JP2008098853A - Lens antenna apparatus for satellite broadcasting and communication - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To sufficiently cope with large swing of a hull and to hold a lens antenna at or below a prescribed angle within an angle accuracy range required at the time of reception from a satellite while corresponding to a large angle swing of the hull and a cycle. <P>SOLUTION: The lens antenna apparatus comprises: a lens antenna part 10 provided with a hemispherical Luneberg lens 11 for converging radio waves, a reflection plate 12 for reflecting the radio waves, a radiator 13 including an antenna element for receiving or transmitting and receiving the radio waves, and a fine adjustment mechanism 14 for driving and adjusting an angle state including an azimuth and an elevation angle to the satellite; and a horizontal stabilization part 20 provided with an active and gimbal type coarse adjustment mechanism 24 for driving and adjusting a horizontal angle state including the azimuth and elevation angle to the satellite at the lower part of the lens antenna part 10. Then, the horizontal stabilization part 20 is controlled via the coarse adjustment mechanism 24 so as to hold the lens antenna part 10 at or below the prescribed angle within the angle accuracy range required correspondingly to the large angle swing of the hull S and the cycle, and the lens antenna part 10 is controlled to be at or below the possible prescribed angle by the fine adjustment mechanism 14. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a lens antenna device for satellite broadcasting / communication that is installed in a mobile communication, particularly a ship, and is used for receiving or transmitting radio waves for satellite broadcasting / communication with a geostationary satellite or the like.

  Various lens antenna devices using the Luneberg antenna system have been proposed as satellite communication antenna devices that transmit and receive radio waves for broadcasting / communication between vehicles such as vehicles, ships, and aircraft and satellites such as geostationary satellites. Yes. As an example of a Luneberg antenna type lens antenna device, for example, the radio wave lens antenna device of Patent Document 1 combines a Luneberg lens made of a hemispherical dielectric and a radio wave reflector fixed at a fixed position, and has an arc shape straddling the lens. A plurality of primary radiators are attached to the supporting arms so that the positions of the primary radiators can be adjusted, and the initial setting positions of the primary radiators are determined by individually moving the primary radiators on the supporting arms.

  The radio wave lens antenna apparatus adjusts the azimuth angle adjusting means for controlling the azimuth angle of the radio beam by adjusting the position of the radiator around the azimuth axis of the hemispherical lens, and the position of the hemispherical lens around the elevation axis. Azimuth angle adjusting means for controlling the elevation angle of the radio wave beam, and changing the elevation angle by rotating the support arm with the support shafts at both ends of the support arm as fulcrums, and the primary radiator on the support arm. The azimuth angle is changed by moving in the longitudinal direction. This radio wave lens antenna device is assumed to be installed at a fixed position.

  Patent Documents 2 and 3 describe a mobile communication lens antenna device that includes a horizontal adjustment mechanism that keeps the antenna horizontal, an antenna horizontal adjustment mechanism, an antenna self-position confirmation means, an azimuth confirmation means, an azimuth adjustment mechanism, and a self-position confirmation means. A control device that controls the movement of the elevation angle adjustment mechanism and the azimuth adjustment mechanism based on a confirmation signal from the azimuth confirmation means and moves the primary radiator to the focal point of the radio wave that fluctuates as the moving body moves is provided. Although this radio wave lens antenna device also requires the initial position setting in the primary radiation period, the setting method is the same as that of the antenna device of Patent Document 1, and it takes a long time and effort for the initial setting.

As a satellite signal receiving antenna device for ships, an antenna device manufactured by SEATEL is known. This antenna device is a parabolic antenna device, and an antenna protected by a radome (cover) is tracked in the direction of the satellite. An antenna device incorporating a tracking mechanism is installed on the deck, and the radio signal from the satellite received by the antenna is detected by the detection circuit installed under the deck to receive broadcast and communication radio waves from the satellite, and monitor You can see the image on the screen or TV screen.
Japanese Patent Laid-Open No. 2002-232230 JP 2004-193731 A JP 2004-266816 A

  By the way, the antenna generally used for marine satellite communications today is a parabolic antenna, which is used for communication with a single satellite in principle, has a large tracking device, and is not cost-effective for a complicated one. When transmitting broadcast / communication radio waves between such a satellite and a ship, it is sufficient that the received radio waves are received at 0.5 degrees or less with respect to the satellite direction. It is relatively easy to implement in the satellite direction, especially when transmitting from a ship of a mobile body to avoid the radio wave jumping into the adjacent satellite when transmitting the radio wave toward the satellite floating in space. On the other hand, there is a severe limitation that the angle error accuracy must be 0.2 degrees or less.

  Therefore, as an antenna device that can be used for transmission and reception with a plurality of satellites and that can meet the severe conditions of being able to cope with extremely large fluctuations during navigation unlike other mobile objects in the case of a ship, In principle, the Luneberg lens type radio wave lens antenna apparatus described above is effective. However, even if there is a possibility of transmission / reception with a plurality of satellites, the focal position of the radio wave greatly fluctuates due to the swing of the hull as a moving body, so that at least the elevation and azimuth angles and yaw in the lens antenna device. It is necessary to provide a horizontal state adjusting mechanism including an angle.

  However, simply by providing such a mechanism, in the transmission and reception of radio waves with a plurality of satellites in a hull such as a ship, a plurality of primary antennas such as the lens antenna device for mobile communication in Patent Documents 2 and 3 are used. Even if a mechanism for automatically adjusting the position of the radiator mounted on the same platform is provided, it is not sufficient for the severe conditions described above. The reason for this is that, as described above, the deviation of the direction of transmission / reception of radio waves due to large fluctuations during transmission / reception of multiple satellites is 0.5 degrees or less, especially 0.2 degrees or less when transmitting to satellites. This is because the horizontal state adjustment function is insufficient at present.

  In the conventional mobile communication radio wave lens device according to Patent Documents 2 and 3 described above, since the horizontal state adjusting mechanism is integrally attached to the hull, the mobile communication lens antenna device has the same period as the swing of the hull. If the current control method is adjusted for such a large fluctuation, the tracking performance with respect to the steady deviation (phase lag) caused by a general discrete PID control command signal for the servo motor is not sufficient, and a large error occurs. Occurs. This is because the tracking performance by the horizontal state adjusting mechanism of the lens antenna device for mobile communication with respect to the swing of the hull does not sufficiently cope with the large swing of the hull. Therefore, at present, it is impossible to control within the limit angle range of the radio wave direction within the swinging period of the hull.

  In consideration of the above problems, the present invention provides a support mechanism that can sufficiently cope with large swinging of the hull, rather than tracking by a conventional passive gimbal horizontal adjustment mechanism that is fixedly attached to the hull. A lens antenna device for satellite broadcasting / communication that can be used and can hold the lens antenna below a predetermined angle within the angular accuracy range required for reception with a satellite in response to a large angle swing / cycle of the hull S It is an issue to provide.

  As a means for solving the above problems, the present invention provides a hemispherical Luneberg lens for focusing radio waves, a reflector for reflecting radio waves, a radiator including an antenna element for receiving or transmitting / receiving radio waves, and an orientation with respect to a satellite. A lens antenna unit with a fine adjustment mechanism that drives and adjusts the angle state including the elevation angle, and an active gimbal system coarse adjustment that drives and adjusts the horizontal angle state including the azimuth and elevation angle with respect to the satellite below the lens antenna unit A horizontal stabilization part having a mechanism is provided so that the lens antenna part is held at a predetermined angle or less within a range of angular accuracy necessary for reception with a satellite corresponding to a large angle swing / cycle of the hull in the horizontal stabilization part. The horizontal stable part is controlled to swing and predict along with the PID control via the coarse adjustment mechanism, and the angle is adjusted to a predetermined angle or less within a possible range by the fine adjustment mechanism of the lens antenna part. It is configured and then was satellite broadcasting and communications lens antenna device for controlling's antenna unit.

  The lens antenna device for satellite broadcasting / communication according to the present invention having the above-described configuration is a satellite broadcasting / communication antenna for ships, and the service area of the target ship is wide, and radio waves used are so-called broadband such as Ku band. This band is used for real-time image and voice communication not only for ship operation management and satellite broadcast reception but also for transmission and reception. In addition, as described below, the angle error of the direction of the transmission / reception signal facing the satellite is controlled to be within a predetermined angular range at the time of transmission / reception, so this lens antenna device can transmit / receive or receive data from / to multiple satellites. It is.

  In order to enable broadcasting / communication by transmission / reception or reception with such a satellite, in this lens antenna device for satellite broadcasting / communication, transmission between the satellite and the ship, A coarse adjustment mechanism that keeps the lens antenna part below a predetermined angle within the angular accuracy range required for reception with the satellite in response to the large angle swing and period of the hull at the horizontal stabilizer during reception, and an orientation with respect to the satellite -The horizontal state of the lens antenna unit on the hull is adjusted via a two-stage adjustment mechanism of a fine adjustment mechanism that drives and adjusts the angle state including the elevation angle.

  In the adjustment of the horizontal state, first, an active gimbal type coarse adjustment mechanism that drives and adjusts a horizontal angle state including an azimuth and an elevation angle with respect to a satellite by supporting the base portion of the lens antenna unit in a plurality of axial directions by a horizontal stabilizing unit is used. Coarse prediction is performed together with the control to perform rough adjustment. With this coarse adjustment, the setting direction of the radiator of the lens antenna unit with respect to the satellite is finely adjusted by the fine adjustment mechanism of the lens antenna unit with the lens antenna unit held in a horizontal state within a large swing angle of the hull. Adjustments are made. The coarse adjustment and fine adjustment of the lens antenna unit are performed so that the beacon signal from the satellite is received and the angle accuracy range of the angle error of at least 0.5 degrees or less in the satellite direction is reached.

  In order to accurately adjust the horizontal state including the azimuth and the elevation angle, in the lens antenna device for satellite broadcasting / communication, the lens antenna unit is configured to change the angle state including the azimuth and the elevation angle with respect to the satellite by the driving unit of each adjustment mechanism. It has an antenna control unit that drives and controls each within a predetermined range, and the horizontal stabilization unit drives and controls the horizontal angle state including the azimuth and elevation angle with respect to the satellite within the predetermined range by the multi-axis drive unit of the coarse adjustment mechanism. A horizontal stability control unit is provided, and the horizontal stability control unit keeps the lens antenna unit at a predetermined angle or less within a range of angular accuracy necessary for reception with a satellite corresponding to a large angle swing / cycle of the hull. The horizontal stable part is controlled to swing and predict along with the PID control via the coarse adjustment mechanism of the stable part, and the antenna control part has a predetermined angle within the range possible by the fine adjustment mechanism of the lens antenna part. It can be configured to control the lens antenna portion through the fine adjustment mechanism of the lens antenna section below.

  Further, in the satellite broadcasting / communication lens antenna apparatus of the second configuration, the horizontal stability control unit feeds back the deviation of the output shaft in the drive unit of the adjustment mechanism of the horizontal stabilization unit to the horizontal stability control unit. Based on signals from sensors that detect the angle state of rolling, pitching, and yawing of the hull in the circuit, each angle state quantity was calculated by an oscillating prediction control circuit including an auto-regressive model and an arithmetic circuit based on the minimum AIC method. Input a prediction control signal.

  Then, through the horizontal stabilizer adjustment mechanism, the lens antenna unit is held below a predetermined angle within the angular accuracy range required for transmission with the satellite corresponding to the large angle swing / cycle of the hull. The horizontal control unit is controlled, and the antenna control unit controls the lens antenna unit via the lens antenna unit adjustment mechanism within a predetermined angle within a range possible by the lens antenna unit adjustment mechanism. The lens antenna unit can be tracked with an accuracy that is less than or equal to the international standard angle for radio wave transmission.

  Further, the batch adaptive type hull motion in which the calculation of the hull motion prediction by the autoregressive model of each angle state quantity and the minimum AIC method in the swing prediction control circuit is batch-processed at a time interval adapted to the time change of the hull swing. A satellite broadcasting / communication lens antenna apparatus can be configured to perform arithmetic processing based on a prediction algorithm. When such an algorithm is used, the rocking prediction control may be a control signal for instructing the hull rocking motion one step ahead for rolling and pitching, but the rocking prediction control signal for the yaw angle is two steps ahead. The control signal may be added to the steady deviation signal for control.

The lens antenna device for satellite broadcasting / communication according to the present invention drives a hemispherical Luneberg lens for focusing radio waves, a reflector, a radiator for receiving or transmitting / receiving radio waves, and an angular state including an azimuth / elevation angle with respect to the satellite. A horizontal stabilizing unit 20 having a lens antenna unit having a fine adjustment mechanism to be adjusted, and a coarse stabilizing mechanism 20 having a coarse adjustment mechanism for driving and adjusting a horizontal angle state including an azimuth and an elevation angle with respect to the satellite is provided below the lens antenna unit. The horizontal stabilization unit is controlled via a coarse adjustment mechanism so that the lens antenna unit is held at a predetermined angle or less within the angular accuracy range required for reception with the satellite corresponding to the large-angle swing / cycle of the hull. Since the lens antenna unit is configured to control two steps below a predetermined angle within a possible range by the fine adjustment mechanism of the lens antenna unit,
A tracking mechanism with an active gimbal horizontal adjustment mechanism that can sufficiently support large swings of the hull, and the angular accuracy required when receiving from the satellite in response to large swings and cycles of the hull S The lens antenna can be held below a predetermined angle within the range, so that broadcast and communication radio waves can be received or transmitted within a predetermined angular error range between the satellite and the moving ship. The advantage of becoming is obtained.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view including a partial cross-section of the satellite broadcasting / communication lens antenna device of the embodiment, and FIG. 2 is a side view as seen from the direction of arrows II-II in FIG. As shown in the drawing, the satellite broadcasting / communication lens antenna apparatus A of this embodiment includes an upper lens antenna unit 10, a horizontal stabilizing unit 20 that supports the substrate, and respective control circuits (not shown). The lens antenna unit 10 includes a hemispherical dielectric Luneberg lens (hereinafter simply referred to as a lens) 11, a radio wave reflector 12 that is attached to a half surface of the lens, and a radio wave that is reflected near the center of the lens. Are entered and exited, and a plurality of (two in the illustrated example) radiators (sending and receiving) 13 which are attached to the outer periphery of the lens as appropriate in a radial position, and fine adjustment for adjusting the azimuth and elevation angle state of the radiator 13 And a mechanism 14.

  The plurality of radiators 13 are installed along the semicircular arc-shaped arm 14a extending along the outer peripheral surface of the lens, and are set in a direction corresponding to the radio waves entering and exiting the satellite through the reflector 12. Is done. In order to change the elevation angle of the arm 14a, the fine adjustment mechanism 14 uses a rotation transmission mechanism comprising a gear 14c and a pinion 14d attached to an arm support column 14b that supports the arm 14a to drive the rotation of the gear 14c by a servo motor 14sy of the drive unit. The substrate 17 is adjusted by rotating around the central axis, and the substrate 17 provided with the support mechanism 16 for supporting the reflecting plate 12 is rotated around the z axis via the large gear 14G and the small gear 14e. 17 is configured to rotate the main part of the lens antenna unit 10 on the upper side. Reference numeral 18 denotes a radome (protective cover).

  The horizontal stabilizing unit 20 below the lens antenna unit 10 includes a coarse adjustment mechanism 24 that coarsely adjusts the azimuth, elevation angle, and horizontal state of the lens antenna unit 10. As shown in FIGS. 1, 2, and 4, the coarse adjustment mechanism 24 is installed and fixed on the deck (deck) of the hull, and the servo motors 24sx, 24sy of the respective driving units with respect to rolling and pitching of the hull. Rotation of the hull makes it possible to operate the platform 21 of the oscillating stabilizer 21a with the same amplitude and phase as the oscillating of the hull. The turntable 22 (including the mounting arm 22a) is rotated by the servo motor 24sz of the drive unit so that the angle is compensated for by the three-axis control by the azimuth adjusting mechanism 24dct to perform coarse adjustment (FIG. 5). (See also photos).

  As shown in FIGS. 1 to 5, the coarse adjustment mechanism 24 includes an active gimbal mechanism that includes a turntable 22 and extends downward. This gimbal mechanism includes a pair of elevation support adjustment plates 23a, a pair of elevation support adjustment plates 23b orthogonal thereto, a gimbal mechanism box 20B (cube shape), and a table rotation mechanism 23c for rotating the turntable 22. It has. A y-axis direction elevation support adjusting plate 23b is rotatably mounted on both side surfaces of the gimbal mechanism box 20B downward from a table rotating mechanism 23c provided on the lower surface of the mounting arm 22a (see FIG. 3) below the turntable. The pair of elevation angle support adjustment plates 23b are driven to rotate around the y axis by the output shaft of the servo motor 24sy built in the mechanism box 20B.

  On the other hand, an elevation angle support adjustment plate 23a in the x-axis direction orthogonal to the elevation angle support adjustment plate 23b is rotatably attached to both side surfaces of the gimbal mechanism box 20B, and is attached to the outside of the elevation angle support adjustment plate 23a on one side. The pair of elevation angle support adjusting plates 23a is driven to rotate around the x-axis with the output shaft. Further, the upper ends of the pair of elevation support adjustment plates 23b are attached to the lower surface of the gear device of the table rotation mechanism 23c, and as shown in FIG. 2, the output shaft of the servo motor 24sz attached to the extension of the table rotation mechanism 23c. To rotate around the z axis.

  Further, as shown in the block diagram of FIG. 6A, the lens antenna unit 10 is provided with an antenna control unit 15, and the radio signal of the radiator 13 and the driving unit of the fine adjustment mechanism 14 are The signal line and the control line are connected to the antenna control unit 15 (the circuit of the control unit for the detailed fine adjustment mechanism 14 is not shown), and the radio wave between the radiator 13 and the plurality of satellites according to a command from the antenna control unit 15 Signals are received and transmitted, and a control signal is transmitted to the drive unit of the fine adjustment mechanism 14 to adjust the azimuth and elevation angle of the lens antenna unit 10. Details of the command and control will be described later.

  In the illustrated example, the radiator 13 includes a plurality of radiators of a transmitting / receiving radiator 13a and a receiving radiator 13b. As shown in FIG. 7A, the transmitter / receiver radiator 13a can transmit a signal to be transmitted to the satellite on the ship at an international reference angle of 0.2 degrees or less. As described above, when the beacon signal B from the broadcasting / communication satellite E is received while being elliptically scanned and the peak position of the beacon signal B is accurately detected via the detector 13c and the beacon receiver 13d, the direction is calculated by calculation. Thus, the direction of the transmitting / receiving radiator 13a with respect to the satellite is tracked.

  In this tracking, adjustment control is performed by driving the servo motors of the fine adjustment mechanism 14 and the coarse adjustment mechanism 24 so as to be within a predetermined angle within the time range of the hull swing, and the result is the monitor screen 13e. Displayed above. The receiving radiator 13b receives broadcast / communication signals from other satellites and displays them on the monitor screen 13e. However, as described later, the above adjustment can be performed by two-stage adjustment including a coarse adjustment by the following coarse adjustment mechanism 24 and a fine adjustment by the fine adjustment mechanism 14.

  Further, as shown in the block diagram of FIG. 6B (however, in the drawing, the case where one of the three-axis motors is feedback-controlled is shown as a representative), the horizontal stabilizer 20 The stability control unit 25 uses the servo motor 24sy to adjust the elevation angle corresponding to the pitching angle of the coarse adjustment mechanism 24, the rolling axis to the yawing with the servo motor 24sx to adjust the horizontal angle corresponding to the rolling angle. The servo motor 24sz for adjusting the deflection angle feeds back the yaw axis to the control circuit 25C by the feedback circuit 25A (digital).

  A sensor 24h that drives each drive shaft by a signal based on discrete PID feedback control controlled by a discrete (digital) control signal and detects the output deviation of the output shaft of each servo motor 24sx, 24sy, 24sz, pitching A three-axis control circuit 25C that controls the limit angle (not shown) for detecting a limit angle set with respect to the rolling angle is provided.

  The control circuit 25C further includes a signal from a fiber optic gyro-type sway detection sensor 25s for detecting pitching and rolling of the hull installed at an appropriate position outside the horizontal stabilizing portion 20, and a yawing deflection angle of the hull (not shown). Based on the signal indicating the heading from the gyrocompass of the ship to be detected, an autoregressive model of each angle state quantity and a rocking prediction control signal from a rocking prediction control circuit 25D including a calculation circuit by the minimum AIC method are added. Signal line to be connected. Although not shown, the current position of the lens antenna device A for satellite broadcasting / communication is detected from the detection signal of the gyrocompass of the ship, and the control circuit 25C and the swing prediction control circuit are detected based on the current position signal. Various calculations in 25D are performed.

As described above, the fluctuation prediction control circuit 25D includes the autoregressive model of the angle state quantity and the arithmetic circuit based on the minimum AIC method. The autoregressive model generally uses the time series data of the state quantity {x (t) | t = 0,. . . , N−1}, the m-th order autoregressive model is a model that linearly predicts the current signal x (l) from the data up to m-th time,
x (l) = Σa ^m (i) x (l−i) + ε _f ^m (l) (1)
It is defined by the formula of Here, a ^m (i) ^m _{i = 1} and ε _f ^m (l) are a forward autoregressive coefficient and a forward prediction error, respectively.

As a model that matches the hull swing with respect to the linear prediction model based on the above general formula, the hull swing model AR (Auto Regressive Model) of this embodiment is a statistical model represented by the following formula.
x (n) = a (1) x (n-1) + a (2) x (n-2) + ... + a (M) x (nM) + v (n) (2)
Here, x (n) is the degree M obtained by the minimum AIC method for the swing M of the hull at time n. a (M) is an autoregressive coefficient, and v (n) is a prediction error.

  FIG. 9 is a prediction result of the roll of the container ship obtained by using the above formula (2), the minimum AIC method, and an AR model is constructed by applying the minimum AIC method using data up to about 610 seconds. This is the result of prediction over 20 seconds (up to 630 seconds), and the angle error and time error (phase delay) of the roll data measured with respect to the prediction curve show values below a predetermined value. The roll data predicts hull motion with sufficient accuracy. Note that the waveforms in the figure are a-prediction error upper limit, b-roll prediction, and c-prediction error lower limit. Therefore, it is understood that the swing model AR expressed by the above equation (2) is suitable as a model representing the hull motion.

The calculation of the control algorithm by the swing model AR and the minimum AIC method is performed based on the measurement data according to the flowchart shown in FIG. As shown, the pitching of the hull from the shaking motion detecting sensor 25s in step S _1, the rolling of the measurement data, the measurement data of the heading of the ship gyrocompass is input to the swing predictive control circuit 25D, following operation of the swing model AR is performed at _{S 2} in. Autoregressive coefficients a (M) in this operation (2), is computed prediction error v (n) numbers are set model at the time of measurement, calculation by the least AIC method at S ₃ is performed, the model The value that makes the coefficient and error of the most similar to the actual change in hull motion is calculated.

Furthermore, to correct the predicted value by the secondary interpolation formula below in S _4. The graphical relationship of the interpolation formula is shown in FIG.
f (x) = f ₀ + rΔf ₀ + [r (r−1) / 2] Δ ² f ₀ ,
r = (x−x ₀ ) / h, 0 ≦ r ≦ 2,
Δ ² f ₀ = Δf ₁ −Δf ₀ , = f ₂ −2f ₀ + f ₁ ,
Δf ₀ = f ₁ −f ₀ , Δf ₁ = f ₂ −f ₁
When the correction of the predicted value by more than the official place, or to conform to swing model AR estimated from data that the predicted values are measured is determined by S _5, the operation returns to S ₂ when not matched repeat.

When the determination in S ₅ is determined to be proper, and outputs the prediction signal S _6, and repeats the generation of the control signal. In the determination in S _5, to determine the suitability of each of the swing model AR updates the swing model AR in the following procedure.
AIC ₁ = (n + m) logσ ₁ ² update model AIC ₂ = nlogσ ₂ ² +2 (K ₀ + K ₂ +2) Merged model AIC ₁ <AIC ₂ updated model adopted AIC ₁ > AIC ₂ merged model adopted Updated model based on the above criteria The compatibility of the measured data with the merged model is judged, the model is updated one after another, and swing prediction control is performed.

Further, when calculating the algorithm for predicting the hull swing, the data is measured at a predetermined sampling period with respect to the temporal change of the hull swing, and is employed at every predetermined interval T _{1 of the} data. and the set of swing model AR, to further update the swinging model AR so as to batch process that the time interval increases at a predetermined batch time interval T ₂ that defines. The motion of the hull is prefetched using this swing prediction control signal, and the time of the tracking time delay of the servo motors 24sx, 24sy, 24sz as actuators is output in advance to further improve the leveling accuracy.

  The satellite broadcasting / communication lens antenna apparatus A according to this embodiment configured as described above is controlled by control signals from the control units of the lens antenna unit 10 and the horizontal stabilization unit 20. In this case, the antenna control unit 15 is described above via the fine adjustment mechanism 14 that adjusts the azimuth and elevation angle state of the radiator 13 based on the beacon signal received by scanning from the satellite, as in the conventional lens antenna device. Fine adjustment of azimuth and angle with respect to such satellites. However, this fine adjustment is premised on the rough adjustment by the coarse adjustment mechanism 24 described above.

  Coarse adjustment with respect to the sway of the ship by the coarse adjustment mechanism 24 is performed in parallel with the fine adjustment by the fine adjustment mechanism 14, and the signal from the sway detection sensor 25s of the optical fiber gyro system that detects pitching and rolling of the hull, From the signal representing the heading from the gyrocompass, the current position signal from the gyrocompass representing the current position of the hull, the feedback signal from the feedback circuit 25A to the three-axis servo motors 24sx, 24sy, 24sz, and the swing prediction control This is performed by inputting the above-described fluctuation prediction control signal of the circuit 25D.

In this case, as shown in FIG. 11, for example, when the hull S is tilted from the horizontal state as shown in FIG. 11 (a) by −10 degrees with respect to the horizontal direction as shown in FIG. When the dynamic stabilization base 21a is tilted by 10 degrees reverse amplitude and same phase by the gimbal mechanism of the coarse adjustment mechanism 24, the horizontal stabilization portion 20 is held horizontally. At this time, if there is a time delay in the tracking operation of the horizontal stabilizer 20 with respect to the swing of the hull, the horizontal stabilizer 20 cannot be held horizontally. However, when the control is performed using the swing model AR created at a predetermined time interval (sampling time) T ₁ (0.5 seconds in this example), sufficient horizontal stability is obtained.

As an example of the adjustment result by the coarse adjustment mechanism 24, FIG. 12 shows target value error data of (a) rolling, (b) pitching, and (c) yaw hull swing angle measured during the normal voyage of the training ship Kushiro Maru. Show. It can be seen that the target value error decreases for the rolling angle, the pitching angle, and the yawing angle at around 160 seconds (after the one-dot chain line) in the figure. In this case, rolling and pitching data are measured at a predetermined time interval T ₁ (0.5 seconds), and control is performed by inputting prediction data at a prediction time interval one step (50 msec) ahead. As a result of spectrum analysis of the value error data, it was found that the frequency component of the error data was concentrated on the frequency of the natural period of the training ship Kushiro Maru and tracked with sufficient accuracy against the hull swing.

  On the other hand, for yaw, it has been found that the prediction time interval is too short (see FIG. 13A) when inserting prediction data at the prediction time intervals for rolling and pitching. For this reason, as shown in FIG. 13 (b), the yaw angle signal was simulated by inputting a prediction control signal that increases the prediction time interval up to two steps (100 msec) ahead to the control circuit 25C. As shown in FIG. 13 (c), the error data of the yaw angle becomes almost zero after about 1 second with respect to the change in the yaw angle of the hull (120 to -10), and this state is maintained. It was.

  As described above, by controlling the coarse adjustment by the coarse adjustment mechanism 24 and the fine adjustment by the fine adjustment mechanism 14, the accuracy of the set angle including the azimuth and the elevation angle with respect to the satellite exceeds the required accuracy of 0.5 degrees or less. The angle state can be maintained with a maximum error of 0.3 degrees or less. From the above measurement results, in the satellite broadcasting / communication lens antenna apparatus of this embodiment, when performing the above-mentioned two-stage control, for rolling and pitching, a swing prediction control signal one step ahead is transmitted, and the yaw angle With regard to, it is understood that the horizontal angle state can be maintained with sufficient accuracy even within an angular error range of 0.2 degrees or less, which is an international standard, by transmitting a swing prediction control signal two steps ahead.

  The lens antenna device for satellite broadcasting / communication according to the present invention includes a hemispherical Luneberg lens for focusing radio waves, a reflector, a radiator including an antenna element, and a fine adjustment mechanism for driving and adjusting an angular state including an azimuth and an elevation angle. A horizontal stabilizer with an active gimbal type coarse adjustment mechanism is provided at the bottom of the lens antenna. The horizontal stabilization unit is controlled via a coarse adjustment mechanism so that the lens antenna unit is held below a predetermined angle within the angular accuracy range, and the lens antenna unit is below a predetermined angle within a possible range by the fine adjustment mechanism of the lens antenna unit. Moving real-time image and voice communications in broadband bands such as Ku-band for ship operation management and transmission / reception with satellite broadcasting It may be used broadly to make between the ship and the satellite is.

Whole appearance front view of lens antenna device A for satellite broadcasting / communication of embodiment Side view from arrow II-II in Fig. 1 Plan view from arrow III-III in FIG. Schematic diagram showing only the rough adjustment mechanism support plate taken out Appearance photograph of coarse adjustment mechanism as seen from arrow V in FIG. (A) Block diagram of antenna control unit, (b) Block diagram of horizontal stability control unit of horizontal stabilization unit (A) Explanatory diagram of transmission signal limit angle to satellite, (b) Explanatory diagram of scanning method of received signal Flowchart of prediction control signal generation program by swing prediction control circuit of horizontal stability control unit Change curve of the measurement result of the example where the swing prediction control is performed on one swing model AR of the hull Illustration of the prediction value interpolation method Schematic explaining the angle change between the hull and the coarse adjustment mechanism by the coarse adjustment mechanism (A) Target value error data after adjustment for rolling angle, (b) Target value error data after adjustment for pitching angle, (c) Target value error data after adjustment for yaw angle Figure (A) A change curve by a prediction control signal one step ahead, (b) a change curve by a prediction control signal two steps ahead, and (c) a change curve of a control result by a control signal input two steps ahead, respectively. Figure

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Lens antenna part 11 Luneberg lens 12 Reflector 13 Radiator 13a Transmitter / receiver 13b Receiver radiator 13c Detector 13d Beacon receiver 14 Fine adjustment mechanism 14sr, 14st Servo motor 15 Antenna control part 16 Support mechanism 17 Substrate 18 Radome 20 Horizontal stabilizer 20B Gimbal mechanism box 21 Platform 21a Oscillation stabilizer 22 Turntable 22a Mounting arm 23a Elevation support adjustment plate 23b Elevation support adjustment plate 23c Table rotation mechanism 24 Coarse adjustment mechanism 24vh Elevation / horizontal adjustment mechanism 24dct Orientation adjustment mechanism 24sx, 24sy, 24sz Servo motor 24h Sensor 25 Horizontal stability control unit 25A Feedback circuit 25C Control circuit 25D Oscillation prediction control circuit A Lens antenna for satellite broadcasting / communication Location B beacon signal S hull

Claims (4)

  Drive and adjust the hemispherical Luneberg lens 11 that focuses the radio wave, the reflector 12 that reflects the radio wave, the radiator 13 that includes the antenna element that receives or transmits / receives the radio wave, and the angle state including the azimuth and elevation with respect to the satellite And a horizontal stabilizer having an active gimbal type coarse adjustment mechanism 24 for driving and adjusting a horizontal angle state including an azimuth and an elevation angle with respect to the satellite. 20 is provided, and the horizontal stabilizing unit 20 roughly adjusts the lens antenna unit 10 so that the lens antenna unit 10 is held at a predetermined angle or less within the angular accuracy range necessary for reception with the satellite corresponding to the large-angle swing / cycle of the hull S. The horizontal stabilizer 20 is controlled to swing and predict along with the PID control via the mechanism 24, and the predetermined range within the range possible by the fine adjustment mechanism 14 of the lens antenna unit 10. Degree satellite broadcasting and communication lens antenna device that controls a lens antenna portion 10 below.   The horizontal stabilizing unit 20 includes an active gimbal type coarse adjustment mechanism 24 that supports the base of the lens antenna unit 10 in a plurality of axial directions and drives and adjusts a horizontal angle state including an azimuth and an elevation angle with respect to the satellite. The antenna unit 10 includes an antenna control unit 15 that drives and controls an angle state including an azimuth and an elevation angle with respect to the satellite within a predetermined range by a driving unit of each adjustment mechanism, and the horizontal stabilization unit 20 includes an azimuth and an elevation angle with respect to the satellite. A horizontal stability control unit 25 that drives and controls the horizontal angle state within a predetermined range by a plurality of axis drive units of the coarse adjustment mechanism 24 is provided, and the horizontal stability control unit 25 corresponds to a large angle swing / cycle of the hull S. Then, the horizontal stabilization unit 2 is connected via the coarse adjustment mechanism 24 of the horizontal stabilization unit 20 so as to hold the lens antenna unit 10 at a predetermined angle or less within a range of angular accuracy necessary for reception with the satellite. The antenna control unit 15 controls the lens antenna unit 10 via the fine adjustment mechanism 14 of the lens antenna unit to a predetermined angle or less within a possible range by the fine adjustment mechanism 14 of the lens antenna unit 10 together with PID control. The lens antenna device for satellite broadcasting / communication according to claim 1, wherein the lens antenna device is configured to be controlled.   The horizontal stability control unit 25 is a discrete PID control circuit that feeds back the steady-state deviation of the output shaft in the drive unit of the adjustment mechanism of the horizontal stabilization unit 20 to the horizontal stability control unit 25, and the angular state of rolling, pitching, and yawing of the hull. Based on the signal from the sensor 25s for detecting the angle, an autoregressive model of each angle state quantity and a prediction control signal calculated by a rocking prediction control circuit 25D including a calculation circuit based on the minimum AIC method are input. The horizontal stabilization unit is controlled via the horizontal stabilization unit adjustment mechanism so that the lens antenna unit 10 is held at a predetermined angle or less within the angular accuracy range necessary for transmission with the satellite corresponding to the oscillation and period of the large angle. Then, the antenna control unit 15 passes the adjustment mechanism of the lens antenna unit 10 below a predetermined angle within the range possible by the adjustment mechanism of the lens antenna unit 10. 3. The satellite broadcasting / communication according to claim 2, wherein the lens antenna unit 10 can be tracked with a precision equal to or less than an international reference angle at the time of radio wave transmission to a satellite by two-stage control for controlling the antenna unit 10. Lens antenna device.   Batch adaptive hull motion prediction in which the calculation of hull motion prediction by the autoregressive model of each angle state quantity and the minimum AIC method in the swing prediction control circuit 25D is batch-processed at a time interval adapted to the time change of the hull swing. 4. The lens antenna device for satellite broadcasting / communication according to claim 3, wherein arithmetic processing is performed based on an algorithm.