CN207148656U - Airborne antenna high-speed servo telecontrol equipment - Google Patents
Airborne antenna high-speed servo telecontrol equipment Download PDFInfo
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- CN207148656U CN207148656U CN201720555995.7U CN201720555995U CN207148656U CN 207148656 U CN207148656 U CN 207148656U CN 201720555995 U CN201720555995 U CN 201720555995U CN 207148656 U CN207148656 U CN 207148656U
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Abstract
The utility model discloses a kind of airborne antenna high-speed servo telecontrol equipment, mainly solves the problems, such as that existing airborne antenna servo motion platform can not drive antenna to carry out high speed, high-precision scanning motion.It includes azimuth motion part (1), elevating movement part (2), power amplifier module (3) and control and interface module (4).Control and interface module (4) are according to control instruction, carrier aircraft attitude data and orientation, the feedback signal of luffing angle received, the pulse-width signal of generation controlled motor, which exports, gives power amplifier module (3), power amplifier module produces motor drive power supply according to the pulse-width modulation control signal received, and it is output to azimuth motion part (1) and elevating movement part (2), both parts are driven to carry out orientation and elevating movement, while by orientation, luffing angle Real-time Feedback to control and interface module (4).The utility model has the advantages of fast response time, control accuracy is high, available for the various aircraft for needing antenna to carry out mechanical scanning motion.
Description
Technical field
The utility model belongs to technical field of servo control, more particularly to a kind of servo control, flies available for various
The servo control of the airborne radar antenna mechanical scanning of row device.
Background technology
Airborne antenna servo motion platform is used to drive the radar antenna of carrier aircraft to carry out orientation or pitching side according to certain rules
Upward motion, as the important component of airborne radar, its performance directly affects the performance of onboard radar system.Antenna
Servo motion platform receives the instruction of onboard radar system, carries out orientation by the requirement driving antenna of radar system or pitching is swept
Retouch, or driving antenna carries out the motion of other manner.Antenna servo motion platform is needed orientation, luffing angle information biography simultaneously
Radar system is given, makes radar system can accurate judgement target location.Due to carrier aircraft, carrier aircraft attitude may be sent out in flight course
There is pitching, tilt attitudes vibration in changing, such as carrier aircraft, in order to which the region for keeping radar system to detect does not become with carrier aircraft attitude
Change and change, antenna servo motion platform needs to change the corresponding compensation campaign of driving antenna progress according to carrier aircraft attitude, eliminates and carries
Machine attitudes vibration influences to caused by radar antenna search coverage.
At present, airborne antenna servo motion platform is more using the kind of drive of motor acceleration and deceleration device or gear, due to gear
Gap and the elastically-deformable influence of gear, the response speed of antenna servo motion platform is slower, and precision is poor, when control circuit is adopted
When being controlled with analog circuit, its flexibility is also poor.
Utility model content
The purpose of this utility model is to be directed to above-mentioned the deficiencies in the prior art, proposes a kind of airborne antenna high-speed servo fortune
Device is moved to improve the response speed of platform and control accuracy.
Technical thought of the present utility model is：By using the mode of electric-machine directly-driven, i.e., directly driven with small-sized torque motor
Dynamic antenna carries out the mode of azimuth motion, changes currently used high-speed electric expreess locomotive and drives antenna to transport again after decelerator increases torque
Dynamic mode, gear clearance and the elastic deformation of decelerator are eliminated, improve response speed and the control of antenna servo motion platform
Precision processed；Considered by the compromise to the volume of antenna servo motion platform, weight and performance, subtracted using one-level clearance elimination gear
The kind of drive of speed carries out the control of elevating movement, reduces influence of the gear transmission clearance to performance；By using DSP and FPGA
For the full-digital circuit of core, SERVO CONTROL parameter is flexibly set and adjusts, to reach different performance indications requirements.It is realized
Scheme is as follows：
A kind of airborne antenna high-speed servo telecontrol equipment, including：Azimuth motion part 1, elevating movement part 2, power amplifier mould
Block 3 and control and interface module 4, it is characterised in that：
Azimuth motion part 1, including orientation motor 11, orientation angles sensor 12 and orientation structural member 13, the party
Position motor 11 uses small-sized DC brushless torque motor, and on orientation structural member 13, its motor shaft and antenna are direct
Connection；The orientation angles sensor 12 is arranged on the output shaft end of orientation motor 11, the azimuth motion of real-time monitoring aerial
Angle, and in real time by the orientation angles information transmission of antenna to control and interface module 4, control and interface module 4 are according to angle
Information produces motor control signal, the commutation order and motor rotation position of control azimuth motor, speed in real time；
Elevating movement part 2, including pitching motor 21, luffing angle sensor 22, luffing structure part 23 and motor
Angular transducer 24, the motor angle sensor 24 are arranged on the output shaft end of pitching motor 21, monitor pitching in real time and drive
The velocity of rotation and angle of dynamic motor 21 simultaneously send control and interface module 4 to；The pitching motor 21 is arranged on pitching knot
On the motor installation position of component 23；Installation position structural member 13 and the angle of pitch successively on the elevating movement axle of the luffing structure part 23
Sensor 22 is spent, orientation structural member 13 carries out gear drive, luffing angle by one-level clearance elimination gear and pitching motor 21
Sensor 22 monitors the elevating movement angle of orientation structural member 13 and sends control and interface module 4 in real time.
Preferably, described orientation structural member 13, using projecting U-shape structure, vertical arm, which is provided with, thereon aids in shaft mounting hole
131, for installing asessory shaft and bearing；Its lower vertical arm is provided with motor installing hole position 132, for installation position motor 11,
And the axle of orientation motor 11 and asessory shaft are coaxial；Its side wall is provided with through hole 133, for pitching axis connection；The through hole 133
Opening position installation one-level clearance elimination gear 134, the axis of the clearance elimination gear overlaps with the center line of through hole 133.
Preferably, described luffing structure part 23 is irregular cube structure, its top is provided with pitching shaft mounting hole
231, for installing pitch axis and being connected by pitch axis with the through hole 133 of orientation structural member；It closes on center position and is provided with
Motor installation position 232, for installing pitching motor 21.
The utility model has the following advantages that compared with prior art：
1. the bright azimuth motion part of the utility model eliminates decelerator or gear passes due to using electric-machine directly-driven mode
Dynamic error and elastically-deformable influence, the response speed and control accuracy of azimuth motion are improved, orientation is realized high at a high speed
Precise movements control；
2. elevating movement part of the present utility model reduces transmission and missed due to using one-level clearance elimination gear drive mechanism
Difference, the response speed and control accuracy of elevating movement are improved, volume and again is reduced while performance indications requirement is reached
Amount；
3. orientation structural member of the present utility model and luffing structure part improve its mechanical strength, disappeared using being integrally machined
Resonance during except high-speed motion.
Brief description of the drawings
Fig. 1 is theory diagram of the present utility model；
Fig. 2 is the azimuth motion modular construction block diagram in the utility model；
Fig. 3 is the elevating movement modular construction block diagram in the utility model；
Fig. 4 is orientation, the structure chart of pitching part in the utility model；
Fig. 5 is control and interface module schematic diagram in the utility model；
Fig. 6 is the power amplifier module schematic diagram in the utility model.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
Reference picture 1, the airborne antenna high-speed servo telecontrol equipment in the utility model, including azimuth motion part 1, pitching
Moving component 2, power amplifier module 3 and control and interface module 4.Control and interface module 4 are according to control instruction, the carrier aircraft received
Attitude data and orientation, the feedback signal of luffing angle, produce the pulse-width modulation PWM signal of controlled motor and be output to power amplifier
Module 3, power amplifier module 3 produce motor drive power supply according to the pulse-width modulation PWM control signal received, and are output to orientation fortune
Dynamic component 1 and elevating movement part 2, driving azimuth motion part 1 and elevating movement part 2 carry out orientation and elevating movement, together
When azimuth motion part 1 and elevating movement part 2 by orientation, luffing angle Real-time Feedback to control and interface module 4, make airborne
Antenna high-speed servo telecontrol equipment forms full closed-loop position control system.
Reference picture 2, the azimuth motion part 1 in the utility model include orientation motor 11, orientation angles sensor
12 and orientation structural member 13.Orientation motor 11 uses small-sized DC brushless torque motor, and it is arranged on orientation structural member 13
On, and armature cable is connected to the output end of power amplifier module 3, one end of the output shaft of orientation motor 11 directly connects with antenna
Connect, other end connection orientation angular transducer 12, orientation angles sensor 12 in real time by orientation angles information transmission to control and
Interface module 4, with control azimuth rotational angle and velocity of rotation.
Reference picture 3, the elevating movement part 2 in the utility model include pitching motor 21, luffing angle sensor
22nd, luffing structure part 23 and motor angle sensor 24.Pitching motor 21 uses small-sized DC brushless electric machine, and it is arranged on
On luffing structure part 23, its armature cable is connected to the output of power amplifier module 3, and pitching motor 21 passes through primary speed-down gear
It is connected afterwards with orientation structural member 13, luffing angle sensor 22 is installed on pitch axis, for detecting pitch rotation angle simultaneously in real time
Control and interface module 4 are transferred to, motor angle sensor 24 is connected to the shaft end of pitching motor 21, for real-time
The rotor rotational angle of detection pitching motor 21 is simultaneously transferred to control and interface module 4, to form pitching driving electricity
Machine 21 and the closed-loop control of elevating movement.
Reference picture 4, the orientation structural member 13 in the utility model are connected with luffing structure part 23, wherein：
Orientation structural member 13, using the projecting U-shape structure being integrally machined, to improve its mechanical strength, avoid orientation
Resonance is produced when high-speed motion and quick commutation, the upper vertical arm of the projecting U-shape structure is provided with auxiliary shaft mounting hole 131, for pacifying
Fill asessory shaft and bearing；The lower vertical arm of the projecting U-shape structure is provided with motor installing hole position 132, for installation position motor
11, and the axle of orientation motor 11 and asessory shaft are coaxial；The side wall of the projecting U-shape structure is provided with through hole 133, for installing pitching
Axle；The opening position installation one-level clearance elimination gear 134 of the through hole 133, the axis of the clearance elimination gear and the center line weight of through hole 133
Close.
Luffing structure part 23, using the irregular cube structure being integrally machined, for improving its mechanical strength, to keep away
Exempt to produce resonance during pitching high-speed cruising, the top of the irregular cube is provided with pitching shaft mounting hole 231, for installing pitching
Axle；The irregular cube closes on center position and is provided with motor installation position 232, for installing pitching motor 21.
Reference picture 5, control and interface module 4 in the utility model include DSP circuit, FPGA circuitry, interface circuit 43
With power circuit 44.：
The DSP circuit, including communication module 411, motor control module 412, compensation rate computing module 413 and failure inspection
Survey processing module 414.Wherein：
Communication module 411, for being communicated with FPGA circuitry, i.e., motor control module 412 and fault detect are handled
The state and control signal of module 414 are sent to FPGA circuitry, and obtain the orientation of azimuth motion part 1 from FPGA circuitry and bow
Positional information, the motor rotor position of orientation motor and pitching motor and electric current, carrier aircraft attitude, radar system is faced upward to refer to
Make, control parameter, orientation zero correction value and pitching zero correction value.
Motor control module 412, for the orientation and pitch position information, current of electric transmitted according to communication module 411
And radar system instructs and transmits the motor compensating amount of exercise of coming from compensation rate computing module 413, produces the arteries and veins of controlled motor
Wide modulation (PWM) signal output is to power amplifier module 3；
Compensation rate computing module 413, for according to from communication module 411 transmit come carrier aircraft attitude data, computer azimuth
The compensation campaign amount of motor 11 and pitching motor 21；
Fault detect processing module 414, for when excessively stream, overvoltage, under-voltage and short-circuit condition occurs in power amplifier module 3, closing
Close the control signal of power amplifier module 3.
The FPGA circuitry, including interface processing module 421 and angle resolve module 422.Interface processing module 421, its
The bi-directional data of module 422 is resolved with interface circuit 43, communication module 411 and angle to be connected, and will be transmitted by interface circuit 43
The orientation angles sensor 12 and the angle-data of luffing angle sensor 22 come sends angle to and resolves module 422；Angle solution
Calculate module 422, according to interface processing module 421 transmit come orientation angles sensor 12 and luffing angle sensor 22 angle
Data calculation goes out the orientation and angle of pitch angle value of antenna, and sends calculation result to interface processing module 421.
The interface circuit 43, it is bi-directionally connected with interface processing module 421, for complete external interface signals level and
Level between interface processing module 421 and form conversion, and realize external interface signals and interface processing module 421 electrically every
From avoiding that main circuit is caused to damage under fortuitous event.
The power circuit 44, the 28VDC power supplys that its input connection carrier aircraft provides, and be by the 28VDC Power converts
The supply voltage of DSP circuits, FPGA circuitry and the need of work of interface circuit 43, exported respectively from output end to DSP circuit,
FPGA circuits and interface circuit 43.
Reference picture 6, the power amplifier module 3 in the utility model, the pulse-width modulation PWM control of its input connection DSP circuit
The armature cable of the 28VDC power supplys that signal and carrier aircraft provide, output end connection orientation motor 11 and pitching motor 21,
For pulse-width modulation PWM control signal to be converted into motor drive power supply, export to orientation motor 11 and pitching driving electricity
Machine 21.
Above description is only an instantiation of the present utility model, is not formed to any restrictions of the present utility model, is shown
So for those skilled in the art, all may be without departing substantially from this reality after the utility model content and principle has been understood
In the case of new principle, structure, the various modifications and variations in form and details are carried out, but these are to be based on this practicality
The modifications and variations of new thought are still within claims of the present utility model.
Claims (9)
1. airborne antenna high-speed servo telecontrol equipment, including azimuth motion part (1), elevating movement part (2), power amplifier module
(3) and control and interface module (4), it is characterised in that：
Azimuth motion part (1), including orientation motor (11), orientation angles sensor (12) and orientation structural member (13),
The orientation motor (11) uses small-sized DC brushless torque motor, on orientation structural member (13), its motor shaft with
Antenna is directly connected to；The orientation angles sensor (12) is arranged on the output shaft end of orientation motor (11), monitors day in real time
The azimuth motion angle of line, and give the orientation angles information transmission of antenna to control and interface module (4), control and interface in real time
Module (4) produces motor control signal in real time according to angle information, and the commutation order and motor of control azimuth motor rotate
Position, speed；
Elevating movement part (2), including pitching motor (21), luffing angle sensor (22), luffing structure part (23) and
Motor angle sensor (24), the motor angle sensor (24) are arranged on the output shaft end of pitching motor (21), in real time
The velocity of rotation and angle of monitoring pitching motor (21) simultaneously send control and interface module (4) to；The pitching motor
(21) on the motor installation position of luffing structure part (23)；Installed successively on the elevating movement axle of the luffing structure part (23)
Orientation structural member (13) and luffing angle sensor (22), orientation structural member (13) drive electricity by one-level clearance elimination gear and pitching
Machine (21) carries out gear drive, and luffing angle sensor (22) monitors the elevating movement angle of orientation structural member (13) and passed in real time
Give control and interface module (4).
2. airborne antenna high-speed servo telecontrol equipment according to claim 1, it is characterised in that the input of power amplifier module (3)
The 28VDC power supplys provided with carrier aircraft and control and interface module (4) is held to be connected, for receiving the control of control and interface module (4)
Signal processed；The output end of power amplifier module (3) electrically connects with orientation motor (11) and pitching motor (21), for driving
Motor operation.
3. airborne antenna high-speed servo telecontrol equipment according to claim 1, it is characterised in that control and interface module (4)
Including：DSP circuit, FPGA circuitry, interface circuit (43) and power circuit (44), output end and the power amplifier module (3) of DSP circuit
Unidirectional connection；FPGA circuitry is bi-directionally connected with DSP circuit and interface circuit (43) respectively；Power circuit (44) is respectively DSP electricity
Road, FPGA circuitry and interface circuit (43) provide working power.
4. airborne antenna high-speed servo telecontrol equipment according to claim 1, it is characterised in that DSP circuit includes：
Communication module (411), motor control module (412), compensation rate computing module (413) and fault detect processing module
(414)；
The communication module (411), for being communicated with FPGA circuitry, i.e., by motor control module (412) and fault detect
State, the control signal of processing module (414) are sent to FPGA circuitry, and obtain azimuth motion part (1) from FPGA circuitry
Orientation and pitch position information, the motor rotor position of orientation motor and pitching motor and electric current, carrier aircraft attitude, thunder
Up to system command, control parameter, orientation and pitching zero correction value；
The motor control module (412), for the orientation and pitch position information, motor transmitted according to communication module (411)
Rotor-position, current of electric and radar system instruction and the motor compensating motion come from compensation rate computing module (413) transmission
Amount, the pulse-width modulation PWM signal output of controlled motor is produced to power amplifier module (3)；
The compensation rate computing module (413), for according to from communication module (411) transmission come carrier aircraft attitude data, calculating
The compensation campaign amount of orientation motor (11) and pitching motor (21)；
Fault detect processing module (414), for when excessively stream, overvoltage, under-voltage and short-circuit condition occurs in power amplifier module (3), closing
Close the control signal of power amplifier module (3).
5. airborne antenna high-speed servo telecontrol equipment according to claim 1, it is characterised in that FPGA circuitry includes：Interface
Processing module (421) and angle resolve module (422)；
The interface processing module (421), it is double with interface circuit (43), communication module (411) and angle resolving module (422)
Connected to data, and orientation angles sensor (12) and luffing angle sensor (22) that interface circuit (43) transmission comes will be passed through
Angle-data send to angle resolve module (422)；
The angle resolves module (422), for according to interface processing module (421) transmit come orientation angles sensor (12)
The orientation and angle of pitch angle value of antenna are calculated with the angle-data of luffing angle sensor (22), and calculation result is sent to
Interface processing module (421).
6. airborne antenna high-speed servo telecontrol equipment according to claim 1, it is characterised in that interface circuit (43), its with
Interface processing module (421) is bi-directionally connected, for completing the electricity between external interface signals level and interface processing module (421)
The conversion of flat and form, and external interface signals and interface processing module (421) electrical isolation are realized, avoid under fortuitous event to master
Circuit causes to damage.
7. airborne antenna high-speed servo telecontrol equipment according to claim 1, it is characterised in that power circuit (44) it is defeated
Enter end to be connected with the 28VDC power supplys provided in carrier aircraft, the 28VDC Power converts for will provide in carrier aircraft are DSP circuit, FPGA
The various supply voltages that circuit and interface circuit (43) need when working, and export.
8. airborne antenna high-speed servo telecontrol equipment according to claim 1, it is characterised in that orientation structural member (13) is adopted
With projecting U-shape structure, vertical arm, which is provided with, thereon aids in shaft mounting hole (131), for installing asessory shaft and bearing；Its lower vertical arm is set
There is motor installing hole position (132), for installation position motor (11), and orientation motor (11) axle and asessory shaft are same
Axle；Its side wall is provided with through hole (133), for pitching axis connection；The opening position installation one-level clearance elimination gear of the through hole (133)
(134), the axis of the clearance elimination gear overlaps with the center line of through hole (133).
9. airborne antenna high-speed servo telecontrol equipment according to claim 1, it is characterised in that luffing structure part (23) is
Irregular cube structure, its top is provided with pitching shaft mounting hole (231), for installing pitch axis and by pitch axis and orientation knot
Through hole (133) connection of component；It closes on center position and is provided with motor installation position (232), for installing pitching motor
(21)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720555995.7U CN207148656U (en) | 2017-05-18 | 2017-05-18 | Airborne antenna high-speed servo telecontrol equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720555995.7U CN207148656U (en) | 2017-05-18 | 2017-05-18 | Airborne antenna high-speed servo telecontrol equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207148656U true CN207148656U (en) | 2018-03-27 |
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ID=61659481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720555995.7U Active CN207148656U (en) | 2017-05-18 | 2017-05-18 | Airborne antenna high-speed servo telecontrol equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207148656U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107193292A (en) * | 2017-05-18 | 2017-09-22 | 陕西长岭电子科技有限责任公司 | Airborne antenna high-speed servo motion platform |
| CN108614589A (en) * | 2018-07-06 | 2018-10-02 | 安徽博微长安电子有限公司 | A kind of big front antenna installation and remove receipts mechanism testing device |
-
2017
- 2017-05-18 CN CN201720555995.7U patent/CN207148656U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107193292A (en) * | 2017-05-18 | 2017-09-22 | 陕西长岭电子科技有限责任公司 | Airborne antenna high-speed servo motion platform |
| CN108614589A (en) * | 2018-07-06 | 2018-10-02 | 安徽博微长安电子有限公司 | A kind of big front antenna installation and remove receipts mechanism testing device |
| CN108614589B (en) * | 2018-07-06 | 2023-12-08 | 安徽博微长安电子有限公司 | Large array antenna erection and withdrawal mechanism testing device |
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