JPH11154817A - Antenna controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an antenna controller that provides a correct elevator angle, even if the occurrence of ground subsidence due to a changes with time, eliminates hunting due to a time delay in the control and provides the control with fast response. SOLUTION: In the configuration of the controller that controls a turning shaft to turn an antenna in an azimuth angle direction and also controls the antenna also in its elevation angle direction, the controller is provided with an elevation angle nonlinear amplifier circuit 29 that obtains elevation angle data and sets and outputs a function using the angle data and a current elevation angle velocity as variables, and the antenna is driven in the azimuth angle direction while controlling the elevation angle with an output of the elevation angle nonlinear amplifier circuit 29. Furthermore, data detected by a tilt angle detector 21 mounted on a place equivalent to a plane of the antenna crossing with a drive shaft in the azimuth direction are adopted for the elevation angle data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an antenna attitude control device for rotating an antenna of a three-dimensional radar on the same plane.

[0002]

2. Description of the Related Art FIG. 10 is a diagram showing a configuration of a three-dimensional antenna control apparatus for a ground station as a first conventional example. In the figure, 1 is an antenna reflecting mirror, 2 is a supporting axis of the antenna reflecting mirror 1,
Reference numeral 3 denotes an elevation rotation motor for changing the inclination of the support shaft 2,
Is an elevation angle detector of the support shaft 2, 5 is an azimuth rotation axis of the antenna reflector 1, 6 is an azimuth rotation motor for rotating the azimuth rotation axis 5, 7 is an azimuth rotation axis azimuth detector, and 8 is an antenna mount. ,
9 is an inclined antenna installation surface, 10 is a jack for adjusting the antenna mounting base 8 to be horizontal with respect to the inclined installation surface 9, and 11 is a difference between an elevation command and an elevation signal obtained from the elevation detector 4. A comparison operation circuit (elevation angle), 12 is a drive control circuit that outputs a drive signal of the elevation rotation motor 3 based on the difference detected by the comparison operation circuit (elevation angle) 11;
13 is a speed calculation circuit for converting the azimuth information obtained from the azimuth detector 7 into a rotation speed, 14 is a comparison operation circuit (azimuth) for detecting a difference between the rotation speed command and the rotation speed signal obtained from the speed calculation circuit 13, 15 is a comparison operation circuit (azimuth) 1
4 is a drive control circuit that outputs a drive signal for the azimuth axis rotation motor 6 based on the difference detected in 4.

Next, the operation will be described. In FIG. 10, the difference between the elevation command and the elevation of the support shaft 2 obtained from the elevation detector 4 is detected by the comparison operation circuit (elevation angle) 11.
The drive control circuit (elevation angle) 12 outputs a drive signal to the elevation rotation motor 3 based on the detected difference. The elevation rotation motor 3 rotates the support shaft 2 based on the drive signal, performs feedback control to the elevation angle of the elevation angle command, and holds it. on the other hand,
The speed calculation circuit 13 calculates the speed from the azimuth information of the azimuth detector 7, and the difference between the calculated speed information and the rotation speed command is detected by the comparison operation circuit (azimuth) 14. The drive control circuit (azimuth) 15 outputs a drive signal to the azimuth axis rotation motor 6 based on the detected difference. The azimuth axis rotation motor 6 feedback-controls the rotation speed of the azimuth rotation shaft 5 to the speed specified by the rotation speed command based on the drive signal and holds the rotation speed.
Also, the jack 10 is adjusted so that the antenna mounting base 8 is horizontal. As a result, the azimuth rotation axis 5 becomes vertical, the elevation angle of the rotating antenna is kept constant, and the search at the same height can be performed over the entire circumference.

FIG. 11 shows a second conventional example of Japanese Unexamined Patent Publication No.
1 is a configuration diagram illustrating a conventional antenna control device disclosed in Japanese Patent No. 65030. In FIG. 10, reference numeral 17 denotes an antenna driving mechanism mounted on a moving body, 18 denotes an antenna driving angle detector for detecting an antenna driving angle, 19 denotes a GPS receiver, 2
0 is an azimuth detector for detecting the azimuth of the moving object, 21 is an inclination angle detector for detecting the inclination angle data of the moving object, and 23 is G
Position information and azimuth detector 20 obtained from PS receiver 19
Moving object data calculation circuit for calculating data of the moving object from the azimuth information obtained from the azimuth information and the inclination angle information obtained from the inclination angle detector 21; 25, a ROM for storing the position of an object to be pointed; A comparison arithmetic circuit for comparing the antenna current position and the reference plane inclination angle output from the moving body data arithmetic circuit 23 with the target position data output from the ROM 5 and the selector 6; An automatic tracking control circuit that outputs a signal for driving the antenna driving mechanism 17 based on the target tilt angle output from the arithmetic circuit 11a.

Next, the operation will be described. In FIG. 11, GP
The moving body data calculation circuit 23 calculates data of the moving body from the position information obtained from the S receiver 19, the azimuth information obtained from the position detector 20, and the inclination angle information obtained from the inclination angle detector 21. On the other hand, the position information of the pointing target is output by the ROM 25 that stores the position of the pointing target and the selector 6 that selects data, and the antenna current position and the reference plane inclination output from the moving object data calculation circuit 23 are output. The angle and the angle are compared and calculated in a comparison operation circuit 11a.
An automatic tracking control circuit 27 that outputs a signal for driving the antenna driving mechanism 17 based on the relative inclination angle output as a result of the comparison operation controls the antenna to point in a specific direction.

Generally, when controlling the rotation angle of an antenna, control is performed such that a circle drawn by the antenna becomes a horizontal plane in space. When the elevation angle α is controlled while changing the azimuth angle, the control system responds as described by the second-order nonlinear ordinary differential equation because the mass of the antenna driving mechanism is large and the control time delay τ. When the elevation angle α is changed depending on the value of the azimuth angle, the delay time τ and the inertia of the mass contribute to the designated angle α _{c as} α _r . Increasing the gain of the foot-back to improve the responsiveness, the step correspondence α _r for the step change input of α _c
Goes too far and settles to α _c while hunting. However, when the mass is large and the azimuth is given at a high speed, that is, when the azimuth is rotated at a high speed, the amount of overshoot increases and stable control may not be performed. In the second conventional example, the ROM 25, which is simply angle instruction data, and the local data by the GPS receiver 19, the azimuth data by the azimuth detector 20, and the tilt angle data by the tilt angle detector 21 as feedback data, which are actually measured data, The output of the comparison operation circuit 11a, which is the difference between the three sums, is controlled to be 0, that is, the relative inclination angle is controlled to be 0, and hunting that occurs when the response is increased is not considered.

[0007]

Since the conventional antenna control device is configured as described above, one of the large antenna control devices does not change the elevation angle due to the deterioration of the ground due to the aging change after installation. The second problem is that if the azimuth is rotated while changing the elevation angle, hunting is eliminated and the control is performed stably, resulting in poor responsiveness and lack of precision in elevation angle control. there were.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has as its object to provide a stable antenna control apparatus which corrects a change in elevation in an azimuth direction.

[0009]

An antenna control device according to the present invention controls an axis of rotation of an antenna in an azimuth direction, and also controls an elevation direction. An elevation angle non-linear amplifier circuit is provided for setting and outputting a functional relationship with the data and the current (elevation angle) speed as variables, and the azimuth drive is performed while controlling the elevation angle with the output of the elevation angle non-linear amplifier circuit.

Further, as the elevation angle data, data detected by an inclination angle detector mounted on a plane corresponding to a plane intersecting with the azimuth direction drive axis of the antenna is used.

Furthermore, the azimuth angle data includes an azimuth non-linear amplification circuit for setting and outputting a functional relationship using the angle data and the current (azimuth) speed as variables.
The azimuth driving is performed while controlling the azimuth with the output of the azimuth non-linear amplifier circuit.

Still further, the elevation angle data includes a gyro signal detected by a gyro attached to the antenna driving shaft,
I got it with the elevation drive command.

Further, the azimuth drive rotary shaft has an annular structure to eliminate the limit range of the elevation angle.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 Hereinafter, an antenna control apparatus according to Embodiment 1 of the present invention will be described with reference to FIGS. In FIG. 1, reference numeral 1 denotes an antenna reflecting mirror, 2 denotes a support shaft of the antenna reflecting mirror 1, 3 denotes an elevation rotation motor for changing the inclination of the support shaft 2, 4 denotes an elevation detector of the support shaft 2, 5
Is an azimuth rotation axis of the antenna reflecting mirror 1, 6 is an azimuth rotation motor for rotating the azimuth rotation axis 5, 7 is an azimuth rotation axis azimuth detector, 8 is an inclined antenna mount, and 21 is an inclined mount. An inclination angle detector 11b for detecting the inclination obtains the elevation angle instruction data set for the antenna azimuth obtained by the azimuth detector 7, and the inclination angle of the rotation axis by the inclination angle detector 21 and the antenna azimuth. A comparison operation circuit for obtaining a substantial elevation angle by correcting the output of the elevation angle detector 4 and detecting a difference from the substantial elevation angle.
an elevation non-linear amplifier circuit for amplifying the difference detected in b in accordance with the driving characteristic; and a drive control circuit (elevation angle) 12 for outputting a drive signal for the elevation rotation motor 3 based on a signal output from the elevation non-linear amplifier circuit. ), 13 is a speed calculation circuit for converting azimuth information obtained from the azimuth detector 7 into a rotation speed, and 14 is a comparison operation circuit (azimuth) for detecting a difference between a rotation speed command and a rotation speed signal obtained from the speed calculation circuit 13. ) And 15 are drive control circuits that output drive signals for the azimuth axis rotation motor 6 based on the difference detected by the comparison operation circuit (azimuth) 14.

FIG. 2 is a detailed block diagram of the elevation angle non-linear amplifier circuit 29 which is a main element of the present invention. In the figure, 41 is a time delay element that outputs the same value after a set time with an angle difference as an input, 42 is a clock generating means, 43 is a current angle which is a feedback amount of the antenna driving system as an output of the comparison operation circuit 11b, and This is a change speed calculation circuit that receives a current angle difference of the elevation angle, which is a difference from the elevation command data, and a past angle difference, which is the output of the time delay element 41, and calculates a change speed of the elevation angle. Reference numeral 44 denotes a function circuit which receives as input the change rate of the elevation angle and the current angle difference of the elevation angle, which are the outputs of the change rate calculation circuit 43, and sets a functional relationship for these input variables based on experimental values and the like. Reference numeral 40 denotes a change speed calculating circuit 4
Digital Signa consisting of a digital signal 3 and a function circuit 44
l Processor (DSP). This function type setting takes into account the mass of the antenna and the antenna control system and the substantial delay time of the control response, and outputs the control amount determined by the response characteristics of the actual system from the current angle change speed and angle difference. To do so. This means that the deviation is simply set to 0 as in the conventional example.
This is equivalent to performing predictive control based on the characteristics of an actual system obtained in advance through experiments or the like, instead of outputting the output. For example, when the current angle difference is a value close to 0, the setting of the function form is set so as to output a drive circuit control signal that causes reverse rotation in consideration of response delay or inertia.

Next, the operation will be described. The speed calculation circuit 13 calculates the speed from the azimuth information of the azimuth detector 7, and the difference between the calculated speed information and the rotation speed command is detected by the comparison operation circuit (azimuth) 14. The drive control circuit (azimuth) 15 outputs a drive signal to the azimuth axis rotation motor 6 based on the detected difference. The azimuth axis rotation motor 6 feedback-controls the rotation speed of the azimuth rotation shaft 5 to the speed specified by the rotation speed command based on the drive signal and holds the rotation speed. On the other hand, the tilt information of the antenna mounting base 8 detected by the tilt angle detector 21, the elevation command data obtained corresponding to the azimuth axis 5, and the azimuth rotation axis 5 of the support shaft 2 obtained from the elevation detector 4.
Inputting the difference from the relative elevation angle with respect to
At b, the current angle difference (elevation angle) is detected. In order to stably control the azimuth axis drive of the antenna, the difference signal output from the comparison operation circuit 11b is converted into a signal corresponding to the characteristic of the elevation rotation drive by the elevation non-linear amplification circuit 29 which is a main element of the present invention. Then, the elevation rotation motor 3 is driven by the drive signal output from the drive control circuit (elevation angle) 12. In the non-linear amplification, the output is set by measuring the response characteristics of the real system in advance, and the control is performed based on the characteristics of the real system. Rotate the controlled elevation angle while keeping it stable without hunting.

In the apparatus having the above-described structure, the inclination angle detector 21 is provided for detecting the inclination angle of the antenna mounting base 8. However, if the time-dependent change such as the subsidence of the ground is gentle, FIG. May be replaced with a mountable inclination information memory (ROM) 30 which can be converted, which is economically effective.

In the apparatus having the above-described structure, the rotation of the azimuth rotation shaft 5 is controlled by the speed calculation circuit 13, the comparison operation circuit 14, and the drive control circuit (azimuth) 15. However, as shown in FIG. The circuit 13, the comparison operation circuit (azimuth) 14, the wind direction / wind speed measuring device 31, the correction circuit 32, and the drive control circuit (azimuth) 15 may be configured to prevent the azimuth rotation speed from changing due to the wind. This makes it possible to keep the azimuth rotation speed constant. Azimuth change is constant,
Therefore, the elevation angle control with respect to the elevation angle that changes based on this becomes easy.

In the apparatus having the configuration shown in FIG. 1, the elevation angle of the support shaft 2 is controlled by the tilt angle detector 21, the comparison operation circuit 11b,
Elevation angle nonlinear amplification circuit 29, drive control circuit (elevation angle) 12,
Although it was composed of the elevation rotation motor 3, the elevation detector 4, and the azimuth detector 7, as shown in FIG. 5, the inclination angle detector 21, the shaft deflection correction circuit 33, the comparison operation circuit 11b, the elevation non-linear amplification circuit 29, A drive control circuit (elevation angle) 12, an elevation angle rotation motor 3, an elevation angle detector 4, and an azimuth detector 7 may be used. This makes it possible to correct an elevation angle setting error caused by the deflection of the azimuth rotation axis. The elevation angle of the antenna can be made closer to the elevation command.

Embodiment 2 In the first embodiment, a case has been described in which nonlinear amplification is performed with respect to the elevation angle drive control. In the present embodiment, a case where nonlinear amplification is applied to azimuth drive control will be described. FIG. 6 is a diagram showing a device configuration according to the present embodiment. In FIG. 6, reference numeral 29b has the configuration shown in FIG.

The operation of the apparatus having the configuration shown in FIG. 6 will be described.
The elevation drive control is the same as in the first embodiment. In the azimuth drive control, the azimuth detection signal from the azimuth detector 7 is input to the comparison operation circuit 11c and also to the azimuth nonlinear amplifier 29b as current azimuth data. The comparison operation circuit 11c outputs an azimuth difference signal as a difference between the azimuth angle detection signal and the azimuth angle instruction data to the azimuth non-linear amplification circuit 29b. The azimuth nonlinear amplifier 29b includes a DSP therein, and the function circuit 44 is set based on the control delay and inertia of the azimuth drive system. Therefore, based on the azimuth angle detection signal as the current azimuth angle data and the output of the comparison operation circuit 11c as the current angle difference, the azimuth drive signal that predicts delay and inertia is output. In this manner, a stable rotation drive without hunting can be performed even in the azimuth driving, and the azimuth input becomes closer to the setting state of the function circuit 44 provided for the elevation stabilization driving. Therefore, a larger variation in the elevation angle due to the azimuth drive variation can be suppressed.

Embodiment 3 FIG. In each of the above embodiments,
The elevation angle of the support shaft 2 is controlled by the inclination angle detector 21, the comparison operation circuit 11b, the elevation non-linear amplifier circuit 29, the drive control circuit (elevation angle) 12, the elevation rotation motor 3, the elevation angle detector 4, and the azimuth detector 7. However, as shown in FIG. 7, the gyro 34, the gyro signal conversion circuit 35, the comparison operation circuit 11
b, elevation angle nonlinear amplification circuit 29, drive control circuit (elevation angle) 1
2. The gyro 34 may be constituted by the elevation rotation motor 3 and the azimuth detector 7, and the gyro 34 is installed at the root of the antenna reflecting mirror 1, so that the deflection amount caused by the inclination of the azimuth rotation shaft 5 ( The elevation angle control of the antenna with corrected inclination angle is increased. That is, the azimuth rotation axis 5 generates a deflection due to the weight of the reflecting mirror due to the tilt of the axis, but the gyro 34 detects and outputs the tilt angle including the deflection amount, so that the correction can be performed.

In each of the above embodiments, the linear azimuth rotation shaft 5 and the support shaft 2 are provided. However, as shown in FIG. 8, the bent azimuth rotation shaft 5 and the branched support shaft 2a are provided. Is also good. That is, a counterweight is provided at the other end of the pointing shaft 2 in order to balance the weight of the antenna reflector, but the escape portion can be realized by a branching structure in order to extend the movable range of the elevation angle. When the possible range angle of the support shaft 2a with respect to the azimuth rotation shaft 5 is limited by the structure, the range in which the absolute elevation angle can be indicated is narrower by 2θ with respect to the inclination angle θ of the antenna mount 8. The configuration makes it possible to widen the elevation range.

In each of the above embodiments, the linear azimuth rotation axis 5 is provided, but an annular azimuth rotation axis 5b through which the antenna reflector 1 can pass as shown in FIG. 9 may be provided. Thereby, it is possible to eliminate the limitation of the movable range of the elevation angle.

[0025]

As described above, according to the present invention, elevation drive control is performed using a functional relationship in which a stable control range is set from speed and angle by obtaining elevation data, so that azimuth drive control is performed. However, there is an effect that stable elevation drive control can be performed.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an antenna control device according to Embodiment 1 of the present invention.

FIG. 2 is a diagram illustrating a configuration of a nonlinear amplifier circuit according to the first embodiment.

FIG. 3 is a diagram showing a configuration of another antenna control device according to the first embodiment.

FIG. 4 is a diagram showing a configuration of another antenna control device according to the first embodiment.

FIG. 5 is a diagram showing a configuration of another antenna control device according to the first embodiment.

FIG. 6 is a diagram illustrating a configuration of an antenna control device according to a second embodiment of the present invention.

FIG. 7 is a diagram showing a configuration of an antenna control device according to Embodiment 3 of the present invention.

FIG. 8 is a diagram showing a configuration of another antenna control device according to the third embodiment.

FIG. 9 is a diagram showing a configuration of another antenna control device according to the third embodiment.

FIG. 10 is a diagram showing a configuration of an antenna control device of a first conventional example.

FIG. 11 is a diagram showing a configuration of an antenna control device of a second conventional example.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Antenna reflector, 2 support axis, 3 elevation rotation motor, 4 elevation angle detector, 5 azimuth rotation axis, 6 azimuth rotation axis motor, 7 azimuth detector, 8 antenna mount, 9 installation surface, 10 jack, 11b , 11c comparison operation circuit,
12 drive control circuit (elevation angle), 13 speed calculation circuit, 1
4 comparison operation circuit (azimuth), 15 drive control circuit (azimuth), 16 communication device, 17 antenna driving mechanism, 18
Antenna drive angle detector, 19 GPS receiver, 20
Moving body direction detector, 21 tilt angle detector, 22 antenna tracking circuit, 23 moving body data calculation circuit, 25 R
OM, 26 selector, 27 automatic tracking control circuit, 28
Relative elevation angle calculation circuit, 29 elevation angle non-linear amplification circuit, 29b
Azimuth non-linear amplifier circuit, 30 Installation plane tilt information memory (ROM), 31 Wind direction and wind speed measuring device, 32 Correction circuit,
33 axis deflection correction circuit, 34 gyro, 35 gyro signal conversion circuit, 40 DSP, 41 memory, 42
Clock generation means, 43 change speed calculation circuit, 44
Function circuit.

Claims (5)

[Claims] 1. A function for controlling a rotation axis for rotating an aerial in an azimuth direction and also controlling an elevation direction, wherein a function of obtaining elevation data and using the angle data and a current (elevation) velocity as variables. An antenna control device comprising an elevation angle non-linear amplifier circuit for setting and outputting a relationship, and performing an azimuth drive while controlling an elevation angle by an output of the elevation angle non-linear amplifier circuit. 2. The antenna control device according to claim 1, wherein the elevation data uses data detected by a tilt angle detector mounted on a plane corresponding to a plane intersecting the azimuth direction drive axis of the antenna. 3. An azimuth non-linear amplifier circuit for setting and outputting a functional relationship using the angle data and a current (azimuth) speed as variables for the azimuth data. 2. The antenna control device according to claim 1, wherein the azimuth driving is performed while controlling the azimuth by the output of the circuit. 4. The antenna control apparatus according to claim 1, wherein the elevation data is obtained by a gyro signal detected by a gyro attached to the antenna drive shaft and an elevation drive command. 5. The antenna control device according to claim 1, wherein the azimuth drive rotation shaft has an annular rotation structure, and the elevation control is performed while the azimuth drive is performed in the annular shape.