JP2018023063A - Antenna orientation direction control device and system, antenna system, and control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a large scale antenna for tracking a target be interlocked with a master collimator at maximum speed performance.SOLUTION: An antenna orientation direction control device comprises: an optical error acquisition unit 13 for acquiring an optical error ΔK, a difference between an orientation direction θK of a collimator 4 whose orientation direction is changed by a collimator drive unit 5 and an orientation direction θM of an antenna 1 whose orientation direction is changed by antenna drive devices 2, 3; an antenna direction estimation unit 14 for receiving input of a measured value θKD of the collimator's orientation direction to calculate an antenna direction estimation value; an antenna control unit 16 for receiving input of an orientation direction command value θc and the antenna direction estimation value to control the antenna drive devices 2, 3 in a master mode, a control mode for making a difference between the orientation direction command value θc and the antenna direction estimation value be closer to zero; and a collimator control unit 15 for receiving input of the optical error ΔK to drive the collimator drive unit 5 so as to make the optical error ΔK be closer to zero, in the master mode.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an antenna directivity direction control device and system that controls the directivity direction of an antenna that tracks a target in conjunction with a master collimator, and controls the controlled variable to be controlled to follow a command value. The present invention relates to a control device.

  In order to precisely control the directivity direction of a large antenna, there is a method of operating a large antenna (hereinafter referred to as an antenna) in conjunction with a master collimator (hereinafter referred to as a collimator). The collimator is a device equipped with a precise angle detection device that can be directed to an arbitrary azimuth (AZ) and elevation (EL) direction, and detects the direction in which the collimator is directed. The collimator is installed on a base provided independently of the antenna near the intersection of the AZ axis that is an axis for changing the azimuth angle of the antenna and the EL axis that is an axis for changing the elevation angle. The collimator is driven according to the angle command value. In order to drive the antenna in conjunction with the collimator, a mirror that reflects light emitted from the collimator is installed on the antenna side near the collimator. The light emitted from the collimator is reflected by the mirror, and an angular error between the antenna and the collimator is detected. By driving the antenna so that the angle error (optical error) detected by this light becomes zero, the antenna is driven to face the same direction as the collimator (hereinafter referred to as slave mode). Since the angle detection accuracy of the antenna is not sufficient, the angle of the antenna is controlled using a collimator.

  In the control method of the directivity direction of the large antenna, first, the antenna and the collimator are independently driven from the standby position (for example, AZ = 180 °, EL = 90 °) to the given angle command value. When it is determined that the AZ angle and EL angle of the antenna and collimator are angles substantially equal to the angle command value, the slave mode that operates in conjunction is entered. In the independent drive, the antenna and the collimator form a servo loop using respective angle detectors. Therefore, even if the antenna and the collimator have the same angle command value, an angle error, that is, an optical error remains between the antenna and the collimator due to an error due to mechanical adjustment, an error of the angle detector, or the like. Controlling the antenna from this state to a position where the optical error becomes zero is control in the slave mode.

  In the conventional antenna direction control method, a filter for limiting speed and acceleration is provided in front of a control loop to which an angle command value is input, and the output of the filter is used as an angle command value for the antenna and collimator. The filter is inserted both in the independent drive mode and in the slave mode. Note that the filter does not operate against disturbances such as wind, and the maximum acceleration torque can be output. Further, the speed / acceleration limiting filter is configured not to operate other than the angle command value that requires the maximum acceleration torque for the antenna, for example, when a large step is included in the angle command value. That is, the speed acceleration limiting filter is a method for switching between use and non-use.

Haruto Hirosawa and 4 others, “Precise pointing control of large antennas”, Mitsubishi Electric Technical Report, 1985, Vol. 59, No. 9, p. 631-636

  The conventional interlocking method limits the operation speed to 60% for the maximum speed performance. Since the slave mode is used for the interlocking method, the speed of the slave side (secondary side: antenna) and the speed of the main side (primary side: collimator) are the same, so if the main side moves at the maximum speed, This is because the slave cannot catch up. The operation speed of the main side is lowered, and until the slave side catches up with the main side, the speed is higher than that of the main side. After the slave side catches up with the master side, the master side and the slave side are moved at the same speed.

  In the current interlocking method, the azimuth angle or elevation angle, which is the antenna directivity direction, changes beyond the angle command value with respect to the angle command value that changes the azimuth angle or elevation angle, which is the antenna directivity direction, in a large step. For example, an overshoot that is an amount exceeding the command value remains, for example, about 0.2 (degrees).

  The antenna directivity direction control device according to the present invention includes a collimator direction acquisition unit that acquires a measured value of a collimator direction that is a directivity direction of the collimator whose directivity direction is changed by the collimator drive unit, and the directivity direction is changed by the antenna drive device. An optical error acquisition unit that acquires an optical error that is a difference between an antenna direction that is a directivity direction of the antenna and the collimator direction, and an antenna direction estimation value that is an estimated value of the antenna direction by inputting an actual measurement value of the collimator direction And an antenna direction estimation unit for obtaining. Furthermore, in the master mode, which is a control mode in which the difference between the directivity direction command value and the antenna direction estimation value is approached to zero by inputting the directivity direction command value that is the command value of the antenna direction and the antenna direction estimation value, the antenna drive device is An antenna control unit for controlling and a collimator control unit for controlling the collimator driving unit so that the optical error is input and approaches the optical error to zero in the master mode.

The control device according to the present invention is configured so that a command value is input, a speed acceleration limiting filter that outputs a post-limit command value that limits the speed and acceleration, and a controlled amount to be controlled follows the post-limit command value. And a control target control unit that controls the control target by inputting the difference between the controlled amount and the post-limit command value.
The speed acceleration limiting filter is a speed consideration command value calculation unit for obtaining a speed consideration command value obtained by adding a value obtained by multiplying the speed of the command value by the braking coefficient and the command value, and a value obtained by multiplying the speed of the command value after limitation by the braking coefficient. Speed-restricted command value calculation unit that calculates the speed-restricted command value after adding the speed-restricted command value, tracking error calculation unit that calculates the tracking error by subtracting the speed-restricted command value after the speed-restricted command value, tracking A tracking acceleration calculator that calculates the tracking acceleration by multiplying the error by the acceleration coefficient Follow-up speed calculation unit that calculates the follow-up speed by integrating, Follow-up speed limiter that outputs the follow-up speed after restriction that limits the absolute value of the follow-up speed to the speed upper limit value or less, and integrates the follow-up speed after restriction Limit after the command value calculating unit for determining the limit after the command value, command value is input, has a coefficient setting section which determines the damping factor and the acceleration factor.
When the coefficient setting unit detects that the command value change width, which is a change in the command value acquired at a determined cycle, is input and detects that the absolute value of the command value change width is larger than the determined step detection threshold, The braking coefficient and acceleration coefficient are determined and set according to the command value change width. The speed acceleration limiting filter holds the braking coefficient and the acceleration coefficient that are set until the post-limit command value converges to the command value.

  According to the directivity direction control apparatus for an antenna according to the present invention, the directivity direction can be changed with the maximum speed performance while the antenna and the collimator remain in an interlocked state.

  According to the control device of the present invention, it is possible to follow the command value changed in a stepped manner by setting the amount of the controlled amount to be controlled to exceed the command value to be equal to or less than the allowable value.

It is a schematic diagram explaining the structure of the antenna system to which the directivity direction control apparatus of the antenna which concerns on Embodiment 1 of this invention was applied. 3 is a block diagram illustrating a configuration of an antenna directivity control apparatus according to Embodiment 1. FIG. 3 is a block diagram illustrating a configuration in a master mode of the antenna directivity control apparatus according to Embodiment 1. FIG. 3 is a block diagram illustrating a configuration in a slave mode of the antenna directivity control apparatus according to Embodiment 1. FIG. 3 is a block diagram illustrating a configuration during independent driving of the antenna directivity control apparatus according to Embodiment 1. FIG. 3 is a block diagram illustrating a configuration of a speed / acceleration limiting filter included in the antenna directivity control apparatus according to Embodiment 1. FIG. It is a figure explaining an example which sets a coefficient, when it detects that the directivity direction command value has changed in the step shape in the speed acceleration limiting filter which the directivity direction control apparatus of the antenna which concerns on Embodiment 1 has. FIG. 5 is a partial enlarged view of an example in which a coefficient is set when it is detected that the directivity direction command value has changed in a stepped manner in the velocity acceleration limiting filter included in the antenna directivity direction control apparatus according to the first embodiment. 6 is a diagram for explaining an example in which a coefficient is set when a speed of a directivity direction command value is detected in a speed acceleration limiting filter included in the antenna directivity direction control apparatus according to Embodiment 1. FIG. 6 is a diagram for explaining an example of the operation of a velocity / acceleration limiting filter included in the antenna directivity direction control apparatus according to Embodiment 1. FIG. 6 is a diagram for explaining another example of the operation of the velocity / acceleration limiting filter included in the antenna directivity direction control apparatus according to Embodiment 1. FIG. It is a figure explaining that an overshoot occurs by the difference in the value of braking coefficient ξ in the speed acceleration limiting filter included in the antenna directivity direction control apparatus according to the first embodiment. It is a figure which shows the simulation result of an example in case the directivity direction control apparatus of the antenna which concerns on Embodiment 1 changes the directivity direction of an antenna in step shape in master mode. It is a figure which shows the simulation result of one example in case the conventional antenna directivity direction control apparatus as a comparative example changes the directivity direction of an antenna in steps. It is a figure which shows the simulation result of another example in case the conventional antenna directivity direction control apparatus as a comparative example changes the directivity direction of an antenna in steps. 6 is a flowchart for explaining an operation in which a coefficient setting unit included in the antenna directivity control apparatus according to Embodiment 1 sets filter coefficients. It is a figure which shows the simulation result of an example in case the directivity direction control apparatus of the antenna which concerns on Embodiment 1 changes the directivity direction of an antenna at a fixed speed | rate. It is a figure which shows the simulation result of another example when the directivity direction control apparatus of the antenna which concerns on Embodiment 1 changes the directivity direction of an antenna at a fixed speed. It is a block diagram explaining the structure of the directivity direction control apparatus of the antenna which concerns on this Embodiment 2. FIG. 6 is a block diagram illustrating a configuration in a master mode of an antenna directivity control apparatus according to Embodiment 2. FIG.

Embodiment 1 FIG.
FIG. 1 is a schematic diagram illustrating the configuration of an antenna system to which an antenna directivity control apparatus according to Embodiment 1 of the present invention is applied. The antenna 1 is supported by the elevation angle driving device 2, and the elevation angle in the direction in which the antenna 1 is directed can be changed by the elevation angle driving device 2. The antenna 1 and the elevation angle driving device 2 are supported by the azimuth angle driving device 3 to change the azimuth angle. The collimator 4 is installed on a base provided independently of the antenna 1 in the vicinity of the intersection of the AZ axis and the EL axis of the antenna 1. The collimator 4 can be driven by the collimator driving device 5 according to the angle command value. The elevation angle driving device 2 and the azimuth angle driving device 3 constitute an antenna driving device that changes the directivity direction (azimuth angle and elevation angle) of the antenna 1. Strictly speaking, the collimator driving device 5 includes an elevation angle driving device and an azimuth angle driving device. In this specification, the collimator driving device 5 is called so as not to be confused with the driving device of the antenna 1.

  In order to drive the antenna 1 and the collimator 4 in conjunction with each other, a mirror 6 that reflects light emitted from the collimator 4 is installed on the antenna 1 near the collimator. The directivity direction of the antenna 1 is referred to as an antenna direction. The directivity direction of the collimator 4 is called a collimator direction. The direction of the mirror 6 changes in the same way as the direction of the antenna 1 changes. The light emitted from the collimator 4 is reflected by the mirror 6, and the reflected light is received by the light receiver 7 installed near the collimator 4. The direction of the light receiver 7 is changed in conjunction with the collimator 4. The light receiver 7 can measure the incident angle of light incident on the light reflected by the mirror 6. The light receiver 7 detects an optical error, which is a difference between the antenna direction and the collimator direction, from the direction determined with respect to the light receiving surface, for example, the normal direction and the incident angle of the light reflected by the mirror 6. The mirror 6 and the light receiver 7 constitute an optical error detection unit 8 that detects an optical error that is a difference between the directivity directions of the collimator 4 and the antenna 1.

  The antenna system 50 includes at least an antenna 1, an elevation driving device 2, an azimuth driving device 3, a collimator 4, a collimator driving device 5, an optical error detection unit 8, and an antenna pointing direction control device 9. The antenna directivity direction control system includes at least a collimator 4, an optical error detection unit 8, and a directivity direction control device 9.

  The directivity direction control device 9 receives a directivity direction command value θc that is a command value of the directivity direction of the antenna 1 from a host device 10 that controls the antenna 1. The pointing direction control device 9 controls the elevation angle driving device 2, the azimuth angle driving device 3, and the collimator driving device 5 so that the antenna 1 faces the direction indicated by the pointing direction command value θc.

  The directivity control device 9 can perform control in three modes: master mode, slave mode, and independent drive. In the master mode, the antenna 1 is controlled to follow the command value, and the collimator 4 is controlled to face the same direction as the antenna 1. The master mode and the independent drive are used when a large change in directivity is required. Slave mode is used when tracking a target. Master mode may be used for tracking.

  The pointing direction control device 9 receives the collimator direction acquisition unit 11, the antenna direction acquisition unit 12, the optical error acquisition unit 13, the collimator direction and the optical error, and obtains an antenna direction estimation value that is an estimation value of the antenna direction. Unit 14, a collimator control unit 15 for controlling the collimator direction, an antenna control unit 16 for controlling the elevation angle driving device 2 and the azimuth angle driving device 3 so that the antenna direction matches the directivity direction command value, and the speed of the directivity direction command value θc. And a speed acceleration limiting filter 17 for limiting the acceleration. The speed acceleration limiting filter 17 may be abbreviated as a filter 17 in some cases.

  The collimator direction acquisition unit 11 acquires an actually measured value θKD in the collimator direction. The antenna direction acquisition unit 12 acquires an actually measured value θMD of the antenna direction. The antenna direction acquisition unit 12 is used in the case of independent driving. The antenna direction estimation unit 14 is used in the master mode. The optical error acquisition unit 13 is used in the master mode and the slave mode. The collimator direction acquisition unit 11 is used in all cases.

  FIG. 2 is a block diagram illustrating the configuration of the antenna directivity control apparatus according to the first embodiment. There is one control loop for each of the elevation drive unit 2 and the azimuth drive unit 3, but only one is shown because it has the same shape. The pointing direction command value θc, which is an azimuth angle or an elevation angle, is input to the speed acceleration limiting filter 17. The speed acceleration limiting filter 17 outputs a filter output value φ in which the speed and acceleration of the pointing direction command value θc are limited.

  The output of the filter 17 is divided into three parts, two of which are input to the subtracter 18 and the subtracter 19, respectively. The subtracter 18 outputs a value obtained by subtracting the measured angle θMD in the antenna direction from the filter output value φ. The subtracter 19 outputs a value obtained by subtracting the actually measured angle θKD in the collimator direction from the filter output value φ.

It is assumed that the servo control system of the elevation angle driving device 2 and the azimuth angle driving device 3 has a transfer function G _M (s) as follows.
G _M (s) = Wmc (s + Wm1) / s / s

  On the input side of the elevation angle driving device 2 or the azimuth angle driving device 3, a control mode changeover switch 20 exists. The control mode changeover switch 20 connects any one of the independent drive terminal 20I, the master mode terminal 20M, and the slave mode terminal 20S to the input terminal of the elevation angle driving device 2 or the azimuth angle driving device 3.

The output of the subtractor 18 is connected to the independent drive terminal 20I. The output of the subtractor 21 to which the filter output value φ is input is connected to the master mode terminal 20M. The output of the subtractor 22 representing the optical error ΔK = θK−θM is connected to the slave mode terminal 20S. Since ΔK = θK−θM, the subtracter 22 subtracts the antenna direction θM from the collimator direction θK. The subtracter 23 outputs a value obtained by subtracting the optical error ΔK from the actually measured angle θKD in the collimator direction. The subtracter 21 outputs a value obtained by subtracting the output of the subtracter 23 from the filter output value φ. Therefore, the following values are obtained at each input terminal of the control mode changeover switch 20.
(Value input to each terminal of the control mode switch 20)
Independent drive terminal: φ-θMD
Master mode terminal: φ− (θKD− (θK−θM)) = φ−θM−θK + θKD = φ−θM
Slave mode terminal: θK−θM
Here, it is assumed that the collimator 4 can accurately measure the directivity direction and θK = θKD.

The servo control system of the collimator driving device 5 has a transfer function G _K (s) as follows. The constant of the servo control system of the collimator is about 10 times larger than the servo control system of the elevation angle driving device 2 and the azimuth angle driving device 3.
G _K (s) = Wkc (s + Wk1) / s / s

  On the input side of the collimator driving device 5, there is a control mode changeover switch 24. The control mode switch 24 connects either the master mode terminal 24M or the non-master mode terminal 24S to the input terminal of the collimator driving device 5.

The output terminal of the multiplier 25 that multiplies the optical error ΔK = θK−θM by −1 is connected to the terminal 24M in the master mode. The output terminal of the subtracter 19 is connected to the terminal 24S outside the master mode. Therefore, the following values are obtained at each input terminal of the control mode changeover switch 24.
(Value input to each terminal of the control mode switch 24)
Master mode terminal: θM-θK
Terminal outside master mode: φ-θKD

  When calculating the optical error ΔK with ΔK = θM−θK, the multiplier 25 is unnecessary. Further, instead of the subtracter 23, an adder for adding the measured angle θKD in the collimator direction and the optical error ΔK is provided. Considering the polarity of the optical error ΔK, the antenna direction θM is estimated by combining with the measured angle θKD in the collimator direction. The antenna direction estimation unit 14 obtains an antenna direction estimation value using the measured value θKD of the collimator direction and the optical error ΔK. The estimated antenna direction is also expressed as θM.

  A control method in each mode will be described. FIG. 3 is a block diagram for explaining the configuration of the antenna directivity control apparatus according to Embodiment 1 in the master mode. FIG. 3 shows a state in which the control mode changeover switches 20 and 24 are connected to the master mode terminals 20M and 24M, respectively, in FIG. In FIG. 3 and the like, subtracters that are not used are not shown.

  In the master mode, feedback control is performed so that the antenna direction estimation value θM matches the filter output value φ. Feedback control is performed so that the collimator direction θK follows the antenna direction θM. The antenna control unit 16 that controls the elevation angle driving device 2 and the azimuth angle driving device 3 operates so that the difference between the filter output value φ and the antenna direction estimation value θM approaches zero. Since the difference between the filter output value φ and the pointing direction command value θc becomes smaller as time elapses, the antenna control unit 16 operates so that the difference between the pointing direction command value θc and the antenna direction estimated value θM approaches zero. . The collimator control unit 15 that controls the collimator driving unit 5 operates so that the optical error ΔK is close to zero when the optical error ΔK is input.

  FIG. 4 is a block diagram illustrating a configuration in the slave mode of the antenna directivity control apparatus according to the first embodiment. In the slave mode, feedback control is performed so that the actually measured value θKD in the collimator direction matches the filter output value φ. Feedback control is performed so that the antenna direction θM follows the collimator direction θK. The antenna control unit 16 operates so that the optical error ΔK is input and the optical error ΔK approaches zero. The collimator control unit 15 operates so that the difference between the filter output value φ and the directivity direction command value θc and the actually measured value θKD in the collimator direction approaches zero.

  FIG. 5 is a block diagram illustrating a configuration during independent driving of the antenna directivity control apparatus according to the first embodiment. In the independent drive, feedback control is performed so that the actually measured value θMD in the antenna direction matches the filter output value φ. Since the measured value θMD in the antenna direction has low accuracy, an error occurs between the antenna direction θM and φ. Feedback control is performed so that the collimator direction θK coincides with the filter output value φ. It is assumed that the collimator 4 can accurately measure the directivity direction and that θK coincides with φ.

  In any of the master mode, slave mode, and independent drive, the feedback loop of the antenna 1 and the feedback loop of the collimator 4 are feedback loops that cause the output to follow the input. Therefore, it is not necessary to set the gain of each feedback loop to a value that enables high-speed operation.

  The speed acceleration limiting filter 17 causes the elevation angle driving device 2, the azimuth angle driving device 3, and the collimator driving device 5 to have excessive speed and acceleration when a large step-like (step-like) change in the pointing direction command value θc is input. The speed and acceleration are limited so as not to be applied. FIG. 6 is a block diagram illustrating a configuration of a speed / acceleration limiting filter included in the antenna directivity direction control apparatus according to the first embodiment.

  The filter 17 outputs a value obtained by adding a component obtained by multiplying the velocity dθc / dt of the input directivity direction command value θc by twice the braking coefficient ξ, to the velocity dφ / dt of the filter output value φ. A multiplier 32 that multiplies twice the braking coefficient ξ, an adder 33 that adds the output of the multiplier 32 and the filter output value φ, and a subtractor 34 that subtracts the output of the adder 33 from the output of the preprocessor 31. Have. When the differential element is expressed as s, the subtractor 34 outputs (1 + 2ξs) (θc−φ). Note that ξ may be doubled, the pre-processor 31 may multiply the braking coefficient ξ by the speed dθc / dt, and the multiplier 32 may multiply the braking coefficient ξ.

  The pre-processor 31 calculates a speed-considered command value to obtain a speed-considered command value (θc + 2ξdθc / dt) obtained by adding a value obtained by multiplying the speed dθc / dt of the directivity-direction command value θc by the braking coefficient 2ξ and the directivity-direction command value θc. Part. The filter output value φ is a post-limit command value that follows the pointing direction command value θc with the acceleration and speed being limited. The multiplier 32 and the adder 33 obtain a speed-considered post-limit command value (φ + 2ξdφ / dt) obtained by adding a value obtained by multiplying the speed dφ / dt of the post-limit command value by the braking coefficient 2ξ and the post-limit command value φ. It is a command value calculation part after consideration restriction. The subtractor 34 is a follow-up error calculation unit that obtains a follow-up error (1 + 2ξs) (θc−φ) obtained by subtracting the post-speed-restricted command value from the speed-considered command value.

The output of the subtracter 34 is multiplied by the square of the acceleration coefficient Wn by a multiplier 35. The output ac of the multiplier 35 is input to the limiter 36. If the absolute value of the input value ac is equal to or less than the acceleration upper limit value amax, the limiter 36 outputs the limit value 36 as it is. If the absolute value of ac is greater than amax, the limiter 36 outputs a value obtained by limiting the absolute value to amax.
Expressed as a mathematical formula:
ac = Wn ² * (1 + 2ξs) (φ−θc) (1)
When ac> amax, a = amax (2A)
When amax ≧ ac ≧ −amax, a = ac (2B)
When -amax> ac, a = -amax (2C)
Note that a value of the square of Wn may be set as the acceleration coefficient, and the multiplier 35 may multiply the acceleration coefficient.

The multiplier 35 is a follow-up acceleration calculator for calculating a following acceleration ac multiplied by the acceleration factor Wn ² to tracking errors. The limiter 36 is a follow-up acceleration limiting unit that outputs a post-restricted follow-up acceleration a in which the absolute value | ac | of the follow-up acceleration is limited to a predetermined acceleration upper limit value amax or less.

The output a of the limiter 36 is input to the integrator 37. The integrator 37 outputs a value vc obtained by integrating the input value a. The output vc of the integrator 37 is input to the limiter 38. If the absolute value of the input value vc is less than or equal to the speed upper limit value vmax, the limiter 38 outputs it as it is. If the absolute value of vc is larger than vmax, the limiter 38 outputs a value obtained by limiting the absolute value to vmax.
Expressed as a mathematical formula:
vc = ∫add (3)
When vc> vmax, v = vmax (4A)
When vmax ≧ vc ≧ −vmax, v = vc (4B)
When -vmax> vc, v = -vmax (4C)

  The integrator 37 is a follow-up speed calculation unit that obtains a follow-up speed vc by integrating the restricted follow-up acceleration a. The limiter 38 is a follow-up speed limiter that outputs a post-restricted follow-up speed v obtained by restricting the absolute value | vc | of the follow-up speed to a speed upper limit value vmax or less.

The output v of the limiter 38 is input to the integrator 39. The integrator 39 outputs a value obtained by integrating the input value v. The output of the integrator 39 becomes the filter output value φ that is the output of the speed acceleration limiting filter 17. Expressed as a mathematical formula:
φ = ∫vdt (5)

  The integrator 39 is a post-restriction command value calculation unit that integrates the post-restriction tracking speed v to obtain a post-restriction command value φ.

The filter 17 acquires the pointing direction command value θc every time step Δt (for example, 0.01 seconds), that is, periodically. The previously acquired pointing direction command value θc is expressed by θP, the currently acquired pointing direction command value θc is expressed by θN, and the speed of the pointing direction command value θc is expressed by u. The expression (1) is re-expressed as follows.
u = dθc / dt = (θN−θP) / Δt (6)
ac = Wn ² * (θc−φ + 2ξ (uv)) (7)

  The filter 17 includes a coefficient setting unit 40 that sets the braking coefficient ξ and the acceleration coefficient Wn from the pointing direction command value θc, the speed u, and the filter output value φ.

  The coefficient setting unit 40 operates differently in the case of step input in which a large change is input to the pointing direction command value θc in increments of one time (ΔT) and in the case where the state where the speed u is not 0 continues. The change in the pointing direction command value θc in a step shape is called step input. Further, the amount of change in the pointing direction command value that changes in a step shape is referred to as a step angle Δθc (= θN−θP). The case where the state where the speed u is not 0 continues is called continuous input. The coefficient setting unit 40 includes a step input coefficient table 41 used when a step input is detected and a continuous input coefficient table 42 used when a continuous input is detected.

  The step input coefficient table 41 may be realized in any format as long as it can determine the braking coefficient ξ and the acceleration coefficient Wn with respect to the magnitude of the step input. It may be a table or a function. The same applies to the coefficient table 42 for continuous input.

  When the step input is detected, the braking coefficient ξ and the acceleration coefficient Wn are determined in real time according to the magnitude of the detected absolute value of the step angle | Δθc | Hold until the value φ converges to θc. When the continuous input is detected, the braking coefficient 2ξ and the acceleration coefficient Wn are determined in real time in accordance with the absolute value | u | of the speed of the pointing direction command value θc.

  FIG. 7 is a diagram for explaining an example in which a coefficient is set when it is detected that the directivity direction command value has changed in a stepped manner in the velocity / acceleration limiting filter included in the antenna directivity direction control apparatus according to the first embodiment. is there. FIG. 7A shows the braking coefficient ξ, and FIG. 7B shows the acceleration coefficient Wn. FIG. 8 shows an enlarged view of | Δθc | in the range of 0.1 to 8 degrees. In the step input coefficient table 41, a braking coefficient ξ and an acceleration coefficient Wn as shown in FIG. 7 are set for | Δθc |. The operating speed of the antenna 1 is 1.0 (degrees / second), and the operating acceleration is 1.0 (degrees / second / second). The operation speed is the maximum speed performance that can be used. Operational acceleration is the maximum acceleration performance that can be used.

  In the case shown in FIG. 7, the braking coefficient ξ is set to a lower limit value that does not cause an overshoot in the filter output value φ. Overshooting means that φ changes beyond θc when it changes to the pointing direction command value θc. Overshoot is when φ increases to θc, when φ becomes larger than θc, or when φ decreases to θc, φ becomes smaller than θc. “No overshoot” means that the amount φ exceeds θc is less than the allowable value. It should be noted that the case where φ does not exceed θc is included when the amount that φ exceeds θc is equal to or less than the allowable value. When the absolute value of the step angle | Δθc | is 6.74 degrees or more, the braking coefficient ξ = 1.686, and when | Δθc | is in the range of 6.74 degrees to 0.49 degrees, the absolute value of the step angle of θc As | Δθc | becomes smaller, ξ also becomes smaller. When | Δθc | is in the range of 0.49 ° to 0.01 °, ξ = 0.51. When | Δθc | is 0.01 ° or less, ξ = 0.099.

  The acceleration coefficient Wn is Wn = 10.01 when | Δθc | is 0.01 degrees or less, and Wn = 2 when it is larger than 0.01 degrees. When the absolute value of the step angle | Δθc | is small, the acceleration coefficient Wn is increased in order to speed up the response of the filter 17. When the acceleration coefficient Wn is large, the braking coefficient ξ is decreased. By doing so, the absolute value of the eigenvalue having the smaller absolute value among the eigenvalues of the filter 17 is prevented from becoming too small. In FIG. 7, the acceleration coefficient Wn and the braking coefficient ξ change stepwise with respect to the change in the absolute value of the step angle | Δθc |. It may be changed continuously.

  The condition for determining whether or not the input is a step input will be described later. When step input is not detected, | Δθc | = 0 at the previous activation, and | Δθc |> 0 is detected at the current activation. In addition, in accordance with | Δθc |, the braking coefficient ξ is not decreased with increasing | Δθc |, and the acceleration coefficient Wn is not increased with increasing | Δθc |. .

  FIG. 9 is a diagram for explaining an example in which a coefficient is set when the speed u of the directivity direction command value θc is detected and set in the speed acceleration limiting filter included in the directivity direction control apparatus for the antenna according to the first embodiment. is there. FIG. 9A shows the braking coefficient ξ, and FIG. 9B shows the acceleration coefficient Wn. In the case shown in FIG. 9, when the absolute value | u | of the velocity is 0.1 (degrees / second) or less, ξ = 0.099 and Wn = 10.01. When | u | is larger than 0.1 (degrees / second), ξ = 0.7 and Wn = 2. When | u | is small, the response of the filter is fast, and when | u | is large, no large acceleration is generated. In the continuous input coefficient table 42, a braking coefficient ξ and an acceleration coefficient Wn as shown in FIG. 9 are set for | u |. Since the operation speed is 1.0 (degrees / second), a speed larger than 1.0 (degrees / second) is not continuously input. Therefore, in the continuous input coefficient table 42, | u | ≦ 1.0. Define in the range of (degrees / second).

  When step input is not detected, | Δθc |> 0 at the previous activation, and when | Δθc |> 0 is detected at this activation, that is, when | Δθc |> 0 is detected continuously In addition, the coefficient table 42 for continuous input is used. In the example shown in FIG. 9, the braking coefficient ξ is determined not to decrease with respect to the increase of | Δθc | according to | Δθc |. The acceleration coefficient Wn is determined not to increase as | Δθc | increases. Since there is a relationship of | u | = | Δθc | / ΔT, FIG. 9 expressed for | u | can also be expressed for | Δθc |.

  The operation of the speed acceleration limiting filter 17 will be described. The filter 17 has three modes: (A) free operation mode, (B) acceleration limit mode, and (C) speed limit mode.

(A) In the free operation mode, the following holds.
| θc−φ + 2ξ * (dθc / dt−dφ / dt) | ≦ amax / (Wn ² )
| dφ / dt | <vmax
d ² φ / dt ² + Wn ² * (2ξ * dφ / dt + φ) = Wn ² * (2ξ * dθc / dt + θc) (8)

(B) In the acceleration limit mode, the following holds.
θc−φ + 2ξ * (dθc / dt−dφ / dt)> amax / (Wn ² ) and dφ / dt ≦ vmax,
d ² φ / dt ² = amax
θc−φ + 2ξ * (dθc / dt−dφ / dt) <− amax / (Wn ² ) and dφ / dt ≧ −vmax,
d ² φ / dt ² = −amax

(C) In the speed limit mode, the following holds.
θc−φ + 2ξ * (dθc / dt−dφ / dt)> 0, dφ / dt = vmax
θc−φ + 2ξ * (dθc / dt−dφ / dt) <0, dφ / dt = −vmax

Analyze motion in free motion mode. When Expression (8) is expressed as a Laplace function by replacing the differential element with “s”, it becomes as follows.
φ (s) = Gf (s) * θc (s) (9)
Gf (s) = Wn ² * (2ξ * s + 1) / (s ² + Wn ² * (2ξ * s + 1)) (10)

When an eigenvalue where the denominator of Gf (s) is zero is obtained, it is as follows.
α1 = −Wn ² ξ−Wn√ (Wn ² ξ ² −1)
α2 = −Wn ² ξ + Wn√ (Wn ² ξ ² −1)
Here, in order to express the expression concisely, the following γ is used.
γ = Wn√ (Wn ² ξ ² −1)
α1 = −Wn ² ξ−γ
α2 = −Wn ² ξ + γ

When θc changes stepwise, θc (s) = 1 / s, and φ (s) is calculated as follows from Equation (9).
φ (s) = Wn ² * (2ξ * s + 1) / (s ² + Wn ² * (2ξ * s + 1)) / s
= 1 / s-s / (s ² + Wn ² * (2ξ * s + 1)) (11)
Equation (11) means that φ (s) is expressed as the sum of a step function and an exponential function. Assume that the filter output value φ at the time of change (t = 0) is φ0 and the speed of φ is v0. The time change of the filter output value φ is as follows.
φ = θc-((θc-φ0) / 2 + (v0-Wn ² ξ (θc-φ0)) / (2γ)) * exp (-(Wn ² ξ + γ) t)
− ((Θc-φ0) / 2- (v0-Wn ² ξ (θc-φ0)) / (2γ)) * exp (-(Wn ² ξ-γ) t) (12)
v = (v0 / 2 + Wn ² (ξv0- (θc-φ0)) / (2γ)) * exp (-(Wn ² ξ + γ) t)
+ (v0 / 2-Wn ² (ξv0- (θc-φ0)) / (2γ)) * exp (-(Wn ² ξ-γ) t) (13)

When Wn ² ξ ² −1 <0, γ = Wn√ (1−Wn ² ξ ² ) is obtained as follows.
φ = θc-((θc-φ0) cos (γt)
+ ((V0-Wn ² ξ (θc-φ0)) / γ) sin (γt)) * exp (-Wn ² ξt) (14)
v = (v0 * cos (γt) + Wn ² (ξv0- (θc-φ0)) / (γ) sin (γt)) * exp (-Wn ² ξt) (15)

Expression (12) is an expression that holds even when γ is an imaginary number, but is considered when γ is a real number. In φ expressed by Equation (12), the condition that overshoot does not occur when θc changes stepwise is as follows because the coefficient of the eigenvalue α2 having the smaller absolute value is negative.
− ((Wn ² ξ (θc−φ0) −v0) / (2γ) + (θc−φ0) / 2) <0
If the condition is changed to v0, the following is obtained.
^{v0 <(Wn 2 ξ + Wn√} (Wn 2 ξ 2 -1)) * (θc-φ0) (16)

When θc changes at a constant speed, θc (s) = 1 / (s ² ), and φ (s) is as follows from the equation (9).
φ (s) = Wn ² * (2ξ * s + 1) / (s ² + Wn ² * (2ξ * s + 1)) / (s ² )
= 1 / (s ² ) −1 / (s ² + Wn ² * (2ξ * s + 1)) (17)
Equation (17) means that when θc changes at a constant speed, φ can also change at the same speed without delay when sufficient time elapses.

When θc changes at a constant acceleration, θc (s) = 1 / (s ³ ), and φ (s) is obtained from Equation (9) as follows.
φ (s) = Wn ² * (2ξ * s + 1) / (s ² + Wn ² * (2ξ * s + 1)) / (s ³ )
= 1 / (s ³ ) −1 / s / (s ² + Wn ² * (2ξ * s + 1))
= 1 / (s ³ )
−1 / (Wn ² ) (1 / s− (s + 2Wn ² ξ) / (s ² + Wn ² * (2ξ * s + 1)) (18)
Equation (18) means that when θc changes at a constant acceleration, there is a delay of 1 / (Wn ² ) when φ also changes at the same acceleration.

  The operation of the filter 17 when the pointing direction command value θc changes greatly in steps will be analyzed, and the range of the acceleration coefficient Wn and the braking coefficient ξ so as not to cause overshoot will be considered. When θc is greatly changed in a step-like manner, it initially operates in the acceleration limited mode. When the step angle Δθc is large, there is also a period of operation in the speed limit mode, as shown in FIG. In the case of Δθc of such a magnitude that the speed limit mode does not exist, it becomes as shown in FIG. In FIGS. 10 and 11, (a) shows the acceleration a and pre-limit acceleration ac, (b) shows the velocity v, and (c) shows the filter output value φ.

  In the case shown in FIG. 10, θc changes stepwise at time t = t0. There is an acceleration period in which the speed v increases at a constant acceleration amax until time t1 when the speed v becomes the upper limit speed vmax. After time t1, it is a constant speed period in which φ increases at speed vmax. On the other hand, the pre-limit acceleration ac decreases. Times t2, t3, and t4 are determined as follows. Here, t2 <t3 <t4. t2 is the time when ac = amax. t3 is the time when ac = 0. t4 is the time when ac = −amax. The constant speed period is until time t3. The period from time t3 to t4 is a free operation period in which φ changes in the free operation mode.

  After time t3, the speed v decreases. When v decreases, the pre-limit acceleration ac starts to increase. Let time t5 (> t4) be the time when ac = −amax. The period from time t4 to t5 is a deceleration period in which the vehicle decelerates at a constant acceleration −amax. After time t5 is a stop period in which φ settles to θc in the free operation mode.

  In the case of FIG. 11, there is no constant speed period. The free operation period is from time t2 to time t4. Other points are the same as those in FIG.

The operation of the filter 17 in each period in the case of FIG. 10 will be described. First, during the acceleration period:
(A) Acceleration period (t0 <t <t1)
v (t) = amax * (t−t0)
φ (t) = (amax / 2) * (t−t0) ²
Since v = vmax at time t1, t1 and the like are determined as follows.
t1-t0 = vmax / amax
v (t1) = vmax
φ (t1) = φ1 = vmax ² / amax / 2 (19)

(A) Constant speed period (t1 ≦ t ≦ t3)
v (t) = vmax
φ (t) = vmax ² / amax / 2 + vmax * (t−t1)
Since ac = 0 at time t3, t3 and the like are determined as follows.
φ (t3) = φ3 = θc−2ξ vmax = vmax ² / amax / 2 + vmax * (t3−t1)
t3−t1 = (θc−2ξvmax−vmax ² / amax / 2) / vmax

(C) Free operation period (t3 <t <t4)
It can be expressed in the same way as the equations (12) and (13) shown above. However, since it is difficult to calculate t4 with an exponential function, approximation is performed assuming that change in v is small and a changes at a constant rate of change.
a (t) =-Wn ² * vmax * (t-t3)
v (t) = vmax-Wn 2 * vmax * (t-t3) 2/2
φ (t) = φ3 + vmax * (t-t3) -Wn 2 * vmax * (t-t3) 3/6
Here, since ac = θc−φ−2ξv = −amax at time t4, t4 is approximated as follows. In order to express the expression concisely, the following β is used.
β = amax / (Wn ² )
t4−t3 = β / vmax
+ (Amaxβ / vmax) (β / vmax / 6 + ξ) / (vmax-amaxβ / vmax / 2-2ξamax)
v (t4) = v4
= Vmax- (amaxβ / vmax / 2) (vmax-amaxβ / vmax / 6)
/ (vmax-amaxβ / vmax / 2-2ξamax) (20)
φ (t4) = φ4 = θc-2ξv4 + β (21)
Substituting equation (20) into equation (21) yields:
φ4 = θc-2ξvmax + β
+ (Ξamaxβ / vmax) (vmax-amaxβ / vmax / 6) / (vmax-amaxβ / vmax / 2-2ξamax) (22)

  Equations (20) and (21) were derived assuming that v changes in the free motion period. amax = 0.15 (degrees / second / second), vmax = 1.0 (degrees / second), Wn = 2, and v4 is calculated by equation (20) in the range of ξ = 1.5 to 1.9. Then, v4> 0.993 (degrees / second). vmax is 100% of the operation speed, and amax is 15% of the operation acceleration.

(D) Deceleration period (t4 ≦ t ≦ t5)
v (t) = v4−amax * (t−t4)
φ (t) = φ4 + v4 * (t−t4) − (amax / 2) * (t−t4) ²
Since ac = −amax at time t5, t5 and the like are determined as follows.
t5−t4 = 2v4 / amax−4ξ
v (t5) = v5 = 4ξamax−v4 (23)
φ (t5) = φ5 = θc-2ξ (4ξamax−v4) + β (24)

(E) Stop period (t5 <t)
Similar to equations (12) and (13) shown above, the following is obtained.
φ (t) = θc − ((θc-φ5) / 2 + (v5-Wn ² ξ (θc-φ5)) / (2γ)) * exp (-(Wn ² ξ + γ) t)
− ((Θc-φ5) / 2- (v5-Wn ² ξ (θc-φ5)) / (2γ)) * exp (-(Wn ² ξ-γ) t) (25)
v (t) = (v5 / 2 + Wn ² (ξv5- (θc-φ5)) / (2γ)) * exp (-(Wn ² ξ + γ) t)
+ (V5 / 2-Wn ² (ξv5- (θc-φ5)) / (2γ)) * exp (-(Wn ² ξ-γ) t) (26)

In the case of FIG. 11 that does not have a constant speed period, it is as follows.
(A) Acceleration period (t0 <t <t2)
v (t) = amax * (t−t0)
φ (t) = (amax / 2) * (t−t0) ²
The value at time t2 is represented by the following variables.
v (t2) = v2 = amax * (t2-t0)
φ (t2) = φ2 = (amax / 2) * (t2−t0) ²
φ2 ＝ (v2 ² / amax / 2) (27)

Since ac = amax at time t2, t2 is calculated using this fact.
Wn ² (θc−φ2−2ξv2) = amax
θc−amax * (t2−t0) ² / 2-2ξamax * (t2−t0) = β
(t2−t0) ² + 4ξ (t2−t0) −2 (θc−β) / amax = 0
Solving the above equation and taking the positive value results in the following.
t2−t0 = √ (4ξ ² +2 (θc−β) / amax) −2ξ
v2 = amax * (√ (4ξ ² +2 (θc−β) / amax) −2ξ) (28)
^{φ2 = θc-β + 4ξ 2} -2ξamax√ (4ξ 2 +2 (θc-β) / amax) (29)
When θc is expressed by v2, it is as follows.
θc = (v2 ² / amax / 2) + 2ξv2 + β (30)

(C) Free operation period (t2 <t <t4)
It can be expressed in the same way as the equations (12) and (13) shown above. However, in the exponential function, since it is difficult to calculate t4, the change of v is small, and approximation is performed assuming that a changes at a constant rate of change. Consider an acceleration period from time t3 to a deceleration period from t3 to t4.
a (t) = amax−Wn ² * v2 * (t−t2)
v (t) = v2 + amax * (t-t2) -Wn 2 * v2 * (t-t2) 2/2
φ (t) = φ2 + v2 * (t-t2) + amax * (t-t2) 2/2-Wn 2 * v2 * (t-t2) 3/6
Here, since a = 0 at time t3, t3 is approximated as follows.
t3-t2 = β / v2− (amaxβ / v2) (β / v2 / 6 + ξ) / (v2 + amaxβ / v2 / 2)
v (t3) = v3 = v2 + amaxβ / v2 / 2 (31)
φ (t3) = φ3 = θc-2ξv2-ξamaxβ / v2 (32)

The period from time t3 to t4 is as follows in the same manner as in (c).
t4−t3 = β / v3 + (amaxβ / v3) (β / v3 / 6 + ξ) / (v3-amaxβ / v3 / 2-2ξamax)
v4 = v3− (amaxβ / v3 / 2) (v3-amaxβ / v3 / 6) / (v3-amaxβ / v3 / 2-2ξamax) (33)
φ4 = θc-2ξv3 + β
+ (Ξamaxβ / v3) (v3-amaxβ / v3 / 6) / (v3-amaxβ / v3 / 2-2ξamax) (34)

  Equations (31) to (34) were derived on the assumption that v changes in the free motion period. amax = 0.15 (degrees / second / second), v2 = 0.4 to 0.9 (degrees / second), Wn = 2, and ξ is a lower limit value that does not cause overshoot described later, When calculating v4 in 31) and (33), it was v4 / v2> 0.98.

  The deceleration period and the stop period after time t4 are the same as when the constant speed period exists.

  The acceleration coefficient Wn and the braking coefficient ξ of the filter 17 are determined so that no overshoot occurs in the filter output value φ with respect to the step input. Explain how to decide. FIG. 12 is a diagram for explaining that an overshoot occurs due to a difference in the braking coefficient ξ in the speed / acceleration limiting filter included in the antenna directivity direction control apparatus according to the first embodiment. In this case, θc = 3.9 degrees, v is accelerated to about 0.8 (degrees / second), and three cases of ξ = 1.2, 1.3, and 1.4 are shown. When ξ = 1.2, overshoot occurs. When ξ = 1.3, 1.4, no overshoot occurs. The time required for ξ = 1.3 to be within a range of 0.05 degrees from θc is about 3 seconds earlier. If the acceleration coefficient Wn is the same, it is desirable that the braking coefficient ξ is small as long as overshoot does not occur.

In order not to cause overshoot in φ, the following must be established. Here, the allowable overshoot value is zero.
v5 ≧ 0 (35)
(Wn ² ξ + Wn√ (Wn ² ξ ² −1)) * (θc−φ5)> v5 (36)
Equation (35) is a condition representing that no overshoot occurs during the deceleration period. Expression (36) is a condition representing that no overshoot occurs during the stop period.

  It is necessary not to generate overshoot in the antenna direction θM. When the antenna direction θM is delayed from the filter output value φ, the allowable overshoot value of φ may be determined in consideration of the delay in the antenna direction θM.

Although the derivation process is omitted, equations (35) and (36) can be transformed into equations of v4 and ξ as follows.
4ξamax ≧ v4 (37)
4ξamax-β / (2ξ-1 / (Wn 2 ξ + Wn√ (Wn 2 ξ 2 -1))) ≧ v4 (38)
If Expression (38) is satisfied, Expression (37) is also satisfied. In addition, since the eigenvalue does not have a vibration component, the following must be satisfied.
ξ ≧ 1 / Wn (39)

Although the derivation process is omitted, the following equation is obtained from equation (38).
ξ ≧ (3/8) (v4 / amax) − (1/8) √ ((v4 / amax) ² −8 / Wn ² )> 1 / Wn (40)
In order for Expression (40) to be satisfied, the following must be satisfied.
v4 ≧ 3amax / Wn (41)
For v4 where equation (41) does not hold, equation (39) is a condition for ξ. For v4 where equation (41) does not hold, ξ cannot be reduced to the limit where no overshoot occurs. When v4 is small, θc is small, so the time until convergence is short, and there is little need to increase the time until convergence.

  In the case of amax = 0.15 (degrees / second / second), vmax = 1.0 (degrees / second), Wn = 2, the lower limit value of the braking coefficient ξ according to the equation (40) is shown with respect to θc. This is shown in FIG. Since the decrease in v during the free operation period is small, it is assumed that v4 = v2 or v4 = vmax. Then, θc is calculated from v2 using equation (30).

  The operation will be described. A simulation result when the pointing direction command value θc is changed by 10 degrees stepwise is shown. Here, amax = 0.15 (degrees / second / second), vmax = 1.0 (degrees / second), and the parameters of the filter 17 are set as shown in FIGS. The operating speed of the antenna 1 is 1.0 (degrees / second), and the operating acceleration is 1.0 (degrees / second / second). Here, the simulation results are shown in the case of operating at 100% of the operating speed and 15% of the operating acceleration. The acceleration upper limit value amax is preferably set to be equal to or less than a predetermined value of about 20% or less with respect to the operational acceleration. Further, it is desirable that the speed upper limit value vmax is a predetermined value of, for example, about 90% or more of the operation speed.

  FIG. 13 is a block diagram illustrating a configuration in the master mode of the antenna directivity control apparatus according to the first embodiment. FIG. 13A shows the output φ, the antenna direction θM, and the collimator direction θK of the filter 17. FIG. 13 (b) shows an enlarged view of FIG. 13 (a) in a period in which it substantially converges to θc. FIG. 13C shows ΔK = θM−θk and θK−φ. In (a) and (b), the antenna direction θM is represented by a thick solid line, the collimator direction θK is represented by a thick dashed line, and the filter output value φ is represented by a thin solid line. In (c), θM−θk is represented by a thick solid line, and θK−φ is represented by a thick alternate long and short dash line.

  It can be seen from FIG. 13 that since the control is performed in the master mode, the pointing direction can be changed in an interlocked state in which there is almost no error between the antenna 1 and the collimator direction. Further, since the filter 17 is provided and the parameters are appropriately set, the overshoot of the antenna 1 is very small, less than 0.006 degrees. In the collimator direction θK, an overshoot of less than 0.002 degrees occurs only for about 0.3 seconds. Therefore, in the portion where θM-θk> 0, θM-θk represents an overshoot of θM.

  As a comparative example, a simulation result of the operation of a conventional antenna directivity direction control apparatus is shown. The conventional antenna has an operation speed of 0.5 (degrees / second) and an operation acceleration of 0.5 (degrees / second / second). FIG. 14 shows the simulation results when amax = 0.15 (degrees / second / second), Wn = 1.105, ξ = 0.64, and vmax = 0.30 (degrees / second). The simulation result when vmax = 0.50 (degrees / second) is shown in FIG. FIG. 14 shows a case where the speed is limited to 60% of the operation speed. FIG. 15 shows a case where 100% of the operation speed can be output. FIG. 14 is a diagram illustrating a simulation result of an example in the case where the conventional antenna directivity direction control apparatus as a comparative example changes the antenna directivity direction to a step shape. FIG. 15 is a diagram illustrating another example of simulation results.

  In FIG. 14, since the speed is limited to 60%, the difference between the antenna direction θM and the collimator direction θK is almost zero when moving at a constant speed. At convergence to θc, the collimator has an overshoot of less than 0.001 degrees, while the antenna has an overshoot of about 0.15 degrees.

  In FIG. 15, since the speed is 100%, the antenna is delayed by about 0.2 degrees with respect to the collimator. At convergence to θc, the collimator has an overshoot of less than 0.003 degrees, while the antenna has an overshoot of about 0.22 degrees.

  By operating in the master mode, even when the directivity direction of the antenna is changed at the operation speed, the difference in directivity direction between the antenna and the collimator can be suppressed within an allowable range. Even when the pointing direction command value θc changes stepwise, θc is input to the elevation angle driving device 2 and the azimuth angle driving device 3 via the filter 17, so that the acceleration and speed are limited and the pointing direction is limited. Can be changed. Since the acceleration is limited to a value as small as 15% of the operational acceleration, less force is required than when the acceleration limit value is increased, and the maximum power consumption in the elevation angle driving device 2 and the azimuth angle driving device 3 is reduced. it can.

  For example, when the directivity direction is greatly changed stepwise, the target tracked by the antenna device is changed. The ability to change the direction of direction at the operating speed will allow you to quickly start tracking new targets. When the target can be tracked, change to slave mode. Although it seems that there is no problem in operation even in the master mode, the slave mode is used from the past results. The master mode may be used also during target tracking.

  It is also possible to drive the antenna and the collimator independently of each other with respect to a command value that requires the maximum use of the operation speed. However, in independent drive, the antenna and collimator in master mode or slave mode are switched from linked to non-linked, so it takes time to link again, compared to using master mode. Inferior in operability.

  A conventional speed acceleration limiting filter switches between outputting a value via a filter based on a command value, speed and acceleration inside the filter, or outputting an input command value as it is. For example, when the command value speed is detected to be 0.5 (degrees / second) or more, or the acceleration in the filter is detected to 0.1 (degrees / second / second) or more, a value is output via the filter. Further, for example, when the in-filter speed is detected to be less than 0.04 (degrees / second) or the difference between the filter output and the command value is less than 0.005 (degrees), the input command value is output as it is. To do.

  In this embodiment, the filter 17 always outputs a value via the filter 17. The coefficient setting unit 40 included in the filter 17 determines the acceleration coefficient Wn and the braking coefficient in real time according to the change width when the command value changes stepwise, and according to the speed of the command value when the command value does not change stepwise. Set ξ. When a step-like change is detected, the coefficient value is not changed until the antenna direction θM is within a predetermined range including the command value after the change.

  An operation in which the coefficient setting unit 40 sets a coefficient will be described. FIG. 16 is a flowchart illustrating an operation in which a coefficient setting unit included in the antenna directivity control apparatus according to Embodiment 1 sets filter coefficients. The process shown in FIG. 16 is executed every time the coefficient setting unit 40 is activated with a period of Δt = 0.01 seconds.

The coefficient setting unit 40 has the following operation state.
Step: A state in which a change in the step-like command value that is larger than the threshold is detected.
Speed detection: A state in which a continuous change in command value is detected.
At rest: State where neither step nor speed is detected.

In order to explain the operation of the coefficient setting unit 40, the following variables are used. It also shows what was previously defined.
Δt: Step size.
θN: Directional direction command value θc acquired at the time of this startup.
θP: Directional direction command value θc acquired at the previous activation.
Δθc: Step angle. Δθc = θN−θP
Δθ0: Step angle used to determine the coefficient setting when the step is operating.
u: Speed of the pointing direction command value θc at the time of starting this time. u = Δθc / Δt
up: The speed at the time of the last activation.
θS: a threshold for determining step input (step detection threshold). For example, it is 0.01 degree.
θR: A threshold value for | θc−φ | for determining that the filter output value φ has converged to the pointing direction command value θc. For example, it is 0.01 degree.
vR: A threshold value for | v | for determining that the filter output value φ has converged to the pointing direction command value θc. For example, 0.001 (degrees / second) is set.

  In step S01, a directivity direction command value θc and a filter output value φ are acquired. In step S02, θP = θN, θN = obtained θc, up = u, Δθc = θN−θP, and u = Δθc / Δt are set.

  In step S03, it is checked whether Δθc = 0. The step angle Δθc is a command value change width that is a change in the pointing direction command value θc acquired at a determined period (ΔT).

  If Δθc = 0 is not satisfied (NO in S03), it is checked in step S04 whether the operating state is a step. If the operating state is not a step (NO in S04), it is checked in step S05 whether | Δθc |> θS. That is, it is checked whether the absolute value of the step angle Δθc is larger than the determined step detection threshold θS. If | Δθc |> θS (YES in S05), the operation state is set to a step in step S06. In step S07, notification is made to change the control mode to the master mode.

  If the operating state is a step (YES in S04), it is checked in step S08 whether | Δθc |> Δθ0. If | Δθc |> Δθ0 (YES in S08), Δθ0 = | Δθc | is set in step S09.

  After execution of S07 or S09, in step S10, the value corresponding to | Δθc | is set in the braking coefficient ξ and the acceleration coefficient Wn with reference to the step input coefficient table 41.

  When the operation state is a step and the step angle Δθc larger than the step detection threshold θS is detected, the step input is input again before the filter output value φ converges to the command value θc with respect to the step input. Means when This situation does not occur with normal control. Among the plurality of step inputs, the filter 17 is operated with the braking coefficient ξ and the acceleration coefficient Wn corresponding to the change width of the larger step input. When step input is detected in the step operation state, the braking coefficient ξ and the acceleration coefficient Wn may be determined in consideration of the antenna direction and the speed at that time.

  If | Δθc |> Δθ0 is not satisfied (NO in S08), the operation state is a step, so the processing is terminated so that the set braking coefficient ξ and acceleration coefficient Wn are maintained.

  If | Δθc |> θS is not satisfied (NO in S05), it is checked in step S11 whether up = 0. If up = 0 (YES in S11), it is a step input. In step S10, referring to the step input coefficient table 41, values corresponding to | Δθc | are set in the braking coefficient ξ and the acceleration coefficient Wn.

  If up = 0 is not satisfied (NO in S11), it is a continuous input. In step S12, referring to the continuous input coefficient table 42, values corresponding to | u | are set in the braking coefficient ξ and the acceleration coefficient Wn. In step S13, the operation state is set as speed detection.

  If Δθc = 0 (YES in S03), it is checked in step S14 whether the operation state is stationary. If it is not stationary (NO in S14), it is checked in step S15 whether the operating state is speed detection. If it is speed detection (YES in S15), the operation state is set to rest in step S16. If S16 is executed or if it is stationary (YES in S14), values corresponding to | Δθc | are set to the braking coefficient ξ and the acceleration coefficient Wn with reference to the step input coefficient table 41 in step S10. .

  If it is neither stationary nor speed detection (NO in S15), the operation state is a step. When the operation state is a step, the braking coefficient ξ and the acceleration coefficient Wn are held until the filter output value φ converges to the pointing direction command value θc. It is checked whether the filter output value φ has converged to the pointing direction command value θc. In step S17, it is checked whether or not | θc−φ | <θR. If | θc−φ | <θR (YES in S17), it is checked in S18 whether | v | <vR. If | v | <vR (YES in S18), it is determined that the filter output value φ has converged to the pointing direction command value θc. In step S19, the operation state is set to rest, and Δθc0 = 0. In step S20, notification is made to change the control mode to the slave mode.

  When | θc−φ | <θR is not satisfied (NO in S17) and | v | <vR is not satisfied (NO in S18), the filter output value φ does not converge to the directivity direction command value θc, and the operating state is changed. Leave as a step.

  S17 and S18 are conditions for determining whether or not the filter output value φ has converged to the pointing direction command value θc. That is, the absolute value | θc−φ | of the difference between the filter output value φ and the pointing direction command value θc is smaller than the convergence detection angle threshold θR, and the absolute value | v | of the velocity v of the filter output value φ is the convergence detection angle. If it is smaller than the threshold value vR, it is determined that the filter output value φ has converged to the pointing direction command value θc. It may be determined that the filter output value φ has converged to the directivity direction command value θc under other conditions. For example, if | θc−φ | <θR continues for a predetermined time or more, it may be determined that φ has converged to θc.

  In the flowchart shown in FIG. 16, the coefficient setting unit 40 determines whether it is necessary to switch between the master mode and the slave mode. The switching between the master mode and the slave mode may be determined outside the coefficient setting unit 40 and the fact that the switching to the slave mode is performed may be input to the coefficient setting unit 40. In that case, the filter output value φ may not be input to the coefficient setting unit 40. When the switching to the slave mode is notified, the coefficient setting unit 40 changes the operation state from the step to the stationary state.

  When the operation state of the filter 17 is speed detection, if the speed is 0.10 (degrees / second) or less, Wn = 10.01 and ξ = 0.099. When the speed is greater than 0.10 (degrees / second), Wn = 2 and ξ = 0.7. This is because the response of the filter 17 is increased when the speed is low, and the acceleration is not excessively increased when the speed is high.

  An operation when the operation state of the filter 17 is speed detection will be described by way of example. FIG. 17 is a diagram illustrating an example of a simulation result when the antenna directivity control apparatus according to Embodiment 1 changes the antenna directivity at a constant speed. FIG. 18 is a diagram illustrating another example of simulation results. FIG. 17 shows the case where the speed is 0.10 (degrees / second). FIG. 18 shows a case where the speed is 0.11 (degrees / second).

  FIG. 17A shows the pointing direction command value θc, the output φ of the filter 17, the antenna direction θM, and the collimator direction θK. θc is represented by a thin broken line, φ is represented by a thin solid line, θM is represented by a thick solid line, and θK is represented by a thick dashed line. FIG. 17B shows θc−φ and θc−θM. θc−φ is represented by a thin solid line, and θc−θM is represented by a thick solid line. In FIG. 17C, the speed of φ is indicated by a thin solid line, and the speed of θM is indicated by a thick solid line. In FIG. 17 (d), the acceleration of φ is indicated by a thin solid line, and the acceleration of θM is indicated by a thick solid line. The same applies to FIG.

  In FIG. 17, the maximum delay of θM with respect to φ is about 0.08 degree, and the delay is less than 0.02 degree in about 28 seconds. In FIG. 18, the maximum delay of θM with respect to φ is about 0.10 degree, and the delay is less than 0.02 degree in about 35 seconds. As can be seen from FIG. 17, when the speed of the pointing direction command value θc is small, the acceleration coefficient Wn is increased and the braking coefficient ξ is decreased, so that the response becomes faster.

  In FIG. 17 when the speed is 0.1 (degrees / second) or less, since Wn = 10.01 and ξ = 0.099, vibration components exist. Although the method of determining the braking coefficient and the acceleration coefficient cannot be theoretically analyzed when the vibration component exists, the response of the filter 17 is faster when the vibration component exists a little empirically. The braking coefficient and the acceleration coefficient are generated. As shown in FIGS. 17 (a) and 17 (b), overshoot, that is, the antenna direction θM does not increase beyond the allowable value beyond the pointing direction command value θc.

  In FIG. 17, when the speed is 0.1 (degrees / second), the acceleration of θM is about 0.18 (degrees / second / second). If Wn = 10.01 and ξ = 0.099 at 0.11 (degrees / second), the acceleration of θM exceeds 0.20 (degrees / second / second), which is not desirable. Therefore, Wn = 2 and ξ = 0.7 when the speed exceeds 0.10 (degrees / second). By doing so, as shown in FIG. 18 in the case of 0.11 (degree / second), the acceleration of θM can be reduced to about 0.15 (degree / second / second) or less.

  A speed acceleration limiting filter may not be provided. Similarly to the conventional case, the speed acceleration limiting filter may output the directivity direction command value as it is when it is determined to be included when no step input is detected.

  The speed acceleration limiting filter according to the present invention can be applied to a control device other than the antenna directivity direction control device. If the control device has a control target control unit that controls the control target by inputting the difference between the control target amount and the filter output so that the control target control amount follows the command value, any control is possible. Applicable to equipment. When the pointing direction control device is considered as a control device, the controlled object is the antenna, and the controlled amount is the pointing direction of the antenna. The control target control unit is a servo control device that controls the elevation angle driving device and the azimuth angle driving device.

In the speed acceleration limiting filter according to the present invention, a command value change width that is a change in command value acquired at a predetermined cycle is input, and the absolute value of the command value change width is larger than the determined step detection threshold. When detected, it has a coefficient setting unit that determines and sets the braking coefficient and the acceleration coefficient according to the command value change width. The speed acceleration limiting filter holds the braking coefficient and the acceleration coefficient that are set until the post-limit command value converges to the command value. By doing so, with respect to the command value changed in a step shape, it is possible to follow the command value by setting the amount that the controlled amount to be controlled exceeds the command value to an allowable value or less.
The above also applies to other embodiments.

Embodiment 2. FIG.
The second embodiment is a case where an antenna direction estimation value is obtained from an actual measurement value in the collimator direction. FIG. 19 is a block diagram illustrating the configuration of the antenna directivity control apparatus according to the second embodiment. FIG. 20 is a block diagram illustrating a configuration of the antenna pointing direction control apparatus according to Embodiment 2 in the master mode. The block diagram in the slave mode and independent drive is the same as that in the first embodiment.

  The directivity direction control device 9A does not have the subtracter 23. The subtracter 21 receives the measured angle θKD in the direction of the collimator. That is, the antenna direction estimation unit 14A sets the measured angle θKD in the directivity direction of the collimator as the antenna direction estimation value.

  In FIG. 20, the feedback loop in the collimator direction θK affects the feedback loop in the antenna direction θM. If the collimator direction θK quickly matches the antenna direction θM, a feedback loop that allows the antenna direction θM to follow the filter output value φ can be configured. If θK is late in coincidence with θM, φ−θKD is input to the servo control system of θM, and θM cannot follow φ. In order to make the antenna direction θM follow the filter output value φ, it is necessary to make the servo control system of the collimator 4 sufficiently wide and to make the collimator direction θK coincide with the antenna direction θM quickly.

  The present invention can be freely combined with each other, or can be modified or omitted within the spirit of the invention.

DESCRIPTION OF SYMBOLS 1 Antenna 2 Elevation angle drive device 3 Azimuth angle drive device 4 Collimator 5 Collimator drive device 6 Mirror 7 Light receiver 8 Optical error detection part 9 Directional direction control apparatus 10 Host apparatus 11 Collimator direction acquisition part 12 Antenna direction acquisition part 13 Optical error acquisition part 14 antenna direction estimation unit 15 collimator control unit 16 antenna control unit 17 speed acceleration limiting filter 18 subtractor 19 subtractor 20 control mode changeover switch 21 subtractor 22 subtractor 23 subtractor 24 control mode changeover switch 31 preprocessor 32 multiplier 33 Adder 34 Subtractor 35 Multiplier 36 Limiter 37 Integrator 38 Limiter 39 Integrator 40 Coefficient Setting Unit 41 Step Input Coefficient Table 42 Continuous Input Coefficient Table

Claims (22)

A collimator direction acquisition unit for acquiring an actual measurement value of a collimator direction which is a directivity direction of the collimator whose directing direction is changed by the collimator driving unit;
An optical error acquisition unit that acquires an optical error that is a difference between an antenna direction that is a directivity direction of an antenna whose direction is changed by an antenna driving device and the collimator direction;
An antenna direction estimation unit which receives an actual measurement value of the collimator direction and obtains an antenna direction estimation value which is an estimation value of the antenna direction;
In the master mode which is a control mode in which a directivity direction command value which is a command value of the antenna direction and the antenna direction estimation value are input and a difference between the directivity direction command value and the antenna direction estimation value is brought close to zero, An antenna control unit for controlling the driving device;
In the master mode, an antenna directivity direction control apparatus comprising: a collimator control unit that controls the collimator driving unit so that the optical error is input to be close to zero when the optical error is input.   The antenna directivity direction control apparatus according to claim 1, wherein the optical error is also input to the antenna direction estimation unit, and the antenna direction estimation value is obtained using the actually measured value of the collimator direction and the optical error. In the slave mode, which is a control mode in which the antenna control unit can be switched to the master mode, the optical error is input to control the antenna driving device so that the optical error approaches zero,
In the slave mode, the collimator control unit receives the pointing direction command value and the measured value in the collimator direction, and causes the antenna to approach the difference between the pointing direction command value and the measured value in the collimator direction to zero. The antenna directivity direction control device according to claim 1 or 2, which controls the driving device.   4. The apparatus according to claim 1, further comprising: a speed / acceleration limiting filter that receives the pointing direction command value and outputs a post-restricted command value that follows the pointing direction command value by limiting acceleration and speed. The antenna directivity direction control device according to Item. The speed acceleration limiting filter is
A speed consideration command value calculation unit for obtaining a speed consideration command value obtained by adding a value obtained by multiplying the speed of the pointing direction command value by a braking coefficient and the pointing direction command value;
A speed-considered post-restriction command value calculation unit for obtaining a post-restriction post-limitation command value obtained by adding a value obtained by multiplying the speed of the post-restriction command value by the braking coefficient and the post-restriction command value;
A follow-up error calculation unit for obtaining a follow-up error obtained by subtracting the speed-considered command value after the speed-consideration command value;
A follow-up acceleration calculator for calculating a follow-up acceleration obtained by multiplying the follow-up error by an acceleration coefficient;
A follow-up acceleration limiting unit that outputs a post-restricted follow-up acceleration in which the absolute value of the follow-up acceleration is limited to a predetermined acceleration upper limit value or less,
A follow-up speed calculation unit that obtains a follow-up speed by integrating the post-limitation follow-up acceleration,
A follow-up speed limiter that outputs a post-limitation follow-up speed in which the absolute value of the follow-up speed is limited to a predetermined speed upper limit value or less;
A post-limit command value calculation unit for integrating the post-limit tracking speed to obtain the post-limit command value;
The antenna directivity direction control apparatus according to claim 4, further comprising a coefficient setting unit that receives the directivity direction command value and determines the braking coefficient and the acceleration coefficient. The speed upper limit value is not less than a value determined for the maximum speed performance of the antenna driving device,
The antenna direction control apparatus according to claim 5, wherein the acceleration upper limit value is equal to or less than a value determined with respect to a maximum acceleration performance of the antenna driving apparatus. The coefficient setting unit receives a command value change width that is a change in the pointing direction command value acquired at a determined cycle, and the absolute value of the command value change width is larger than a determined step detection threshold. If detected, the braking coefficient and the acceleration coefficient are determined and set according to the command value change width,
The antenna directivity direction control according to claim 5 or 6, wherein the speed acceleration limiting filter holds the braking coefficient and the acceleration coefficient that are set until the post-limit command value converges to the directivity direction command value. apparatus.   The antenna directivity direction control apparatus according to claim 7, wherein the coefficient setting unit determines the braking coefficient and the acceleration coefficient so that an amount in which the antenna direction exceeds the directivity direction command value is equal to or less than an allowable value.   When the coefficient setting unit has an absolute value of a difference between the post-limit command value and the pointing direction command value smaller than a convergence detection angle threshold value, and an absolute value of the post-limitation tracking speed is equal to or less than the convergence detection angle threshold value. The antenna directivity direction control apparatus according to claim 7 or 8, wherein the post-limit command value is determined to have converged to the directivity direction command value.   The speed acceleration limiting filter outputs the directivity direction command value as it is when it is determined to be included when the absolute value of the command value change width is not detected to be larger than the step detection threshold. The antenna directivity direction control apparatus according to any one of claims 7 to 9.   The antenna directivity direction control device according to any one of claims 7 to 9, wherein the velocity acceleration limiting filter always operates.   When the coefficient setting unit does not detect that the absolute value of the command value change width is larger than the step detection threshold and continuously detects that the command value change width is not zero, the command value According to the change width, the acceleration coefficient does not increase with respect to the increase of the absolute value of the command value change width, and the acceleration coefficient does not increase with the increase of the absolute value of the command value change width. The antenna directivity direction control apparatus according to claim 11, wherein the antenna directivity direction control apparatus is determined to be   The coefficient setting unit does not detect that the absolute value of the command value change width is larger than the step detection threshold, the previous command value change width is zero, and the command value change width is not zero. When detecting this, the braking coefficient becomes non-decreasing with respect to an increase in the absolute value of the command value change width according to the command value change width, and an increase in the absolute value of the command value change width The antenna directivity direction control apparatus according to claim 11, wherein the acceleration coefficient is determined so as not to increase with respect to the antenna. A collimator capable of changing the direction of orientation;
A collimator driving unit for changing the directing direction of the collimator;
An optical error acquisition unit that acquires an optical error that is a difference between an antenna direction that is a directivity direction of the antenna whose directivity direction is changed by the antenna driving device and the collimator direction that is a directivity direction of the collimator;
A collimator direction acquisition unit that acquires an actual measurement value of the collimator direction, an optical error acquisition unit that acquires the optical error, and an antenna direction estimation value that is an estimation value of the antenna direction by inputting the actual measurement value of the collimator direction An antenna direction estimation unit, a master which is a control mode in which a directivity direction command value that is a command value of the antenna direction and the antenna direction estimation value are input and a difference between the directivity direction command value and the antenna direction estimation value is brought close to zero Direction control having an antenna control unit that controls the antenna driving device in mode, and a collimator control unit that controls the collimator driving unit so that the optical error is approached to zero when the optical error is input in the master mode The antenna directivity direction control system comprising the device. An antenna,
An antenna driving device that supports the antenna and changes the direction of the antenna;
A collimator capable of changing the direction of orientation;
A collimator driving unit for changing the directing direction of the collimator;
An optical error detector that detects an optical error that is a difference between the collimator direction that is the direction of the collimator and the antenna direction that is the direction of the antenna;
A collimator direction acquisition unit that acquires an actual measurement value of the collimator direction, an optical error acquisition unit that acquires the optical error, and an antenna direction estimation value that is an estimation value of the antenna direction by inputting the actual measurement value of the collimator direction An antenna direction estimation unit, a master which is a control mode in which a directivity direction command value that is a command value of the antenna direction and the antenna direction estimation value are input and a difference between the directivity direction command value and the antenna direction estimation value is brought close to zero Direction control having an antenna control unit that controls the antenna driving device in mode, and a collimator control unit that controls the collimator driving unit so that the optical error is approached to zero when the optical error is input in the master mode Antenna system with a device. A speed / acceleration limit filter that outputs a post-limit command value that limits the speed and acceleration when the command value is input,
A control target control unit that controls the control target by inputting a difference between the control target amount and the post-limit command value so that the control target controlled amount follows the post-limit command value;
The speed acceleration limiting filter is:
A speed-considered command value calculation unit for obtaining a speed-considered command value obtained by adding a value obtained by multiplying the speed of the command value by a braking coefficient and the command value;
A speed-considered post-restriction command value calculation unit for obtaining a post-restriction post-limitation command value obtained by adding a value obtained by multiplying the speed of the post-restriction command value by the braking coefficient and the post-restriction command value;
A follow-up error calculation unit for obtaining a follow-up error obtained by subtracting the speed-considered command value after the speed-consideration command value;
A follow-up acceleration calculator for calculating a follow-up acceleration obtained by multiplying the follow-up error by an acceleration coefficient;
A follow-up acceleration limiting unit that outputs a post-restricted follow-up acceleration in which the absolute value of the follow-up acceleration is limited to a predetermined acceleration upper limit value or less,
A follow-up speed calculation unit that obtains a follow-up speed by integrating the post-limitation follow-up acceleration,
A follow-up speed limiter that outputs a post-limitation follow-up speed in which the absolute value of the follow-up speed is limited to a predetermined speed upper limit value or less;
A post-limit command value calculation unit for integrating the post-limit tracking speed to obtain the post-limit command value;
The command value is input, and has a coefficient setting unit that determines the braking coefficient and the acceleration coefficient,
The coefficient setting unit detects that a command value change width, which is a change in the command value acquired at a determined cycle, is input, and detects that the absolute value of the command value change width is larger than a determined step detection threshold value. In this case, the braking coefficient and the acceleration coefficient are determined and set according to the command value change width,
The control device in which the speed acceleration limiting filter holds the braking coefficient and the acceleration coefficient that are set until the post-limit command value converges to the command value.   The control device according to claim 16, wherein the coefficient setting unit determines the braking coefficient and the acceleration coefficient so that an amount in which the controlled amount exceeds the command value is equal to or less than an allowable value.   When the coefficient setting unit has an absolute value of a difference between the post-limit command value and the command value smaller than a convergence detection angle threshold, and an absolute value of the post-limit tracking speed is equal to or less than the convergence detection angle threshold, The control device according to claim 16 or 17, wherein it is determined that the post-limit command value has converged to the command value.   The command value is output as it is when the speed acceleration limiting filter is determined to be included when the absolute value of the command value change width is not detected to be larger than the step detection threshold. The control device according to claim 18.   The control device according to any one of claims 16 to 18, wherein the speed acceleration limiting filter is always operated.   When the coefficient setting unit does not detect that the absolute value of the command value change width is larger than the step detection threshold and continuously detects that the command value change width is not zero, the command value In accordance with the change speed of the acceleration, the acceleration coefficient is not increased with respect to the increase of the absolute value of the command value change range, and the acceleration coefficient is not increased with the increase of the absolute value of the command value change width. 21. The control device according to claim 20, wherein the control device is determined as follows.   The coefficient setting unit does not detect that the absolute value of the command value change width is larger than the step detection threshold, the previous command value change width is zero, and the command value change width is not zero. When detecting this, the braking coefficient becomes non-decreasing with respect to an increase in the absolute value of the command value change width according to the command value change width, and an increase in the absolute value of the command value change width The control device according to claim 20, wherein the acceleration coefficient is determined to be non-increasing with respect to.

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