CN1585301A - Method and device for layered priority control of high and low space remote sensing positioning servo of satellite communication - Google Patents
Method and device for layered priority control of high and low space remote sensing positioning servo of satellite communication Download PDFInfo
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- CN1585301A CN1585301A CN 200410024767 CN200410024767A CN1585301A CN 1585301 A CN1585301 A CN 1585301A CN 200410024767 CN200410024767 CN 200410024767 CN 200410024767 A CN200410024767 A CN 200410024767A CN 1585301 A CN1585301 A CN 1585301A
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Abstract
The apparatus is composed of the antenna control unit, the direction-driving unit, the pitching driving unit, the driving control and power distribution unit. The remote control unit and the portable control unit on the communication upper position make the explicit levels. The priority process supplies the basis for the independence of each equipment. The mistake operation can be coverd by the prior control method. Especially for the CCU system located in the center of the antenna, the safety is greatly improved.
Description
Technical field
The invention belongs to satellite communication remote sensing location and tracking field, relate in particular to hierarchical priority control device and method that satellite communication ground station makes antenna that high and low empty satellite is carried out the remote sensing location and follows the tracks of in L, C, Ku, Ka, millimeter wave Space Microwave communication system.
Background technology
Satellite communication ground station is important system in the satellite communication field, no matter be synchronous satellite, or asynchronous satellite, because the irregular distribution influence of earth gravitational field and sun blast etc. are to the influence of satellite, make satellite position in orbit take place slowly to move, therefore can drive jet propeller by the instruction that commander equipment on the star is sent according to tracking telemetry and command station and finish adjustment of celestial body attitude and orbital position adjustment, but it is big, the antenna beamwidth of medium-sized ground station is narrower, the day drift value of celestial body can not make the antenna operate as normal, ground station needs the automatic tracking location device of a cover to satellite, and the high low-altitude remote sensing of satellite communication location servomechanism installation is exactly the related system that beacon signal is via satellite controlled automatically.The operation principle of now more common system as shown in Figure 1, the high spectrum signal that is obtained from antenna part office low noise amplifier obtains required intermediate frequency 70MHZ beacon signal after the tracking low-converter of SERVO CONTROL part is handled, enter the beacon track receiver again and carry out the SERVO CONTROL input signal that demodulation forms the reflection satellite position, after this signal is handled by special-purpose software in the antenna control unit or hardware module, carry out orientation, the pitching motor that power amplification acts on antenna by driver element, further form the motion control of antenna structure body.Wherein antenna control unit, driver element and antenna warning information are all sent into protected location and are handled the enforcement integrated protection.
Yet there is tangible weak point in the technology that this theory structure relied on:
1. the most key part is the antenna servo control system in the satellite communication positioning control system, is made up of antenna control unit, driver element, protected location, azimuth-drive motor, pitching motor and position transducer etc.Azimuth-drive motor, pitching motor and position transducer are traditional electromechanical compo; reliability is better; and some hardware and software part of antenna control unit, driver element and protected location is more affected by environment, in case a certain link goes wrong, state of paralysis can appear in whole system.
2. general ground stands between installation and limber up period, need carry out the structure at antenna system scene and assemble especially mechanical driving part, existing position control device does not consider to lay control appliance on antenna, the assembling adjustment of entire antenna structure is inconvenience very, have a strong impact on the operating time, can not solve emergent adjustment problem at all.Whole debugging generally is placed on the antenna system scene, and the scene also is inconvenience as there not being control corresponding equipment, and whole debugging is as being placed on outside the antenna system scene, and each band signal of antenna loses authenticity because of loss of signal.
3. even items of equipment puts in place, by ground station's design principle, positioning control partly is placed in the control room, and is far away from antenna outdoor section distance, generally outside 100 meters～200 meters, and the motion scene that this indoor debugging can not observation ward's outside antenna.Even when run into antenna pot face collision cleft, spacing impact, when damaging situation such as bolster and heavy damage mechanical transmissioning piece, in all can constituting, the significant trouble problem at large-scale ground station.
4. the design philosophy of protected location is that a cover protective circuit only is set at present; to again guard signal being delivered to the corresponding troubleshooting of each cell processing after the analysis of each several part fault comprehensive; the problem of being brought is that protection is untimely, even can lead to not right heavy losses.
5. this technology is made up of many circuit boards, and is bulky, the wiring complexity, and maintenance is inconvenient, has increased the complexity of positioning control system.
Summary of the invention
One of technical problem to be solved by this invention provides the high low-altitude remote sensing of a kind of satellite communication and locatees servo hierarchical priority control device; to realize that excellent line level control of layering and protection are carried out in the motion of one or more earth station antennas; solve the systemic breakdown problem that lost efficacy and cause because of a link; the priority that solves too many levels control covers and low level control recovery problem; solve Installation and Debugging and the emergency processing problem of maintenance period, the Redundancy Design that solves in the Important Project enforcement requires problem.
For solving the problems of the technologies described above, technical scheme of the present invention comprises and is installed on indoor antenna control unit (Antenna Control Unit is called for short ACU), be used to judge all control units priority, send control or detect and instruct to control unit and driver element, reception and handle each unit and detect and fault message; Orientation driver element (AZ Drive Unit is called for short AZ DU) receives from the control command of control unit and speed control and the power drive of carrying out the antenna system azimuth-drive motor; Pitch drive unit (ELDrive Unit is called for short EL DU) receives from the control command of control unit and speed control and the power drive of carrying out the antenna system pitching motor; (Drive Control AndPower Distribute Unit is called for short DC﹠amp for drive controlling and power supply unit; PDU, actual driving control unit DCU and the power supply unit PDU of containing)), be used to each unit of function circuit that AC power is provided, output is as the AC power of orientation and pitch drive unit, finish antenna control unit and two control and testings that driver element does not relate to, it is characterized in that also comprising to antenna bearingt by remote control mode, the upper remote control unit of the communication that pitch axis is controlled (Remote Control Unit is called for short RCU), this remote control unit to the control authority of antenna system by with being communicated with and moving the remote control unit software module and obtain of the series circuit of antenna control unit, its concrete control to antenna system is finished by drive controlling and power supply unit; With can carry out closely the manually portable control unit (Convenient ControlUnit is called for short CCU) of control to antenna bearingt, pitch axis outdoor, this unit is judged by antenna control unit the control authority of antenna system and is confirmed that its concrete control to antenna system is finished by drive controlling and power supply unit; Described portable control unit is installed in the exterior aerial system, be mounted with priority Control Software module in the described antenna control unit, antenna system is revolved variate process software module, remote control unit software module and interruption subroutine, the above each control unit all connects by cable, and wherein CCU is connected by remote cable with DCU.
As improvement of the present invention, at above-mentioned DC﹠amp; All be provided with protective circuit in PDU, RCU, CCU and the ACU implementing timely troubleshooting, and DC﹠amp; The output signal of the protective circuit of PDU, RCU and CCU gathers to ACU inside remembers record, accident analysis, multiple protective, sound and light alarm and fault upload, has embodied the flexibility of control.
As improvement of the present invention, above-mentioned DC﹠amp; PDU comprises priority control circuit, input and output treatment circuit, protective circuit, control power supply and public circuit; public circuit comprises velocity setting treatment circuit, bi-motor disappear crack circuit, drive power supply open treated circuit, polarization control circuit, pitching collection control circuit, oil pump control circuit, aeronautical light control circuit and power output unit, and the input and output treatment circuit comprises digital input signals Filtering Processing circuit, digital output signal integrated treatment circuit, analog input signal integrated treatment circuit and analog output signal integrated treatment circuit
Another technical problem that the present invention solves provides a kind of high low-altitude remote sensing of satellite communication that applies in the said apparatus and locatees servo layering/priority control method, may further comprise the steps:
Step 1: behind the system boot, antenna control unit enters the user job state, and system is carried out initialization and various initial monitoring output, finishes filtering and detection to each numeral input and analog quantity then, and carries out the computing of aerial position angle;
Step 2: the control signal that enables to portable control unit, antenna control unit, distribution driving control unit and the upper remote control unit equipment at different levels of communicating by letter is checked and is judged, when the respective enable signal that detects certain one-level control unit, just carry out branch transition, change this class control process over to;
A is after entering the control procedure of the upper remote control unit work of communication when enabling by the RCU main program, show that on the interface of ACU unit " CTRL " enables sign, remote control unit just acts on the ACU device by the RCU main program, the corresponding commands such as transmitting antenna motion control and polarization motion control, output switch control signal and velocity setting signal, various states and fault message that the antenna control unit of feedback is simultaneously detected, judge whether to occur the high priority control mode by antenna control unit, as not having, whether then detect control at the corresponding levels enables to exist, when existing, get back to the remote control unit Control Circulation, when not existing, get back to and enable branch's platform, enable to occur if any high priority control, then judge it is which kind of Advanced Control, indicate accordingly then to be provided with so that antenna control unit is made record and state output indication, begin branch transition simultaneously, get back to branch's platform.
The control procedure of B when the work of deployable antenna control unit enables shows that on the interface " CTRL " enables sign, and antenna control unit begins corresponding motions such as control antenna and polarization control, and all the other processes are described with A.
The control procedure of C when launching drive controlling and power supply unit work and enable shows that on the interface " DCU " enables sign, and drive controlling and power supply unit begin control antenna and corresponding motion, and all the other processes are described with A.
The control procedure of D when the portable control unit work of expansion enables shows that on the interface " CCU " enables sign, and portable control unit begins conventional motion such as control antenna and polarization, and all the other processes are described with A.
Step 3: as do not have any enable signal appearance, then antenna and servo positioning system are carried out Stateful Inspection, get back to the judgement of enabled state then.
The present invention compared with prior art, its beneficial effect is:
1 layering thought is clear and definite, devotes oneself to work separately and provides the foundation for each equipment after the processed.
2. in preferential direction, pitch drive unit equipment and DCU under the situation of hardware circuit, the authenticity of each band signal of antenna when the work of CCU has solved on-the-spot installation and total system combined debugging has been avoided the loss of signal of test when machine room;
3. when certain level work is not normal, other other equipment of level still can be worked, and have guaranteed that the user is worth and the economic utility of civil time in the war preparedness of army's time spent, meets user's practicality requirement;
4. in a single day misoperation occurs, can be covered by high level control mode, security reliability obviously improves, especially the CCU system places near the center of antenna body, and operating personnel can cut off any abnormal situation at any time;
5. meet the requirement of Important Project Redundancy Design, improve MTBF time and high maintenance;
6. each defencive function in time acts on local device, has guaranteed real-time and fail safe, and protective circuit uses photoelectricity to isolate and electronic device as far as possible, and conducting speed is fast, and energy consumption reduces, and stability is high, and the life-span is long, makes this technology have more advantage again.
7. the fault-signal of antenna and driver element enters the ACU system through behind the hardware filtering, and input signal is true and reliable, together with the fault-signal of DCU, CCU, sends into ACU again and carries out integrated treatment by the software in the antenna control unit.These signals upload to the RCU unit by communication mode, can in time monitor widely.ACU has carried out multiple protective again to all catastrophe failures in addition, meets the standard of zero tolerance.
Description of drawings
Fig. 1 is the structured flowchart of prior-art devices;
Fig. 2 is the general construction and the external relation block diagram of device of the present invention;
Fig. 3 is an antenna control unit hardware circuit diagram of the present invention;
Fig. 4 is drive controlling of the present invention and power supply unit hardware circuit diagram;
Fig. 5 is the portable control unit hardware circuit diagram of the present invention;
Fig. 6 is the priority control circuit of drive controlling and power supply unit;
Fig. 7 is the flow chart of the method for the invention;
Fig. 8 is the upper remote control unit main program flow chart of communication;
Fig. 9 is a serial interruption subroutine flow chart.
Embodiment
As Fig. 2, device of the present invention comprises and is installed on indoor antenna control unit ACU, drive controlling and power supply unit DC﹠amp; PDU, orientation driver element AZ DU, pitch drive unit EL DU, it is characterized in that also comprising the upper remote control unit RCU of communication that antenna bearingt, pitch axis controlled by remote control mode and antenna bearingt, pitch axis are carried out closely the manually portable control unit CCU of control, described portable control unit CCU is installed in the exterior aerial system, be mounted with priority Control Software module in the described antenna control unit, antenna system is revolved variate process software module, the above each control unit all connects by cable, more than constitutes antenna control system.The right side is controlled antenna system part among the figure, can comprise orientation drive train, orientation and pitching brake, spacing and status switch, polarization, oil pump and collection motor, aeronautical light, pitching drive train, azimuth pitch and changes revolved in polarization, put the feed field, the beacon state of antenna system is through track receiver input aerial control unit processing again.
ACU is the core of Antenna Positioning servo system, realizes that aerial position detects and functions such as the detection of sky line traffic control, other Device Testing of antenna system and control, system management and the fault of various patterns and protection.As Fig. 3, ACU comprises a PC microsystem, Simulation with I/O circuit and digital I/O circuit, wherein, computer power, industrial computer motherboard (interruption subroutine of built-in priority Control Software module, RCU software module and RCU calling software module) bus expansion board, VGA display card, 7 " parts such as monochrome display; add the PC keyboard, just formed a basic PC microsystem; Simulation with I/O expanded circuit is handled DC power supply voltage and other analog signal of each unit in the level signal of resolver output signal, stepping and the Mono-pulse Tracking Receiver of azimuth axis, pitch axis and each road polarization device, the system, convert digital quantity to through 12 A/D again, give microcomputer by bus; Orientation, luffing speed set-point that while 12 D/A provide microcomputer convert analog quantity to, give drive controlling and power supply unit.Numeral I/O expanded circuit provides regularly interrupt signal by 8253, and 32 way word mouths are control, state and the fault-signal of treatment of simulated switch, Energy Saving Control, portable control unit, drive controlling and power supply unit respectively, and then control output.Revolve and become excitation power supply and produce sinusoidal signal, through obtaining the AC power about effective value 10V after the power amplification, as the excitation power supply of the resolver of antenna system by Wien bridge circuit.
DC﹠amp; PDU finishes the unit antenna control unit and two control and testings that driver element fails to relate to, as bi-motor disappear the excitatory control of crack, brake and motor, polarization is adjusted and the detection alarm of pitching collection control, various spacing and other fault etc., is the assurance of system's versatility.Fig. 4 is the circuit block diagram of drive controlling and power supply unit; comprise the priority control circuit; the input and output treatment circuit; protective circuit; control power supply and public circuit; public circuit comprises the velocity setting treatment circuit; the bi-motor crack circuit that disappears; drive power supply open treated circuit; the polarization control circuit; lock control circuit; the oil pump control circuit; aeronautical light control circuit and power output unit, and the input and output treatment circuit comprises digital input signals Filtering Processing circuit; digital output signal integrated treatment circuit; analog input signal integrated treatment circuit and analog output signal integrated treatment circuit.With the panel-switch signal and send into the priority control circuit from the control signal of antenna control unit and portable control unit and carry out priority management and comprehensive; producing antenna bearingt and pitch axis enables; polarization is adjusted; control signals such as pitching collection; control corresponding circuit working; while output priority control signal; switch the velocity setting of driver element; priority is up to CCU; get off to be DCU successively; ACU; RCU; from antenna; driver element; the DCU panel; CCU; the detection information that ACU comes is delivered to the priority control circuit by the classification of digital input signals Filtering Processing circuit; the digital output signal synthetic circuit; fault and protective circuit and public circuit; part analog signal is from ACU; CCU; the DCU panel is sent into the velocity setting treatment circuit of public circuit; change output signal over to output signal integrated treatment circuit by the bi-motor crack circuit that disappears again; finally to AZ DU; EL DU; another part is from AZ DU; the analog signal that EL DU driver element is sent here is delivered to the analog output signal synthetic circuit behind the analog input signal treatment circuit, finally to ACU.The three-phase alternating-current supply of power output unit input for each functional circuit provides AC power, is exported the AC power as orientation and pitch drive unit simultaneously after contactor and fuse control and protection.
As Fig. 5, the CCU unit is used for antenna bearingt, the portable control of pitch axis, comprise control power supply from DCU, the stimulus part that panel produces, as enable to produce, it is open that the orientation drives power supply, it is open that pitching drives power supply, orientation velocity setting and luffing speed are given, also comprise integrated signal treatment circuit and output commonly used, the integrated signal processing circuit processes is from the signal of panel, as filtering, chain, the comprehensive functional module of using always that waits, and the portable control that signal forms after treatment enables, drive controlling enables to export to DCU with the control command of velocity setting, wherein portable control enable signal also will enter ACU through DCU and carry out the software analysis judgement, returns DCU again after judging and carries out.Portable control enable open this grade control mode also provides driving power, and drive controlling enables to activate driver, speed given circuit produces the velocity setting signal and gives the corresponding driving unit, and its required DC power supply is from drive controlling and power supply unit.
Fig. 6 is the circuit diagram of DCU priority control circuit, by with or logical circuit form.Before and after one group series connection with or door with the enable signal CVIET of CCU output be and door 1 is imported, with enable signal be or 1 input with door 1 output and DCU output, before and after another group series connection with or door with the enable signal DRV of DCU output be and door 2 is imported, enable signal CTRL with ACU output is or door 2 inputs, two groups or the door output signal I2, the enable signal CVIET of I3 and CCU, be that I1 is simultaneously as another input with door 3, whether open with the speed command transmitting switch with the communication power supply of the output signal EN of door 3 decision azimuth pitch driver element and whether to open, or door 1 output signal I2 is as another input with door 4, and whether the enable switch indicator light is lighted on its output BDRV signal deciding DCU panel.I1, I2, I3 act on DC﹠amp respectively; Public circuit among the PDU reaches the hierarchical priority control effect of each actuator, as can be seen from Figure 7: when CVIET=0, no matter DRV and CTRL signal are how, I1=CVIET=0, I2=0, I3=1 works as CVIET=1, during DRV=0, no matter the CTRL signal is how, I1=1, I2=0, I3=1 works as CVIET=1, DRV=1, during CTRL=0, I1=1, I2=1, I3=0, when a certain signal was 0 among I1, I2, the I3, this unit was possessed of control power among pairing CCU, DCU, the ACU.
RCU is actually a upper centralized control computer, comprise a common PC or an industry PC, finish networking with RS232 or 485 communications protocol, its hardware is equipped with the integrated asynchronous communication card of PCL745B, the asynchronous communication cartoon corresponding with ACU crossed cable and connected, serial communication is carried out with asynchronous system, half-duplex mode is adopted in asynchronous communication, antenna control unit does not initiatively send order, just when the order that receives from up-computer, carry out this order and the operating state of control system is sent to control microcomputer immediately, receive and send data and all transmit with the ascii character form.The upper control unit of antenna control unit and communication is the relation of series connection in fact, when after pressing RUMOTE CONTROL key on the ACU panel, ACU and RCU are communicated with, be illustrated in and possessed the condition of preferential control being transferred to RCU on the hardware, and to the judgement of priority with confirm also must realize through the operation of the priority software module in the ACU.
Hierarchical priority control device of the present invention is the harmonious relations of RCU, ACU, DCU, CCU, and all there is an enable signal each unit.Priority control circuit among the DCU carries out priority management and comprehensive with the panel-switch signal and from the control signal of antenna control unit and portable control unit, produce antenna bearingt and the pitch axis control signals such as adjustment, pitching collection that enable, polarize, control corresponding circuit working, while output priority control signal, the velocity setting of switching orientation and pitch drive unit.And RCU is a purpose of finishing monitoring by ACU, have only when the Remote control function of carrying out ACU operation cross section, and when interface priority is designated as " CTRL ", the control of system is just given RCU by ACU, the priority of level Four priority control is respectively: CCU is the highest, DCU secondly, secondly, RCU is minimum again for ACU.When the higher devices enable signal of priority is pressed, can cover low-level control mode, in case and the control of high priority is cancelled, the low-level devices control mode just can be resumed work, and its control transformation flow process as shown in Figure 7, after initialization, ACU has just entered the branch's platform that enables to judge, all must return branch's platform and judge that the ACU enable signal is produced by data collecting card among the present invention when enable signal changes, the final DCU that inserts, ACU signal characteristic sign is made as I1; The enable signal of DCU is produced by enable switch on this device panel, send into the drive controlling plate of DCU, DCU signal characteristic sign is made as I2, the enable signal of CCU is produced by " CCU enables " switch on this panel, send into DCU by remote cable, after Filtering Processing, send into the work of priority control circuit, the signal characteristic sign is made as I3, and RCU enables sign and is made as I4, it is effective that enable signals at different levels are low level, if the enable key on the ACU panel is pressed at this moment, ACU determines ACU and is in and enables operating state, " CTRL " that will show ACU on its interface enables sign, ACU is just by sending instruction and the control antenna motion to DCU, action is finished, judge again and have or not Advanced Control to exist, if do not have, the corresponding levels exist, carry out other actions, if there are other Advanced Control to exist, then judge it is which kind of Advanced Control, again indicate setting and associated transitions by ACU, and then enable to judge, anyly do not enable to occur then state is monitored if having, up to there being a kind of enabling to occur, in like manner, after the enable key on DCU and the CCU panel is pressed, ACU will judge enabled state, carry out action by units corresponding then, slightly different is, because RCU acts on ACU by program, thereby carry out action, so process is different, Fig. 8 is the RCU main program flow chart, when by execution REMOUTE CONTROL function items in ACU, just begin the RCU function, judge at first whether ACU enables to identify I3 is zero, if non-vanishing, promptly represent controlling priority by CCU or DCU, ACU points out every enabling, and wait for that ACU enables to recover, if do not recover, continue to wait for, if recovered, expression priority this moment has been transferred to ACU, be that I3 is zero, then RCU enabled to identify I4 zero setting and output, open serial port and interrupt, carry out interruption subroutine, what the judgement interruption subroutine returned takes orders, as some antenna action commands, after the action of having confirmed the instruction representative, shift the related communication instruction flow, then carry out with the identical step in other unit, as the beginning transmitting control commands, output control signal and velocity setting signal, various states and fault message that the ACU of feedback is simultaneously detected.Above-mentioned serial interruption subroutine flow chart such as Fig. 9 have no progeny in opening serial port, at first carry out the interrupt spot and handle, carry out interrupt priority level, temporarily shield high priority, ACU accepts the communication character that comprises command context that RCU sends, judge whether the regulation character arrives, if character arrives, put the prompting sign, carry out the communication command of action as some representative antennas, interrupt then returning, if do not receive character, ACU request prompting sign interrupts returning then.
Claims (10)
1. the high low-altitude remote sensing of satellite communication is located servo hierarchical priority control device, comprise antenna control unit, be used to judge all control units priority, send control or detect and instruct to control unit and driver element, reception and handle each unit and detect and fault message;
The orientation driver element receives from the control command of control unit and speed control and the power drive of carrying out the antenna system azimuth-drive motor;
Pitch drive unit receives from the control command of control unit and speed control and the power drive of carrying out the antenna system pitching motor;
Drive controlling and power supply unit, contain driving control unit and power supply unit, be used to each unit of function circuit to provide to exchange or control power supply, output as the AC power of orientation and pitch drive unit, finish control and testing that antenna control unit and azimuth pitch driver element do not relate to.
It is characterized in that: also comprise the upper remote control unit of antenna bearingt, pitch axis being controlled by remote control mode of communication, this remote control unit to the control authority of antenna system by with being communicated with and moving the remote control unit software module and obtain of the series circuit of antenna control unit, its concrete control to antenna system is finished by drive controlling and power supply unit;
With the portable control unit that antenna bearingt, pitch axis is carried out closely manually control, this unit is judged by antenna control unit the control authority of antenna system and is confirmed that its concrete control to antenna system is finished by drive controlling and power supply unit;
Described portable control unit is installed in the exterior aerial system, be mounted with priority Control Software module in the described antenna control unit, antenna system is revolved variate process software module, remote control unit software module and interruption subroutine, the above each control unit all connects by cable.
2. the high low-altitude remote sensing of satellite communication as claimed in claim 1 is located servo hierarchical priority control device, it is characterized in that: described drive controlling and power supply unit comprise priority control circuit, input and output treatment circuit, protective circuit, control power supply and contain the public circuit of power output unit that wherein the input and output treatment circuit comprises digital input signals Filtering Processing circuit, digital output signal integrated treatment circuit, analog input signal integrated treatment circuit and analog output signal integrated treatment circuit; From panel-switch; the control signal of antenna control unit and portable control unit is sent into the priority control circuit and is carried out priority management and comprehensive; control corresponding circuit working; while output priority control signal; switch the velocity setting of driver element; from antenna; driver element; drive controlling and power supply unit panel; portable control unit; the detection information that antenna control unit comes is delivered to the priority control circuit by the classification of digital input signals Filtering Processing circuit; the digital output signal synthetic circuit; fault and protective circuit and public circuit; part analog signal is from antenna control unit; portable control unit; drive controlling and power supply unit panel are sent into public circuit; again output signal is changed over to output signal integrated treatment circuit; finally to pitching and orientation driver element; the analog signal that another part is sent here from pitching and localizer unit is delivered to the analog output signal synthetic circuit behind the analog input signal treatment circuit, finally to antenna control unit.
3. the high low-altitude remote sensing of satellite communication as claimed in claim 2 is located servo hierarchical priority control device, it is characterized in that described priority control circuit by with or logical circuit form, before and after one group series connection with or door be input with door 1 with the enable signal of portable control unit output, with enable signal be or 1 input with the output of door 1 and drive controlling and power supply unit output, before and after another group series connection with or door be input with door 2 with the enable signal of drive controlling and power supply unit output, with the enable signal of antenna control unit output be or 2 input, the enable signal of portable control unit, or the output of door 1, or the public circuit that door 2 output acts on drive controlling and power supply unit is respectively controlled with execution priority, the enable signal of output signal and the portable control unit of two groups or door is simultaneously as another and 3 input, whether open with the speed command transmitting switch with the communication power supply of the output signal of door 3 decision azimuth pitch driver element and whether to open, or door 1 output signal is as another input with door 4, and whether the enable switch indicator light is lighted on its output signal decision driving control unit panel.
4. the high low-altitude remote sensing of satellite communication as claimed in claim 1 is located servo hierarchical priority control device, it is characterized in that: described antenna control unit comprises the digital I/O circuit and the microsystem to judging, analyze and control from the signal of Simulation with I/O circuit and digital I/O circuit of the digital signal of the Simulation with I/O circuit, reception and other unit of output that receive and export the analog signal of other unit, and described microsystem comprises industrial computer motherboard, bus expansion board, display card, the display of computer power, embedded software.
5. the high low-altitude remote sensing of satellite communication as claimed in claim 1 is located servo hierarchical priority control device, it is characterized in that: described portable control unit comprises stimulus part that control power supply from DCU, panel produce, the integrated signal treatment circuit that input signal is handled and the output that produces after signal processing, described output comprises the control command of portable control enable command, drive controlling enable command and velocity setting, and finally exports the public circuit of DCU to.
6. the high low-altitude remote sensing of satellite communication as claimed in claim 1 is located servo hierarchical priority control device, it is characterized in that: the upper remote control unit of described communication comprises a common or industry PC that is equipped with the asynchronous communication card, and this remote control unit is carried out communication by asynchronous communication card and RCU software module and antenna control unit.
7. the high low-altitude remote sensing of satellite communication as claimed in claim 1 is located servo hierarchical priority control device; it is characterized in that: in antenna control unit, drive controlling and power supply unit, orientation driver element, pitch drive unit, the upper remote control unit of communication and portable control unit, be provided with protective circuit; wherein the output of the protective circuit in drive controlling and power supply unit, orientation driver element, pitch drive unit, the upper remote control unit of communication and the portable control unit all inserts antenna control unit, and carries out integrated treatment by the software in the antenna control unit.
8. the high low-altitude remote sensing of satellite communication is located servo hierarchical priority control method, it is characterized in that may further comprise the steps:
Step 1: behind the system boot, antenna control unit enters the user job state, and system is carried out initialization and various initial monitoring output, finishes filtering and detection to each numeral input and analog quantity then, and carries out the computing of aerial position angle;
Step 2: the control signal that enables to portable control unit, antenna control unit, driving control unit and the upper remote control unit equipment at different levels of communicating by letter is checked and is judged, when the respective enable signal that detects certain one-level control unit, just carry out branch transition, change this class control process over to;
A is after entering the control procedure of the upper remote control unit work of communication when enabling by the upper remote control unit main program of communicating by letter, show that on the interface of antenna control unit " CTRL " enables sign, remote control unit just acts on the antenna control unit device by the upper remote control unit main program of communicating by letter, the corresponding command of control such as transmitting antenna motion control and polarization motion, output switch control signal and velocity setting signal, various states and fault message that the antenna control unit of feedback is simultaneously detected, then antenna control unit judges whether to occur the high priority control mode, as not having, whether then detect control at the corresponding levels enables to exist, when existing, get back to the remote control unit Control Circulation, when not existing, get back to branch's platform, enable to occur if any high priority control, then judge it is which kind of Advanced Control, indicate accordingly then to be provided with so that antenna control unit is made record and state output indication, begin branch transition simultaneously, get back to branch's platform.
The control procedure of b when the work of deployable antenna control unit enables shows that on the interface " CTRL " enables sign, and antenna control unit begins control antenna and corresponding motion, and all the other processes are described with a.
The control procedure of c when the work of expansion driving control unit enables shows that on the interface " DCU " enables sign, and driving control unit begins control antenna and corresponding moving, and all the other processes are described with a.
The control procedure of d when the portable control unit work of expansion enables shows that on the interface " CCU " enables sign, and portable control unit begins the routine motion of control antenna, and all the other processes are described with a.
Step 3: as do not have any enable signal appearance, then antenna and servo positioning system are carried out Stateful Inspection, get back to the judgement of enabled state then.
9. the high low-altitude remote sensing of satellite communication as claimed in claim 8 is located servo hierarchical priority control method, it is characterized in that: the upper remote control unit main program of described communication may further comprise the steps:
When pressing upper Communication Control soft key on the antenna control unit panel, upper remote control unit function begins to communicate by letter;
Judge whether antenna control unit enables sign is zero;
If it is non-vanishing that antenna control unit enables to identify, every the enabling of antenna control unit prompting, and wait for that antenna control unit enables to recover, if do not recover, continue to wait for, if recovered, expression priority has been transferred to antenna control unit, and promptly antenna control unit enables to be designated zero;
The upper remote control unit of will communicating by letter enables to identify zero setting and output;
Open serial port and interrupt, carry out interruption subroutine;
What the judgement interruption subroutine returned takes orders;
After the action of having confirmed the instruction representative, shift the related communication instruction flow;
Then carry out with the identical step in other unit.
10. the high low-altitude remote sensing of satellite communication as claimed in claim 9 is located servo hierarchical priority control method, and it is characterized in that: described interruption subroutine may further comprise the steps:
Carry out the interrupt spot and handle, carry out interrupt priority level;
Antenna control unit is accepted the communication character that comprises command context that the upper remote control unit of communication sends;
Judge whether the regulation number of characters arrives;
If number of characters arrives, put the communication command prompting sign that some representative antennas are carried out action, interrupt then returning;
If the prompting sign is removed in the number of characters no show, interrupt then returning.
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| CNB2004100247674A CN100525141C (en) | 2004-05-28 | 2004-05-28 | Method and device for layered priority control of high and low space remote sensing positioning servo of satellite communication |
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| CNB2004100247674A CN100525141C (en) | 2004-05-28 | 2004-05-28 | Method and device for layered priority control of high and low space remote sensing positioning servo of satellite communication |
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| CN100525141C CN100525141C (en) | 2009-08-05 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101304408B (en) * | 2008-06-03 | 2010-11-03 | 中国航天时代电子公司第七七一研究所 | Method for processing remote sensing satellite load data |
| CN103399533A (en) * | 2013-07-03 | 2013-11-20 | 上海卫星工程研究所 | Satellite remote control instruction priority control system |
| CN104574953A (en) * | 2013-10-15 | 2015-04-29 | 福特全球技术公司 | Traffic signal prediction |
| CN106610612A (en) * | 2016-12-01 | 2017-05-03 | 北京遥测技术研究所 | Antenna drive control unit |
| CN109917374A (en) * | 2019-04-01 | 2019-06-21 | 深圳乐易住智能科技股份有限公司 | A kind of indoor detection method using Distributed Network Radar |
-
2004
- 2004-05-28 CN CNB2004100247674A patent/CN100525141C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101304408B (en) * | 2008-06-03 | 2010-11-03 | 中国航天时代电子公司第七七一研究所 | Method for processing remote sensing satellite load data |
| CN103399533A (en) * | 2013-07-03 | 2013-11-20 | 上海卫星工程研究所 | Satellite remote control instruction priority control system |
| CN103399533B (en) * | 2013-07-03 | 2015-07-15 | 上海卫星工程研究所 | Satellite remote control instruction priority control system |
| CN104574953A (en) * | 2013-10-15 | 2015-04-29 | 福特全球技术公司 | Traffic signal prediction |
| CN106610612A (en) * | 2016-12-01 | 2017-05-03 | 北京遥测技术研究所 | Antenna drive control unit |
| CN109917374A (en) * | 2019-04-01 | 2019-06-21 | 深圳乐易住智能科技股份有限公司 | A kind of indoor detection method using Distributed Network Radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100525141C (en) | 2009-08-05 |
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