JPH04299712A - Driving direction deciding system - Google Patents

Abstract

PURPOSE:To attain the coincidence between the relationship between the present and instructed azimuths and the driving direction with no special setting operation by changing the drive limiting point up to the zero degree of coordinates. CONSTITUTION:A negative side driving limit point A of an antenna is turned up to a discontinuous point (zero degree) of coordinates. This rotation angle is defined as theta together with the polarity as positive side since the point A is turned in a positive direction. Then a positive side driving limit point B, the present azimuth Rn, and an instructed azimuth Rc are turned by +theta. Therefore the angles Rn and Rc are compared with each other for deciding the driving direction by using the angles of ROT(Rn)=Rn+theta and ROT(Rc)=Rc+theta. In such conditions, the negative and positive sides driving limit points ROT(A) and ROT(B) are set at O and (B+theta) respectively. Then the driving direction is decided based on the relationship between ROT(Rn) and ROT(Rc). Thus it is possible to eliminate the discontinuous points out of a driving range. The same effect is also secured when the point B is turned up to a discontinuous point.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for determining a drive direction, and more particularly to determining a drive direction in an azimuth position control system for a rotating part such as an antenna that has a drive limit.

0002

2. Description of the Related Art In a conventional azimuth angle position control system, the driving direction is determined by comparing the current angle Rn and the command angle Rc in magnitude, as shown in FIG. In other words, drive in the negative direction, Rn<R
In the case of c, the drive is made in the positive direction.

However, with this method, if there is a discontinuous point of coordinates (zero degrees, 360 degrees) within the drive range, an erroneous judgment may be made as shown in FIG. 3. Therefore, it is necessary to check in advance whether or not there is a discontinuous point within the drive range, and if a discontinuous point exists, a different process from the above must be performed. An example of this processing is shown in FIG. This takes advantage of the fact that the relationship in the driving direction does not change unless the relative angular relationship between Rn and Rc changes, and rotates the coordinates so that the discontinuity point (zero degree) is outside the driving range, and similarly, Rn and Rc. Discontinuities in calculations are avoided by rotating by the same amount.

0004

[Problems to be Solved by the Invention] In the conventional drive direction determination method, it is necessary to investigate whether a discontinuous point exists within the drive range, and if a discontinuous point exists, the rotation of the coordinates is must be carried out. At that time, it is necessary to check how many times the discontinuity point should be moved out of the driving range, which is troublesome. Further, if the discontinuity point does not exist within the drive range, rotation is not allowed, so it is necessary to select whether or not to rotate. As described above, the conventional method has a problem in that it requires careful investigation settings regarding discontinuous points.

[0005]

[Means for Solving the Problems] The drive direction determination method of the present invention provides an absolute azimuth coordinate of a negative drive limit point indicated by an absolute azimuth in an azimuth position control system of a rotating part having a drive limit. Find the rotation angle to the discontinuity point,
The current azimuth and commanded azimuth indicated by the absolute azimuth of the rotating part are rotated by the same angle in the same direction as the rotation angle to obtain the current azimuth and commanded azimuth after coordinate rotation, respectively, and after this coordinate rotation a first configuration comprising means for determining the driving direction of the rotating part by comparing the magnitude relationship between the current azimuth angle and the commanded azimuth angle after coordinate rotation, or a positive drive limit point indicated by an absolute directional angle; After the coordinate rotation, the current azimuth and commanded azimuth indicated by the absolute azimuth of the rotating part are rotated by the same angle in the same direction as the rotation angle. a second azimuth having a means for determining a driving direction of the rotating portion by determining a current azimuth angle and a commanded azimuth angle, respectively, and comparing the magnitude relationship between the current azimuth angle after the coordinate rotation and the commanded azimuth angle after the coordinate rotation; It has the following structure.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the present invention will be explained with reference to the drawings.

FIG. 1 is a diagram for explaining one embodiment of the present invention. Although not shown, the azimuth position control system of this embodiment is a system that controls the azimuth of an antenna that rotates with a drive limit, and is set in advance on the minus side and plus side of the antenna. means for storing the absolute azimuth of the side drive limit point; means for detecting the current azimuth (absolute azimuth) at which the antenna is currently oriented; and means for receiving a command azimuth (absolute azimuth) at which the antenna should be oriented. means for calculating the angular difference between the minus side or plus side drive limit point of the antenna and the coordinate discontinuity point of the absolute azimuth angle, and rotating the current azimuth angle and commanded azimuth angle of the antenna in accordance with this angular difference. and a means for calculating the converted current azimuth and commanded azimuth, and means for comparing the magnitude of the converted current azimuth and commanded azimuth to determine the driving direction of the antenna.

In FIG. 1A, the minus side drive limit point (point A) of the antenna is rotated to a discontinuous point (0 degrees, 360 degrees). This rotation angle is set as θ, and the polarity is set as '+' since it rotated in the positive direction. The plus side drive limit point (point B), the current azimuth (point Rn), and the commanded azimuth (point Rc).
+θ' rotation. Therefore, Rn, R for determining the driving direction.
To compare the size of c, ROT(Rn)=Rn+θ, ROT(R
c) using an angle of Rc+θ (FIG. 1(B)). At this time, the minus side drive limit point ROT(A) is 0 degrees, and the plus side drive limit point ROT(B) is B+θ. As an example, let's substitute the angle for each variable. A=190 degrees, B=17
If 0 degrees, Rn=350 degrees, Rc=10 degrees, θ=3
Since it is 60-A, θ=170 degrees. This allows R.O.T.
(B) = 170 degrees + 170 degrees, ROT (Rn) = 350
degree + 170 degrees, ROT (Rc) = 10 degrees + 170 degrees. Azimuth is in 360 decimal system, so if the calculation result exceeds 360, subtract 360 from the calculation result and get ROT (
B) = 340 degrees, ROT (Rn) = 160 degrees, ROT (
Rc)=180 degrees. Therefore, ROT(Rn)<RO
Since T(Rc), the antenna is driven in the positive direction.

[0009] When comparing the magnitudes of Rn and Rc using the conventional method in the above example, Rn (350 degrees) > Rc (10 degrees), so the motor is driven in the negative direction and reaches the negative drive limit point A. Therefore, coordinate rotation instructions must be given externally. On the other hand, the driving direction determination method of the present invention rotates the negative limit point A of the driving range to a discontinuous point, and similarly, the current azimuth Rn and the commanded azimuth Rc
The point of discontinuity is pushed out of the driving range by rotating the motor. By using this method, the discontinuity point always becomes the minus side drive limit point, so there is no need to take conventional considerations regarding the position of the discontinuity point (zero degree) in the absolute azimuth. The reason why the discontinuity point is set as the negative limit point is that in position control systems, the negative and positive drive limit points are usually set in absolute azimuth so that command angles outside the drive range are not accepted. This is because, if you quote this setting value, no special settings are required.

[0010] Also, when the plus side limit point B is rotated to a discontinuous point and the current azimuth Rn and commanded azimuth Rc are similarly rotated, the discontinuous point is driven out of the driving range in the same way as above, The driving method can be determined without the need for special settings.

[0011]

[Effects of the Invention] As explained above, the present invention can determine any angular position without having to make a different driving direction determination for each case of the angular positional relationship between the current azimuth, the commanded azimuth, and the driving limit point. Regardless of the relationship, the driving direction can be accurately determined using the same procedure.

[Brief explanation of drawings]

FIG. 1 is a diagram for explaining one embodiment of the present invention,
The figure (A) shows the actual absolute angle, and the figure (B) shows the coordinates rotated according to the present invention.

FIG. 2 is an explanatory diagram of driving directions.

FIG. 3 is a diagram illustrating an example of a positional relationship that would result in an incorrect direction determination using a conventional method.

FIG. 4 is a diagram showing an example of avoiding erroneous determination of the driving direction due to the presence of discontinuous points using the conventional method, in which (A) shows the actual absolute angle, and (B) the conventional method. The coordinates are rotated by

[Explanation of symbols] A Negative drive limit point B Positive side drive limit point Rn Current azimuth Rc Command azimuth θ Coordinate rotation angle

Claims (2)

[Claims] Claim 1. In a position control system for the azimuth angle of a rotating part having a drive limit, the rotation angle from a negative drive limit point indicated by an absolute azimuth to a coordinate discontinuity point in the absolute azimuth angle is determined; Rotate the current azimuth and commanded azimuth indicated by the absolute azimuth angle of A driving direction determining method, comprising means for determining the driving direction of the rotating portion by comparing the magnitude relationship between the angle and the commanded azimuth angle after coordinate rotation. 2. In a position control system for the azimuth angle of a rotating part having a drive limit, the rotation angle to the coordinate discontinuity point of the absolute azimuth angle of the positive drive limit point indicated by the absolute azimuth angle is determined, and the rotation angle is Rotate the current azimuth and commanded azimuth indicated by the absolute azimuth angle of A driving direction determining method, comprising means for determining the driving direction of the rotating portion by comparing the magnitude relationship between the angle and the commanded azimuth angle after coordinate rotation.