JPH028411Y2 - - Google Patents

Description

[Detailed description of the invention] <Industrial application field of the invention> The invention is a three-axis antenna that allows an antenna installed on a rocking body such as a ship to always point in the same direction regardless of rocking. It's about the mount.

<Prior art> For example, a satellite communication antenna installed on a rocking body such as a ship maintains the antenna always pointing in the direction of the satellite despite changes in attitude due to rocking such as rolling or pitching of the ship. It is necessary. In order to control the attitude so that the antenna always points toward the satellite regardless of the rocking of the rocking body, it is ideal to use a conventional four-axis antenna mount.

That is, this four-axis system is configured as shown in FIG. That is, for example, an The shaft 2 is rotatably attached via the X rotation shaft 2a.

At the top of this X axis 2, there is a Y rotation axis 3a that is parallel to the horizontal plane of the oscillator and perpendicular to the X rotation axis 2a.
A Y-axis 3 having a Y-axis is rotatably mounted via a Y-rotation shaft 3a.

A stabilizer 4 parallel to the horizontal plane of the oscillator is fixed above the Y-axis 3. The inclination of this stable base 4 in the X-axis direction (i.e., the inclination in the rotation angle direction of the Y rotation axis 3a) and the inclination in the Y-axis direction (i.e.,
An attitude sensor 5 that detects the inclination of the X rotation axis 2a in the rotation angle direction is fixed to the stable base 4.

An AZ axis 6 having an AZ rotation axis 6a perpendicular to the horizontal plane of the rocking body is rotatably attached to the upper part of the Y axis 3 via the AZ rotation axis 6a.

An EL shaft 7 having an EL rotation shaft 7a parallel to the horizontal plane of the oscillator is rotatably attached to the upper part of the AZ axis 6 via the EL rotation shaft 7a. An antenna 8 is fixed to the EL axis 7.

In the four-axis antenna mount having such a configuration, the X rotation axis 2a and the Y rotation axis 3a are rotated by a drive device (not shown) based on the output signal of the attitude sensor 5, and the ship is rotated. Since the stabilizer 4 can be kept horizontal regardless of the rocking of the ship, the antenna 8 is supported by the AZ axis 6 and EL axis 7 on the stabilizer 4, which is kept horizontal regardless of the ship's shaking. Therefore, the azimuth angle (AZ angle) and elevation angle (EL angle) should match the position of the satellite as seen from the ship.
If the AZ rotation axis 6a and the EL rotation axis 7a are each driven by a drive device (not shown), the antenna 8 can always be directed toward the satellite regardless of the rocking of the ship.

However, such a 4-axis antenna mount has a complicated structure, makes the entire device large, and is expensive. Therefore, a 3-axis antenna mount as shown in Figure 2, which has a much simpler structure, smaller size, and lower cost, is used. has been proposed (Special Publication No. 55-2762).

That is, in this method, an AZ rotation axis 12a having an AZ rotation axis 12a perpendicular to the horizontal plane of the rocking body is mounted on the top of a pedestal 11 fixed to the horizontal plane of the rocking body (for example, a ship).
The shaft 12 is rotatably mounted via the AZ rotation shaft 12a. A plane 12 parallel to the horizontal plane of the oscillating body provided above the rotation center of this AZ axis 12
An attitude sensor 13 is installed on the top b.

An X-axis 14 having an X-rotation axis 14a parallel to the horizontal plane of the oscillator is rotatably attached to the upper part of the AZ-axis 12 via the X-rotation axis 14a.

A Y-axis 15 having a Y-rotation axis 15a parallel to the horizontal plane of the oscillator and orthogonal to the X-rotation axis 14a is provided above the X-axis 14 and is rotatable via the Y-rotation axis 15a. Attach to. At the top of the Y-axis 15,
The antenna 16 is fixed.

In the conventional three-axis antenna mount shown in FIG. 2, the AZ rotation axis 12a is rotated and the
The direction of the rotation axis 14a is made to match the orientation of the satellite.
Then, the X rotation axis 14a is adjusted by an angle corresponding to the inclination (angle r) of the rotation direction of the X rotation axis 14a of the horizontal plane of the oscillator detected by the attitude sensor 13 installed on the plane 12b of the AZ axis 12. Rotate in the opposite direction,
Furthermore, by rotating the Y-axis rotation axis 15a in the opposite direction by an angle corresponding to the inclination (angle p) of the rotation direction of the Y-axis rotation axis 15a on the horizontal plane of the rocking body detected by the attitude sensor 13. The antenna 16 is then directed toward the satellite.

<Problems to be Solved by the Present Invention> However, in the conventional three-axis type antenna mount shown in FIG. The X rotation axis 14a and the Y rotation axis 14a and Y X rotation axis 14 output from the attitude sensor 13 for rotationally controlling the rotation axis 15a
Inclination angle r of rotation direction of a, output and Y rotation axis 1
The tilt angle p output in the rotation direction of 5a all contains large errors.

That is, when the attitude sensor 13 detects the inclination in the rotation direction of the X rotation axis 14a, since the attitude sensor 13 is always parallel to the horizontal plane of the oscillator, it detects not only the rotation direction of the X rotation axis 14a but also the Y rotation. Since it is also tilted in the rotating direction of the shaft 15a, a large error occurs in detecting the tilt in the rotating direction of the X rotating shaft 14a.

For the same reason, a large error occurs also in detecting the inclination of the Y rotation axis 15a in the rotation direction. The detection error due to the inclination in the directions perpendicular to each other increases as the inclination in the orthogonal directions increases. For example, if the inclination in the orthogonal directions is 30 degrees, the detection error reaches about 10%.

Therefore, the three-axis system shown in FIG. 2 has a problem in that when the vessel is shaken significantly, the direction control of the antenna becomes extremely inaccurate.

The object of the present invention is to solve these problems and provide an antenna mount that is compact, inexpensive, and of an axial type, and yet can accurately direct the antenna.

<Means for solving the above problems> In order to solve the above problems, in the three-axis antenna mount of the present invention, the AZ rotation axis 22a perpendicular to the horizontal plane of the oscillating body
and the AZ rotation axis 22 with respect to the rocking body.
an AZ axis 22 rotatably installed via a, and an X rotation axis 23 parallel to the horizontal plane of the oscillator.
a, and the AZ axis 22 has the X rotation axis 23a.
has an X-axis 23 rotatably attached via the oscillator, and a Y-rotation axis 26a that is parallel to the horizontal plane of the oscillator and perpendicular to the X-rotation axis 23a; A Y-axis 26 rotatably attached to the Y-axis 26a, an antenna 27 attached to the Y-axis 26, and an antenna 27 fixed to the X-axis 23 and connected to the X-axis 23a.
The tilt angle r of the rotation direction of the rotation direction and the tilt angle p of the rotation direction of the Y rotation axis 26a perpendicular to the X rotation axis 23a are detected respectively, and the X rotation axis tilt angle signal and the Y rotation are detected. an attitude sensor 25 that outputs an axis inclination angle signal, and an AZ rotation control signal for rotating the AZ axis 22 so that the axial direction of the X rotation axis 23a coincides with the azimuth of the target object; The attitude sensor 2
5, an X rotation control signal for rotating the X rotation axis 23a in the opposite direction by the tilt angle r; In response to the Y rotation axis tilt angle signal from the attitude sensor 25 in the zero state, the antenna 27 is rotated Y times in the opposite direction by the tilt angle p so that the antenna 27 is maintained at the elevation angle EL in the direction of the target. Moving shaft 26a
a control device 30 that outputs a Y rotation control signal for rotating the AZ axis drive device 31 that receives the AZ rotation control signal from the control device 30 and rotates the AZ rotation axis 22a; an X-axis drive device 32 that receives the X rotation control signal from the control device 30 and rotates the X rotation shaft 23a; and an X-axis drive device 32 that receives the Y rotation control signal from the control device 30 and rotates the A Y-axis drive device 33 that rotates the Y rotation shaft 26a is provided.

<Function> Because of this configuration, even if the horizontal plane of the rocking body is tilted in the rotation direction of the X rotation shaft 23a by the tilt angle r as shown in FIG. In order to rotate the rotation shaft 23a,
The attitude sensor 25 fixed to the position sensor 3 is kept horizontal with respect to the rotation direction of the X rotation axis. For this reason, the fifth
As shown in the figure, the Y rotation axis 2 is determined by the posture sensor 25.
6a, there is no inclination r in the rotation direction of the X rotation axis 23a as in the conventional example shown in FIG. , no error occurs at all.

<Embodiments of the present invention> Hereinafter, embodiments of the present invention will be described based on the drawings.

FIG. 3 shows an embodiment of a three-axis antenna mount for satellite communication installed on a rocking body such as a ship according to the present invention.

As shown in FIG. 3, reference numeral 21 is a pedestal fixed perpendicularly to the horizontal plane of a rocking body such as a ship.
The AZ axis 22 having the AZ rotation axis 22a is
It is rotatably attached via a rotation shaft 22a.

An X axis 23 having an X rotation axis 23a parallel to the horizontal plane of the oscillator is disposed above the AZ axis 22.
is rotatably attached via the X rotation shaft 23a.

On the X-axis 23, there is a flat plate 24 parallel to the horizontal plane of the oscillator.
is fixed.

A Y-axis 26 having a Y-rotation axis 26a parallel to the horizontal plane of the rocking body and perpendicular to the X-rotation axis 23a is disposed above the X-axis 23.
It is rotatably attached via 6a.

An antenna 27 is fixed above the Y-axis 26.

The X rotation axis 23a is attached to the flat plate 24 of the X axis 23.
and the tilt angle of the rotation direction of the Y rotation axis 26a perpendicular to the X rotation axis 23a are detected to generate an X rotation angle detection signal and a Y rotation angle detection signal. An attitude sensor 25 that outputs each
is fixed.

As shown in FIG. 6, the AZ-axis drive device 31, the X-axis drive device 32, and the Y-axis drive device 33, which respectively rotate the AZ rotation axis 22a, the X rotation axis 23a, and the Y rotation axis 26a, control Its operation is controlled by device 30.

The control device 30 controls the AZ so that the axial direction of the X rotation axis 23a matches the direction of the target object.
an AZ rotation control signal for rotating the shaft 22;
an X rotation control signal for receiving the X rotation axis inclination angle signal from the attitude sensor 25 and rotating the X rotation axis 23a in the opposite direction by the inclination angle r;
In response to the Y rotation axis tilt angle signal from the attitude sensor 25 when the X rotation axis tilt angle is zero, the antenna 27 adjusts the elevation angle in the direction of the target.
A Y rotation control signal is output for rotating the Y rotation shaft 26a in the opposite direction by the inclination angle p so that the Y rotation axis 26a is maintained at EL.

The AZ drive device 31 is controlled by the AZ rotation control signal from the control device 30 and rotates the AZ rotation axis 22.
a so that the AZ axis 22 coincides with the direction of the target object (satellite), and the X drive device 32 is controlled by the X rotation control signal to rotate the X rotation axis 23a.
is rotated in the opposite direction by the inclination angle r, and the Y drive device 33
is controlled by the Y rotation control signal, and the antenna 27 moves the Y rotation axis 26a to the elevation angle toward the target (satellite).
Rotate in the opposite direction by the inclination angle p so as to maintain EL.

Therefore, when the attitude sensor 25 detects the inclination angle r in the rotation direction of the X rotation axis 23a, the X axis drive device 32, which has received a control signal from the control device 30, controls the rotation of the X rotation axis 23a. Rotate the X rotation axis 2 so that the inclination in the direction of movement is zero, that is, by an angle r in the opposite direction.
3a is rotationally controlled. Therefore, the rocking body (ship)
is tilted in the direction of rotation of the X rotation axis 23a (that is, as shown in FIG.
Even if the flat plate 24 fixed to the X-axis 23 is tilted by an angle r in the direction of rotation of the X-axis 23a, as shown in FIG. It is maintained at zero.

Therefore, the X rotation axis 23a as shown in FIG.
When the inclination (angle p) in the rotation direction of the Y rotation axis 26a is further added to the inclination (angle r) in the rotation direction, the result is as shown in FIG. That is, as shown in FIG. 4, the inclination of the X rotation axis 23a in the rotation direction is zero, and the Y rotation axis 26a is tilted by an inclination angle p in the rotation direction.

Therefore, this Y rotation axis 2 by the attitude sensor 25
6a, the flat plate 24 on which the attitude sensor 25 is installed is aligned with the X rotation axis 23.
Since the inclination in the rotational direction of a is zero, there is no detection error caused by the inclination angle r in the rotational direction of the X rotational axis 23a as in the conventional case shown in FIG.

For this reason, the AZ axis 22 is rotated and the X rotation axis 23 is rotated.
a to the orientation of the satellite, the attitude sensor 25 detects the angle r, and the X rotation axis 23a is controlled to the correction angle -r, and the flat plate 24 is aligned with the X rotation axis 23a as shown in FIG. The tilt in the rotation direction is set to zero, the attitude sensor 25 detects the angle p in this state, and the Y-axis 26 is set at an angle (p+EL) so that the antenna 27 maintains the elevation angle EL toward the satellite. In other words, if the control angle of the X-axis = -r and the control angle of the Y-axis = p+EL, the antenna 27 will always be directed toward the satellite, regardless of the rocking due to rolling and pitching of the rocking body (ship). be able to.

<Effects of the present invention> As described above, the antenna mount of the present invention is constructed so that, although it is a small and inexpensive 3-axis system, it can control the direction of the antenna much more accurately than the conventional 3-axis system. realizable.

[Brief explanation of the drawing]

Fig. 1 is a schematic configuration diagram showing a conventional antenna mount, Fig. 2 is a perspective view showing another conventional antenna mount, Fig. 3 is a schematic configuration diagram showing an embodiment of the present invention, and Fig. 4 is a Figure 5 is an explanatory diagram of the operation when the rocking body is tilted in the rotational direction of the rotation axis.
The figure is a configuration diagram showing the configuration of a control system. 21... Frame, 22... AZ axis, 22a... AZ
Rotation axis, 23...X axis, 23a...X rotation axis, 2
4... Flat plate, 25... Attitude sensor, 26... Y
Axis, 26a... Y rotation axis, 27... Antenna, 3
0...control device, 31...AZ drive device, 32...
...X drive device, 33...Y drive device.

Claims (1)

[Claims for Utility Model Registration] An antenna mount for directing an antenna provided on a rocking body to the azimuth and elevation angle EL toward a target regardless of the rocking motion of the rocking body, the antenna being mounted on a horizontal plane of the rocking body. AZ rotation axis 22a perpendicular to
and the AZ rotation axis 22 with respect to the rocking body.
an AZ axis 22 rotatably installed via a, and an X rotation axis 23 parallel to the horizontal plane of the oscillator.
a, and the AZ axis 22 has the X rotation axis 23a.
has an X-axis 23 rotatably attached via the oscillator, and a Y-rotation axis 26a that is parallel to the horizontal plane of the oscillator and perpendicular to the X-rotation axis 23a; A Y-axis 26 rotatably attached to the Y-axis 26a, an antenna 27 attached to the Y-axis 26, and an antenna 27 fixed to the X-axis 23 and connected to the X-axis 23a.
The tilt angle r of the rotation direction of the rotation direction and the tilt angle p of the rotation direction of the Y rotation axis 26a perpendicular to the X rotation axis 23a are detected respectively, and the X rotation axis tilt angle signal and the Y rotation are detected. an attitude sensor 25 that outputs an axis inclination angle signal, and an AZ rotation control signal for rotating the AZ axis 22 so that the axial direction of the X rotation axis 23a coincides with the azimuth of the target object; The attitude sensor 2
5, an X rotation control signal for rotating the X rotation axis 23a in the opposite direction by the tilt angle r; In response to the Y rotation axis tilt angle signal from the attitude sensor 25 in the zero state, the antenna 27 is rotated Y times in the opposite direction by the tilt angle p so that the antenna 27 is maintained at the elevation angle EL in the direction of the target. Moving shaft 26a
a control device 30 that outputs a Y rotation control signal for rotating the AZ axis drive device 31 that receives the AZ rotation control signal from the control device 30 and rotates the AZ rotation axis 22a; an X-axis drive device 32 that receives the X rotation control signal from the control device 30 and rotates the X rotation shaft 23a; and an X-axis drive device 32 that receives the Y rotation control signal from the control device 30 and rotates the An antenna mount including a Y-axis drive device 33 that rotates a Y-axis rotation axis 26a.