EP0142397B1 - Dispositif de stabilisation et de pointage d'antenne, notamment sur navire - Google Patents

Dispositif de stabilisation et de pointage d'antenne, notamment sur navire Download PDF

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Publication number
EP0142397B1
EP0142397B1 EP84401833A EP84401833A EP0142397B1 EP 0142397 B1 EP0142397 B1 EP 0142397B1 EP 84401833 A EP84401833 A EP 84401833A EP 84401833 A EP84401833 A EP 84401833A EP 0142397 B1 EP0142397 B1 EP 0142397B1
Authority
EP
European Patent Office
Prior art keywords
antenna
axis
bearing
flywheel
cardan
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP84401833A
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German (de)
English (en)
French (fr)
Other versions
EP0142397A1 (fr
Inventor
Jean-Claude Le Gall
Bernard Mathieu
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Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0142397A1 publication Critical patent/EP0142397A1/fr
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Publication of EP0142397B1 publication Critical patent/EP0142397B1/fr
Expired legal-status Critical Current

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/18—Means for stabilising antennas on an unstable platform

Definitions

  • the invention relates to the stabilization and pointing of antennas, and in particular telecommunication antennas by means of satellites mounted on ships, to which the sea imposes angular movements of large amplitude compared to the acceptable tolerance on pointing of the antenna and accelerations.
  • antenna stabilization devices have been proposed specifically for use in maritime satellite communications.
  • axis X axis of rotation
  • Y axis axis of rotation
  • the device described in this article uses for stabilization two gyros mounted on the rear of the antenna, intended respectively to stabilize the X and Y axes. But this device requires a vertical reference for the X axis, obtained using an accelerometer or inclinometer mounted on the bearing axis. The voltage from the accelerometer or inclinometer is subtracted from the measurement of the elevation orientation of the X axis. The elevation angle can only be obtained by filtering at great time constant.
  • Four-axis mounts have also been proposed, comprising a platform stabilized around roll and pitch axes by a pendulum assembly and two steering wheels.
  • the pointing device is then separate. It is carried by the platform and allows the orientation of the antenna around the conventional pointing axes in azimuth and elevation.
  • Such a provision is obviously extremely complex.
  • Yet another arrangement uses a three-axis mount of the "X, Y" type, but with two flywheels each having its own gimbal, which considerably increases the cost and size.
  • the invention aims to provide a device of the "deposit, X, Y" type which, while remaining simple and economical, makes it possible to provide the pointing and stabilization required for the antennas whose mass and inertia are those commonly used .
  • the invention uses, to ensure stabilization and pointing, a single steering wheel under conditions such as nutation which appears in response to the applied torques and the movements of precision which result therefrom to orient the antenna. by a parasitic movement in the range of acceptable tolerances.
  • the invention provides a stabilization and pointing device of the type defined above, characterized in that the gyroscopic assembly comprises a single flywheel with a significant angular moment relative to the inertia of the antenna, in that each gimbal is provided with a torque orientation motor controlled by a loop, the reaction signal of which is supplied by an orientation sensor of the other gimbal, and in that the orientation means around the bearing axis are provided to approximately ensure the average pointing of the antenna in bearing and, consequently, to maintain the gyroscopic assembly near the canonical position.
  • each of the servo loops will include means for filtering characteristics determined according to the inertias of the cardan joints, parameters angular movements applied to the base and the required pointing precision.
  • These filtering means may in particular be constituted by phase delay networks having a time constant much greater than the period of the applied stresses, in particular during the swell period.
  • the orientation means around the bearing axis may include a geared motor for rotating, advantageously by an irreversible link, and a control circuit according to the heading and the displayed value of the azimuth of the satellite, while that the loop associated with the internal gimbal receives a correction signal taking account of variations in bearing, the difference Gis and y being measured by the angular detector 40.
  • the enslavement of y therefore obliges it to follow the direction of bearing and to keep the canonical position.
  • the device will generally include a computer for developing an elevation signal, applied to the control loop. ment of the first gimbal, and an azimuth signal, applied to the bearing orientation control circuit, from the heading and the longitude and latitude of the vehicle (ship in general) carrying the antenna. Automatic tracking is then ensured by sending correction signals for Ax and Ay deviations which are superimposed on the calculated information, azimuth and elevation, to cancel all errors, including the heeling error. This allows, in case of loss of the reception signal, for example by mask effect, or fading, to keep the calculated direction, very close to the direction of the satellite. This avoids the panic of the antenna direction which would work in open loop.
  • a more rudimentary solution simply comprises means for displaying the azimuth and the elevation determined using a separate calculator, which can be extremely simple since it only has to perform common trigonometric calculations.
  • the antenna of revolution, is not only linked in pointing to the steering wheel, but also integral with the steering wheel or substituted for it, so that its angular momentum contributes to stabilization or ensures it.
  • the device proposed by the invention lends itself to extremely varied configurations, in particular to take account of the type of antenna used (parabolic antenna, antenna with four helices, etc.) and that in particular it does not 'is by no means essential that the X and Y axes are concurrent.
  • the slaving and pointing device of a helical antenna 10 with a viewing axis Z shown diagrammatically in FIG. 1 is intended to equip a ship 12 provided with a gyrocompass 14 providing a heading reference (angle 0 between the line faith of the ship and the geographic North) on an exit 16.
  • the device comprises a mount of the type known as "deposit-XY". This mount comprises a base 18 fixed to the ship and carrying bearings or pivots defining an axis of bearing G around which a crew 22 whose rotation is given by the signal can rotate under the action of a bearing geared motor 20 output of a field detector 24.
  • the crew 22 is integral with the housing of a gyroscopic system and therefore carries in turn, by means of bearings 26 defining an axis X (elevation axis), perpendicular to the bearing axis G, an external universal joint 28 provided with a torque motor 30 and an orientation detector 32.
  • the external universal joint carries in turn, by bearings 34 defining an axis Y orthogonal to the axis X , an internal gimbal 36 provided with a torque motor 38 and an orientation detector 40.
  • the antenna 10 is, in the embodiment shown in FIG. 1, fixed to the internal dial 36.
  • this internal gimbal 36 turns a gyroscopic flywheel driven at constant speed ⁇ by a motor not shown around the sighting axis Z so as to present a angular momentum H which we will see later that it must have a minimum value which is a function of antenna inertia and required stabilization accuracy.
  • the steering wheel 41 and the antenna 10 are arranged so that the gimbals are in static balance.
  • the signal produced by the adder 42 is brought by an amplifier 46 to a level sufficient to actuate the gearmotor 20.
  • the geared motor 20 advantageously has a reduction ratio sufficient to be irreversible. Under these conditions, the torques that the horizontal accelerations imposed on the ship can create have no effect on the orientation around the bearing axis G.
  • the telecommunication antenna of a ship is mounted in the superstructures, to have a clear field of view. It is for example at the top of the mast.
  • the frame is therefore subjected not only to the angular movements of roll, pitch and yaw, but also to periodic accelerations of lifting, swerving and horizontal acceleration.
  • the amplitude in roll and pitch can be up to ⁇ 30 °.
  • Stabilization of the antenna is ensured passively by the gyroscopic stiffness of the steering wheel 41. If the gimbals are balanced, that is to say that the center of gravity of each rotating assembly is on its axis, the accelerations and movements angular causes no torque and only remains a residual periodic precession of zero mean value over a sufficiently long time before the period of roll and pitch. This precession, constituting pointing error, retains a very low value if the angular momentum H is large enough. In practice, the requested precession not exceeding a few degrees, this oscillation is not a problem.
  • the angular detectors 32 and 40 measure the movements of the gimbals involved in stabilization while the housing is subjected to a roll and a pitch which can reach ⁇ 30 °.
  • each detector 32 or 40 is followed by a filter constituted by a phase delay network 48 or 50, which can have a time constant of the order of 1 min.
  • a phase delay network 48 or 50 which can have a time constant of the order of 1 min.
  • the aim of the antenna is to keep it directed towards the satellite and must therefore intervene each time the direction of the satellite changes relative to the ship, which occurs following a change in the position of the vessel and / or course change.
  • the direction of the satellite is generally defined by its azimuth and its elevation.
  • the azimuth Az is the angle in the horizontal plane between the direction of the satellite and the geographic North.
  • the elevation El is the angle formed in the vertical plane by the direction of the satellite and the horizontal. These two angles are a function of the longitude Lo and the latitude La of the ship.
  • the embodiment of FIG. 2 comprises a computer 52 for developing the azimuth and elevation angles Az and El of the satellite as a function of data stored on the position of the satellite, generally geostationary, and of input data constituted by heading 0 from gyrocompass 14 and by longitude and latitude, entered by display.
  • the elaboration of Az and El requires only classical trigonometric calculations which it is not necessary to describe here.
  • the output signal Az constituted for example by a voltage proportional to the azimuth angle, is applied to the adder 42 which also receives the reaction signal from the detector 24.
  • the resulting error signal is sent to the amplifier 46 by means of a phase advance correction network 54 which makes it possible to improve to a certain extent the performances of the servo in field.
  • the detector 24 may consist of a multiturn potentiometer coupled, by a reduction gear, to a toothed wheel 56 secured to the crew 22 and meshed by the output pinion of the gearmotor 20.
  • this error is corrected by automatic tracking means which include a devometer 58 which provides output voltages AX and AY corresponding respectively to the correction of the error in elevation and to the correction of the azimuth error.
  • the control loop of the torque motor 38 of the internal gimbal then includes an analog adder 60 which receives the signals El and ⁇ X, as well as the filtered feedback signal from the detector 32. The output signal is amplified in a two-quadrant amplifier 62 or applied to a polarized relay to control the motor 38.
  • the torque motor control loop 30 comprises, in addition to the detector 40, an adder 64 and an amplifier 66. But the action of the motor 30 will not be aimed always only to give the internal gimbal 36 a slight deviation from the canonical position, the orientation in azimuth being essentially provided by the geared motor 20. During rotation, always slow, in azimuth, the detector 40 provides a signal which causes the intervention of the motor 30 and the maintenance of the pointing of the antenna 60.
  • the device can be supplemented by means 68 for viewing the actual values of the deposit and the elevation given to the antenna, constituted by voltmeters for displaying the output voltages of the detectors 32 and 40, possibly after filtering.
  • the steering wheel is fixed relative to space, that is to say to the geostationary satellite.
  • the aim of pointing in a field is to avoid coming into a prohibited configuration.
  • the Y axis is almost vertical, at low elevations, that is to say in the conditions where the prohibited configuration can occur, the Y axis is almost vertical and the fixity of the steering wheel subsequently corrects the error in deposit, caused for example by errors due to the kinematics of cardan joints in heavy seas.
  • the mass of the antenna is not negligible and, to balance the gimbals, we will have to move the steering wheel relative to the X and Y axes, rather than adding significant additional masses which considerably increase the inertia.
  • adjustable weights will generally be provided to achieve fine balancing around the X and Y axes, although a residual balancing is tolerable since all the drifts in position of the gyroscopic system are detected in the angular detectors 32 and 40 when the control loops are closed.
  • This action will bring the antenna as close as possible to the axes of rotation X and Y to reduce the inertia.
  • any increase in the dimensions of the antenna for example to increase its directivity, must be accompanied by an increase in the angular momentum H.
  • the device according to the invention only allows stabilizing medium-sized antennas, the diameter of which does not exceed 1 m in the case of a parabolic antenna.
  • the device according to the invention only allows stabilizing medium-sized antennas, the diameter of which does not exceed 1 m in the case of a parabolic antenna.
  • larger dimensions can be accepted due to the reduced inertia.
  • Figure 4 where the organs corresponding to those of Figure 1 have the same reference number, shows the orientation device of an antenna 10 with four propellers while the antenna is pointed at the zenith on a ship whose roll and the pitching result in an inclination a of the radioelectric sighting axis Z on the axis G, in the plane GX.
  • the moving element 22 consisting of a bearing ring which rotates in bearings provided in the base 18.
  • the ring 22 carries the dial 28 orientable around the axis X by means of a spindle 74 and bearings 26.
  • the universal joint 36 orientable around the Y axis rotates on the universal joint 28 in bearings not visible in the figure. It can be seen that the "external" universal joint 28 is thus housed inside the "internal" universal joint 36, which simplifies mechanical manufacturing.
  • the torque motor 30 is placed directly around the spindle 74.
  • the antenna 10 and the casing 76 containing the flywheel 41 and its drive motor 78 (hysteresis motor for example).
  • the antenna 10 and the steering wheel are placed on either side of the Y axis so as to achieve an approximate balancing, which can be perfect using an adjustable Y balancing weight, 80.
  • a another counterweight 82, the position of which on the universal joint 36 is adjustable, ensures balancing in Y.
  • the axes X, Y and G are concurrent, which makes it possible to give the radome 84 for protecting the antenna a value close to its theoretical minimum value.
  • the variant embodiment shown in FIG. 5, where the members corresponding to those of FIG. 4 still bear the same reference number, is intended for pointing and stabilizing a parabolic antenna providing a gain of 20 dB at 1.5 GHz, which requires an accuracy of 2 °.
  • the inertia of this antenna being greater than that of the antenna envisaged in connection with FIG. 3, the flywheel 41 must have 17 kg - m 2 / sec. for a weight of 5.5 kg.
  • FIG. 5 differs essentially from that of FIG. 4 by the fact that the axes X and Y are not concurrent, which makes it possible to reduce the inertia of the assembly while maintaining the same maximum roll angle. at. If indeed the X axis had cut the Y axis at point 0 (figure 4), it would have been necessary to extend the distance OS between the Y axis and the bottom of the antenna and, therefore, to increase considerably the inertia, which increases as twice the square of this distance. In return, an additional balancing mass, which can be contained in the equipment box 86, must be placed on the underside of the external gimbal 28 to bring the center of gravity to 0. The required precision can be obtained at using a flywheel rotating at 3000 rpm and having a angular momentum of 18 k ⁇ m 2 / s rotating in ball bearings under pretension.
  • FIG. 6 shows a device for stabilizing a disc parabolic antenna 10 in which this antenna, used in rotation by the motor 78 around the axis Z, is used as a stabilization wheel.
  • this antenna used in rotation by the motor 78 around the axis Z
  • the pointing device is of the type shown in FIG. 3 and the same reference numbers have been used.
  • This solution can be used for small diameter antennas. For example, it can be envisaged for a 0.85 m diameter disk antenna rotating at an angular speed of 200 rpm and having a angular momentum of 15 N.m.s.
  • the Z axis is offset from the bearing axis G, instead of being confused with it, when the antenna is aimed at the zenith.

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  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Details Of Aerials (AREA)
  • Support Of Aerials (AREA)
EP84401833A 1983-09-14 1984-09-14 Dispositif de stabilisation et de pointage d'antenne, notamment sur navire Expired EP0142397B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8314634 1983-09-14
FR8314634A FR2551920B1 (fr) 1983-09-14 1983-09-14 Dispositif de stabilisation et de pointage d'antenne, notamment sur navire

Publications (2)

Publication Number Publication Date
EP0142397A1 EP0142397A1 (fr) 1985-05-22
EP0142397B1 true EP0142397B1 (fr) 1988-06-01

Family

ID=9292218

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84401833A Expired EP0142397B1 (fr) 1983-09-14 1984-09-14 Dispositif de stabilisation et de pointage d'antenne, notamment sur navire

Country Status (7)

Country Link
US (1) US4621266A (ja)
EP (1) EP0142397B1 (ja)
JP (1) JPS6085602A (ja)
CA (1) CA1223341A (ja)
DE (1) DE3471838D1 (ja)
FR (1) FR2551920B1 (ja)
NO (1) NO164948C (ja)

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JPH0620164B2 (ja) * 1985-07-11 1994-03-16 株式会社トキメック アンテナ装置
JPH0620165B2 (ja) * 1985-07-11 1994-03-16 株式会社トキメック アンテナ装置
JPH0631769Y2 (ja) * 1988-09-09 1994-08-22 博之 竹崎 アンテナの自動追従装置
US5202695A (en) * 1990-09-27 1993-04-13 Sperry Marine Inc. Orientation stabilization by software simulated stabilized platform
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JPH05175716A (ja) * 1991-12-19 1993-07-13 Furuno Electric Co Ltd 移動体用アンテナ指向装置
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US5517205A (en) * 1993-03-31 1996-05-14 Kvh Industries, Inc. Two axis mount pointing apparatus
US5922039A (en) * 1996-09-19 1999-07-13 Astral, Inc. Actively stabilized platform system
US5990828A (en) * 1998-06-02 1999-11-23 Lear Corporation Directional garage door opener transmitter for vehicles
US5945945A (en) * 1998-06-18 1999-08-31 Winegard Company Satellite dish antenna targeting device and method for operation thereof
FR2875913A1 (fr) * 2004-09-29 2006-03-31 Sea On Line Sa Systeme d'alerte anti-collision installe a bord d'un vehicule marin et procede d'analyse anti-collision
DE102005059225B4 (de) * 2005-12-12 2013-09-12 Moog Gmbh Waffe mit einem Waffenrohr, das außerhalb des Schwerpunkts auf einer bewegbaren Unterlage drehbar gelagert ist
FR2908236B1 (fr) * 2006-11-07 2008-12-26 Thales Sa Dispositif d'emission et de reception radar
ITFI20090239A1 (it) * 2009-11-17 2011-05-18 Raffaele Grosso Struttura per la movimentazione di pannelli fotovoltaici e simili.
NO332068B1 (no) * 2010-05-28 2012-06-18 Kongsberg Seatex As Fremgangsmate og system for posisjonering av antenne, teleskop, siktemiddel eller lignende montert pa en bevegelig plattform
RU2449433C1 (ru) * 2011-02-04 2012-04-27 Валерий Викторович Степанов Устройство стабилизации всенаправленной антенны
WO2013098386A1 (fr) * 2011-12-30 2013-07-04 Thales Plateforme stabilisée
US10203179B2 (en) 2012-01-11 2019-02-12 Dale Albert Hodgson Motorized weapon gyroscopic stabilizer
US9146068B2 (en) * 2012-01-11 2015-09-29 Dale Albert Hodgson Motorized weapon gyroscopic stabilizer
US9354013B2 (en) 2012-01-11 2016-05-31 Dale Albert Hodgson Motorized weapon gyroscopic stabilizer
US9310479B2 (en) * 2012-01-20 2016-04-12 Enterprise Electronics Corporation Transportable X-band radar having antenna mounted electronics
US9130264B2 (en) 2012-05-09 2015-09-08 Jeffrey Gervais Apparatus for raising and lowering antennae
US10031220B2 (en) * 2012-09-20 2018-07-24 Furuno Electric Co., Ltd. Ship radar apparatus and method of measuring velocity
US10897071B2 (en) 2013-01-16 2021-01-19 Haeco Americas, Llc Universal adapter plate assembly
EP3542414B1 (en) * 2016-11-18 2023-07-26 Saab Ab A stabilization arrangement for stabilization of an antenna mast
WO2018191973A1 (zh) * 2017-04-21 2018-10-25 深圳市大疆创新科技有限公司 一种用于与无人机通信的天线组件及无人机系统
WO2019036369A1 (en) 2017-08-15 2019-02-21 Paspa Pharmaceuticals Pty Ltd DEVICE FOR STABILIZING FIREARMS
US11754363B1 (en) 2020-07-29 2023-09-12 Dale Albert Hodgson Gimballed Precession Stabilization System

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Also Published As

Publication number Publication date
NO843627L (no) 1985-03-15
CA1223341A (en) 1987-06-23
JPH0568881B2 (ja) 1993-09-29
EP0142397A1 (fr) 1985-05-22
NO164948B (no) 1990-08-20
NO164948C (no) 1990-11-28
US4621266A (en) 1986-11-04
DE3471838D1 (en) 1988-07-07
JPS6085602A (ja) 1985-05-15
FR2551920A1 (fr) 1985-03-15
FR2551920B1 (fr) 1985-12-06

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