determining the last historical operation mode of the horizontal motor and the pitching motor.

5. The method of claim 1, wherein determining the target operation mode to which the horizontal motor and the tilt motor correspond at the present time comprises:

acquiring a preset communication data packet, wherein the communication data packet comprises the target operation mode;

and reading the communication data packet and performing unpacking processing to obtain the target operation modes corresponding to the horizontal motor and the pitching motor at this time.

6. The method of controlling an antenna according to any one of claims 1 to 5, after controlling the horizontal motor to be activated based on the adjustment operation mode until the target operation mode is reached by the first driver, and controlling the tilt motor to be activated based on the adjustment operation mode until the target operation mode is reached by the second driver, further comprising:

acquiring forward clearance compensation parameters, reverse clearance compensation parameters and current rotation states of the horizontal motor and the pitching motor, wherein the rotation states comprise forward rotation, reverse rotation and stop;

when the horizontal motor and/or the pitching motor are/is in forward rotation, forward rotation clearance compensation parameters of the horizontal motor and/or the pitching motor are/is used for enabling the horizontal motor and/or the pitching motor to reach the target operation mode;

reversing the pan motor and/or the tilt motor a reverse backlash compensation parameter to bring the pan motor and/or the tilt motor to the target operating mode when the pan motor and/or the tilt motor is in reverse rotation;

the level motor and/or the tilt motor have reached the target operating mode when the level motor and/or the tilt motor are at a stop.

7. The method of claim 6, further comprising, before obtaining the forward gap compensation parameters, the reverse gap compensation parameters and the current rotation states of the level motor and the tilt motor, the method of controlling the antenna further comprising:

controlling a transmission mechanism corresponding to the horizontal motor and the pitching motor to rotate forward by a preset angle to obtain a first angle of the horizontal motor and the pitching motor;

controlling a transmission mechanism corresponding to the horizontal motor and the pitching motor to rotate reversely by a preset angle to obtain a second angle of the horizontal motor and the pitching motor;

subtracting a second angle from the first angle to obtain a forward clearance compensation parameter of the horizontal motor and the pitching motor; and subtracting the first angle from the second angle to obtain the reverse clearance compensation parameters of the horizontal motor and the pitching motor.

8. The antenna control device is characterized by comprising a first driver, a second driver, a horizontal motor, a pitching motor and corresponding transmission mechanisms, wherein the first driver is connected with the horizontal motor, the second driver is connected with the pitching motor, and the horizontal motor and the pitching motor are both connected with an antenna through the corresponding transmission mechanisms;

further comprising:

a memory for storing a computer program;

a processor, connected to the first driver and the second driver, respectively, for implementing the steps of the method for controlling an antenna according to any one of claims 1 to 7 when executing the computer program.

9. An antenna characterized by comprising an antenna body and a control device of the antenna of claim 8.

10. The antenna control system is characterized in that the antenna control system is applied to a main processor in a control device of the antenna, the control device further comprises a first driver, a second driver, a horizontal motor, a pitching motor and corresponding transmission mechanisms, the first driver is respectively connected with the main processor and the horizontal motor, the second driver is respectively connected with the main processor and the pitching motor, and the horizontal motor and the pitching motor are both connected with the antenna through the corresponding transmission mechanisms; the system comprises:

a history operation mode determination unit for determining a last history operation mode of the horizontal motor and the pitching motor, the history operation mode including rotation angles of the horizontal motor and the pitching motor;

the target operation mode determining unit is used for determining a target operation mode corresponding to the horizontal motor and the pitching motor at the time;

an adjustment operation mode determination unit for determining adjustment operation modes of the horizontal motor and the pitching motor based on a previous history operation mode of the horizontal motor and the pitching motor and a target operation mode corresponding to the horizontal motor and the pitching motor at the time;

and the starting motor unit is used for controlling the horizontal motor to start based on the adjusting operation mode through the first driver until the target operation mode is reached, and controlling the pitching motor to start based on the adjusting operation mode through the second driver until the target operation mode is reached.

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