RU2587715C1 - Device for controlling drives of antenna station of radar station - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to universal automated systems for controlling drives, mainly drive of azimuthal antenna rotation with support platform stabilisation of antenna post of ship radar station. Drive control device, comprising a channel of generating of readings of angular position sensor of slowly rotating antenna (MVA), which includes series-connected error detection unit, unit of proportional-integral-differential (PID) controller and unit for generating engine control output signals, additionally includes a generator of frequency grid, a unit of initial plants, to first and second outputs of which are respectively connected input of generator of frequency grid and input of an approximation unit of angular position of fast rotating antenna (BVA), output of which is connected to first control unit input and input-output, second input is connected to output of automatic selection of a navigation channel, and output signal of preset angular position of antenna is connected to second input of error detection unit, furthermore, channel for generation of readings of angular position sensor MVA comprises angle sensor excitation unit and series-connected input circuit unit, phase-amplitude conversion unit and amplitude-code conversion unit, output of which is connected to first input of error detection unit, input circuit unit is configured for analogue-to-digital conversion of both voltage and current signals depending on type of antenna of angular position sensor connected to input of input circuits, and phase-amplitude conversion unit is configured for both phase conversion of output signals of input circuits and direct transmission to inputs of amplitude-code converter inputs of initial setting unit input circuits, and amplitude-phase conversion unit are connected to third output of initial settings, first output of generator of frequency grid are connected to clock inputs of excitation and angle sensor of input circuit unit, to second output is connected clock input of amplitude-code converter, to third and fourth outputs are connected corresponding clock inputs of an approximation unit of BVA angular position, and to fifth output - clock input of automatic selection of navigation channel, output of amplitude - code conversion unit, where a code of current angular position of MVA, is also connected to third control unit input and input-output, fourth input-output of which is intended for connection of communication channel with a control panel of radar station.

EFFECT: higher reliability, accuracy of adjustment of rotation speed and stopping antenna in specified angle to ensure stabilisation of support platform for roll and trim.

1 cl, 1 dwg

Description

The invention relates to universal automated control systems for drives, mainly for azimuthal rotation of an antenna with stabilization of the support platform of the antenna post of a ship's radar station.

A device for pointing a directional antenna according to the patent of the Russian Federation No. 2010288, IPC G05B 11/01, publication March 30, 1994

The device comprises a rotary support mechanism with a polar axis, an antenna mounted on the polar axis, an antenna rotation electric drive, a rotation angle sensor, and a control unit.

The disadvantage of this device is limited functionality.

There is also a device for controlling an electric drive according to the patent of the Russian Federation No. 2351972, IPC G05B 11/00, publication April 10, 2009.

The device contains a block of output signals for controlling the speed of the drive, a block of the output signal for controlling the brake, a power supply unit, a block for generating a signal of a drive malfunction, a power amplifier unit for a signal for controlling the brake of a drive, a block for displaying a signal of a drive malfunction, and blocks for stopping the antenna at low speed in the set and zero position, for change of frequency of rotation, for braking and disinhibition.

The disadvantages of the device are that the rotation control is carried out only in one coordinate, rotation in one direction only, installation in an arbitrary angle is impossible, the scanning mode is not implemented, the stop in the zero position is solved due to the anticipatory braking with smooth adjustment to, the engine is controlled through an additional frequency conversion unit, which degrades the reliability of the system, worsens its overall dimensions, imposes significant restrictions on the types of engines used oil.

The closest analogue adopted for the prototype of the present invention is a radar antenna control system according to the patent of the Russian Federation No. 2024907, IPC G05B 11/01, publication December 15, 1994.

The system comprises a master device, series-connected error detection unit (mismatch meter), a proportional-integral-differential controller unit and an output signal generating unit. The device also includes an actuator, an antenna, an antenna angle sensor, a switch, signal limiters, signal amplifiers, a power amplifier, an executive electric motor and a gearbox.

The disadvantage of the prototype is limited functionality, the lack of adjustment of the antenna rotation speed and scanning mode, the inability to stop the antenna in a given position.

The problem to which the invention is directed, is the creation of a universal autonomous device for controlling several drives with various types of motors and / or their combination, as well as with various types of feedback sensors.

The technical result of the invention is to increase the reliability, accuracy of adjusting the speed of rotation and stopping the antenna at a given angle with stabilization of the support platform on the roll and trim.

The essence of the invention lies in the fact that in the drive control device containing a channel for processing the readings of the sensor of the angular position of the slowly rotating antenna (MVA), which includes a series-connected error detection unit, a proportional-integral differential (PID) controller block and an engine control output signal generating unit, additionally contains the initial settings block, the input of which is connected to the first output of the control unit and input-output, and the first and second outputs are connected respectively with the input of the frequency grid generator and the input of the approximation block of the angular position of the rapidly rotating antenna (BVA), the output of which is connected to the first input of the control and input-output unit, the second input of which is connected to the output of the automatic navigation channel selection unit, and the second output is given by a signal the angular position of the antenna is connected to the second input of the error determination unit, in addition, an excitation block of the angle sensor is introduced into the channel for processing the readings of the angle position sensor MBA and connected in series input block of the input circuit, the phase-amplitude converter unit and the amplitude-code converter unit, the output of which is connected to the first input of the error determination unit, while the input circuit block is capable of analog-to-digital conversion of both voltages and current signals depending on the type the sensor of the angular position of the antenna connected to the input of the input circuit block, and the phase-amplitude converter unit is configured to convert both the phase of the output signals of the input circuit block and direct they are transmitted to the inputs of the amplitude-code converter unit, the input settings of the input circuit block, and the phase-amplitude converter block are connected to the third output of the initial settings block, the clock inputs of the angle sensor excitation block and the input circuit block are connected to the first output of the frequency grid the second output is connected to the clock input of the amplitude-converter converter block, the corresponding clock inputs of the block for approximating the angular position of the BVA are connected to the third and fourth outputs, and the clock input is connected to the fifth One of the blocks for automatic selection of the navigation channel, the output of the amplitude-code converter block, on which the current angular position code of the MVA is generated, is also connected to the third input of the control and input-output block, the fourth input-output of which is used to connect the communication channel to the radar control panel .

In addition, the drive control device further comprises channels for reading the roll sensor and trim sensor of the supporting platform, made similar to the channel for processing the readings of the angle sensor MVA.

The invention is illustrated in the drawing block diagram of the device, which indicates:

1 - channel processing the readings of the sensor of the angular position of a slowly rotating antenna (MVA),

2 - channel test readings roll sensor support platform,

3 - channel testing the sensor trim of the supporting platform,

4 - block input circuits,

5 - phase-amplitude converter unit,

6 - converter block amplitude-code,

7 - error determination unit (subtraction unit),

8 - block is proportional to the integral differential controller,

9 - a block for generating output signals of engine control (hereinafter referred to as a block for generating output signals),

10 - block initial settings,

11 - frequency grid generator,

12 - block excitation angle sensor,

13 - block approximation of the angular position of a rapidly rotating antenna (BVA),

14 - block automatic selection of the navigation channel,

15 - control unit and input-output, based on the processor board and standard interface nodes,

16 - analog key

17 - differential amplifier

18 - analog-to-digital Converter,

19 - switch

20 - phase shifter on π / 2,

21 - multiplier,

22 - electronic key,

23, 24 - multipliers,

25 - block of values Sin, Cos,

26 - block subtraction,

27 - reverse counter,

28 - differentiation unit,

29 - amplifier

30 - integrator

31 - adder

32 - counter

33 is a block of Sin values,

34 - digital-to-analog Converter (DAC),

35 - amplifier

36 is a digital-to-analog Converter,

37 - comparator,

38 - amplifier

39 - counter

40 - register

41 is a divider

42 - counter

43 is a block comparison

44 is a counter

45, 46, 47, 48 - universal asynchronous receivers,

49, 50 - multiplexers,

51, 52 are counters.

The control device for the actuators of the antenna post of the ship’s radar station contains a channel 1 for processing the readings of the angle sensor MVA and channels 2, 3 for processing the readings of the roll and trim sensors installed on the supporting platform of the antenna post. The blocks included in the channels 2, 3 are located in the same sequence, have the same circuit implementation and, like the blocks of channel 1, are connected to the remaining blocks by devices, therefore, for simplicity, in FIG. 1 shows only an example implementation of channel 1.

Each of channels 1, 2, 3 contains an angle sensor excitation block 12, as well as a block 4 of input circuits connected in series, a phase-amplitude converter block 5, an amplitude-code converter block 6, an error determination block 7, a PID controller block 8, and block 9 formation of output signals.

In addition, the device includes an initial setup block 10, the input of which is connected to the first output of the control and input-output block 15, the first output is connected to the start input of the frequency grid generator 11, the second output is connected to the second input of the approximation of the angular position of the BVA, and the third - with inputs of the initial installation (control inputs) of block 4 of input circuits and block 5 of the phase-amplitude converter. The first input of the block 13 approximation of the angular position of the BVA is connected to the zero reference sensor. To the corresponding outputs of the frequency grid generator 11 are connected, as will be shown below, the clock inputs of the angle sensor excitation block, input circuit block 4, phase-amplitude converter block 5, amplitude-code converter block 6, BVA angular position approximation block 13 and automatic block 14 selecting a navigation channel, the output of which and the output of the block 13 approximation of the angular position of the BVA are connected respectively to the second and first inputs of the block 15 of the control and input-output. The second output of the control and input / output unit 15 is connected to the second input of the error determination unit 7, and the fourth input / output of the input / output unit 15 is used to connect the communication channel to the central radar control panel.

The input circuit block 4 is designed for analog-to-digital conversion of the Sin and Cos components of the output signal of the MBA angular position sensor and contains two circuits of an analog key 16 connected in series, a differential amplifier 17 and an ADC 18, the clock input of which is connected to the first output of the frequency grid generator 11. Depending on the type of input signal (voltage or current) and, accordingly, the specified position of the switch 16, the differential amplifier can operate either in repeater mode with the suppression of common mode noise, or a voltage converter.

The phase-amplitude converter unit 5 also contains two parallel circuits of a series-connected switch 19, a multiplier 21 and a switch 22. In the first position of the contacts of the switches 19, 22, the output signals of block 4 are directly transmitted to the inputs of the multipliers 23, 24 of the amplitude-code converter unit 6. In its second position Sin, the signal component through the multiplier 21 is fed to the input of the Cos multiplier 23, and the Cos component is fed to the input of the multiplier 24 through the phase shifter 20 and the Sin circuit multiplier 21 of block 5.

The outputs of the multipliers 23, 24 in the amplitude-code converter unit 6 are connected to the inputs of the subtractor 26, the output of which is connected to the input of the switching of the counting direction of the reverse counter 27, the clock input of which is connected to the second output of the frequency grid generator 11, and the output on which the current code is generated the angular position of the antenna, connected to the first input of the error determination unit 7, the third input of the control and input-output unit 15 and the inputs of the table 25 of the table values Sin and Cos, the outputs of which are connected to the second inputs of the multipliers 23 and 2 four.

The output of the error determination unit 7 is connected to the inputs of the differentiation unit 28, the amplifier 29, and the integrator 30, the outputs of which are connected to the adder 31 of the PID controller unit 8.

Block 10 of the initial settings is made on the basis of non-volatile memory, which stores the settings of the generator 11 of the frequency grid and the blocks in the composition of channels 1, 2, 3 of the testimony of the corresponding sensors.

The angle sensor excitation unit 12 contains a counter-connected meter 32, the clock input of which is connected to the first output of the frequency grid generator 11, the Sin value block 33, the DAC 34, and the amplifier 35, the output signal of which is supplied to the winding of the MBA angle sensor.

The block 13 approximation of the angular position of the BVA contains a series-connected amplifier 38 and a comparator 37, the second (threshold) input of which is connected to the output of the DAC 36, the input of which is connected to the second output of the block 10 of the initial settings. The output of the comparator is connected to the reset input of the counter 39, the clock input of which is connected to the third output of the frequency grid generator 11, and the input of the register 40, the data input of which is connected to the output of the counter 39, and the output through the divider 41 is connected to the first input of the comparison unit 43, the second the input of which is connected to the output of the counter 42. The clock input of the counter is connected to the fourth output of the frequency grid generator 11, and the reset input is connected to the output of the comparison unit 43, which is also connected to the counting input of the counter 44, the reset input of which is connected n with the output of the comparator 37, and the output on which the code for approximating the position of the BVA is generated is connected to the first input of the control and input-output unit 15.

Block 14 of the automatic selection of the navigation channel contains four universal asynchronous receivers 45, ..., 48, the outputs of the signals of which are connected to the inputs of the multiplexer 49, and the data outputs are connected to the inputs of the multiplexer 50. The output of the multiplexer 49 is connected to the input of zeroing the counter 51, clock (counting) the input of which is connected to the fifth output of the frequency grid generator 5, and the output through the counter-switch 52 is connected to the control inputs of the multiplexers 49, 50. The output of the multiplexer 50 is connected to the second input of the control unit 15 niya and input-output.

The control and input-output block 15 is a slave, built on the basis of a processor board and standard interface nodes that provide two-way interaction on an 8-bit data bus with external address and control lines (4 block input-output). Also, the input-output block 15 provides the transmission and reception of data from the internal and internal blocks, if the corresponding system was selected by the external system and new data was transmitted or requested.

The device operates as follows.

When the power is turned on (the power distribution scheme is not directly related to the essence of the invention and is not considered for simplicity), the initial settings unit 10, in accordance with the data stored in the memory, sets up the device to work with those types of angular position sensors (rotary transformers, optical sensors, Hall sensors , tachogenerators) and those types of drives that are used in this antenna post. The generator 11 generates a grid of the necessary frequencies for the operation of the device blocks.

To excite the windings of the angular position sensors, the counter 32, with a clock frequency set by the generator 11, selects a new Sin value from block 33, which is fed to the DAC 34. After conversion, the analog output signal is amplified in the amplifier 35 and fed to the sensor. The synchronous operation of the sensor excitation unit 12 and the input circuit unit 4, performing analog-to-digital conversion of the sensor output signal, is provided by the frequency grid generator 11.

Consider the operation of the channels 1, 2, 3 of the drive control antenna post on the example of a description of the operation of channel 1 of the testimony of the sensor of the angular position of a slowly rotating antenna.

Sin and Cos components of the signal from the angle sensor MB of the antenna are fed to the inputs of block 4 input circuits. Depending on the type of signal (voltage or current), the analog switch 16 is in open or closed state. Accordingly, the differential amplifier 17 operates in the repeater mode with the suppression of common mode noise, or a current-voltage converter. Then, the analog signal is supplied to the ADC 18, the sampling frequency of which is set by the output signal from the first output of the frequency grid generator 11 so that eight samples fall on the input signal period.

After that, the samples of the signal are fed to the inputs of block 5 of the phase-amplitude converter. Samples can be taken directly to the inputs of block 6, if there is no need for such a conversion. If there is such a need, in the presence of eight samples per signal period, a phase shift of 90 degrees is carried out by the phase shifter 20 by a simple delay of two samples.

The task of the amplitude-code converter unit 6 is to select a code value of the calculated antenna rotation angle so that it is as close as possible to the actual digitized code of the sensor shaft angular position. The operation of the unit 6 mode converter amplitude-code is described by the mathematical formula:

Work in the phase-to-code converter mode is described by the formula:

where Θ is the actual angle, Φ is the calculated angle, w is the carrier frequency, n is the reference number.

Tracking Converter 6 using a reversible counter 27 and block 26 subtraction automatically finds in block 25 such values of Sin and Cos, which together with the signal samples give a zero difference on the subtractor 26. Thus, the output signal of the counter 27 will be the code of the angle of rotation of the sensor, provided that in block 25 of the table values Sin and Cos the same number of samples of the sinusoidal signal for a period is stored as the conversion factor of the counter 27.

Next, the calculated value of the antenna angle code is fed to the first input of the error determination unit 7 and to the third input of the control and input-output unit 15, from which it is transmitted through the fourth input-output to the remote control unit of the radar station. The set value of the angle of rotation of the antenna from the remote control unit through the block 15 is transmitted to the second input of the error determination unit 7, which determines the difference between the actual position of the antenna and the set one.

The value of the calculated error is fed to block 8 of the PID controller, as a result of which a control signal is generated for the MB antenna drive. The block implements the calculation of the mathematical dependence:

where K is the proportionality coefficient, Kd is the differential coefficient, Ki is the integral coefficient, dQ is the error of the angular position, dQk is the corrected error of the position, Qt is the current angular position.

Then the output PID controller is converted in block 9 of the formation of the output signals into a signal with pulse-width modulation.

When working with a direct current motor (DCT), block 9 can operate in a PWM converter with different modulation frequencies depending on the time constant of the motor. Thus, the engine speed is controlled not by the magnitude of the constantly supplied voltage, but by the duration of the motor power supply pulses with the rated voltage, which makes it possible to make drive control systems with high efficiency.

In the case of using a hydraulic motor, block 9 works in the same way as with DPT, giving out PWM pulses to the actuator power amplifiers.

When working with stepper motors, the unit operates in the electronic switch mode, generating voltage to the control windings, which is a sequence of unipolar rectangular pulses. The resulting angle will correspond to the number of switchings of the switch, and the engine speed corresponds to the switching frequency of the electronic switch.

At the same time, to approximate the angular position of the rapidly rotating antenna, the output signal of the BVA zero position sensor through the amplifier 38 is fed to a comparator 37, in which it is compared with the threshold value set in the DAC by the signal from the third output of the initial setup block 10. The counter 39 counts the high frequency pulses coming from the third output of the frequency grid generator 11. At the moments when the BV passes the “zero” antenna, the counter value is stored in register 40, and the counter 39 is reset. The obtained value is the antenna rotation period, expressed in clock cycles of the counter 39. Then, the counter period is divided by the approximation coefficient (1024) in the divider 41. The obtained result is the pulse repetition period approximating the rotation speed of the antenna antenna. The counter 42 counts the clock pulses from the fourth output of the generator 11, and the value obtained therein is compared with the approximation period in the comparison unit 43. As soon as the value matches, an impulse appears at the output of the comparison unit, resetting the counter 42. Thus, at the output of the comparison unit 43, a sequence of pulses is formed, the repetition rate of which is 1024 times the antenna rotation frequency. Counter 44 counts these pulses and, at its output, a code for approximating the current position of the antenna is generated. The result of approximating the position of the antenna is fed to the control unit 15 and input-output, which transmits it to the remote radar device.

The stabilization of the spatial position of the support platform of the antenna post along the roll and trim in the conditions of rolling of the ship is carried out in interaction with ship navigation systems. In this case, the block 14 automatically selects the navigation channel. The signals from the gyroscopes are fed to the inputs of asynchronous receivers 45, ..., 48. The counter 51 is a timer with a waiting period of 2 s, and the counter 52 controls the switching of the receiving channels. If during the recounting of timer 51 the signal is not detected at the receiver 45, then the counter 51 generates a pulse that increases the state of the counter 52, which switches the multiplexers 49, 50 to the next receive channel from the receiver 46. If the desired signal is detected in it, then the multiplexer 49 by the presence signal from the receiver 46, the counter 51 is reset to zero. Thus, when the signal repetition period is less than the timer conversion factor, the channel will be captured, and the data through the multiplexer 50 will be transmitted to the control and input-output unit 15. If there is no signal for a time exceeding the timer conversion factor, switching to the next receive channel from the receiver 47 is performed.

The roll and differential data obtained from the navigation systems, the control and input-output unit 15 outputs to the second input of the error determination unit 7 of the corresponding channel 2, 3, where mismatch signals with the measured values of the roll and trim sensors are generated. Next, blocks 8 of the PID controllers generate control signals on the drives of the support platform, ensuring the horizontal position of the antenna.

Thus, the device autonomously, without receiving commands from the central control panel of the radar, with high accuracy fulfills the readings of the sensor of the angular position of the MB antenna and the sensors of the angular position of the reference platform, approximates the angular position of the second-hand antenna transmitted to the central control panel of the radar, and provides the specified operating mode antenna post.

At the same time, through the control and input-output unit 15, data on the position of the drives is transmitted to the central radar control panel and the control commands and information data coming from the remote control are read out.

In the case of receiving a command about changing the operating mode of the drive (speed, direction in azimuth, scanning sector width), block 15 generates changes in the dynamics of the device, according to which the block 10 of the initial settings changes the setting of the generator 11 and the blocks of channel 1 for processing the readings of the MVA sensor. Block 8 of the PID controller produces corrected error signals with a sign proportional to the mismatch between the master and the true position of the antenna, which are transmitted through the block 9 for generating output signals to the actuator to reduce the error signal to zero. Thus, scanning modes in various sectors with different speeds and rotation modes with maintaining a given speed, as well as a setting mode in a predetermined position are provided. At the same time, independent stabilization of the antenna device by roll and trim is provided.

The industrial applicability of the invention is determined by the fact that, based on the above description and drawing, the device can be manufactured by known technology using known components and used to control drives using angle sensors and various types of motors.

Claims (2)

1. A drive control device comprising a channel for processing the readings of the sensor for the angular position of a slowly rotating antenna (MVA), including a series-connected error detection unit, a proportional-integral-differential (PID) controller unit, and a motor control output signal generating unit, characterized in that an initial setup block has been introduced to it, the input of which is connected to the first output of the control and input-output unit, and the first and second outputs are connected respectively to the input of the grid generator frequency and the input of the approximation block of the angular position of a rapidly rotating antenna (BVA), the output of which is connected to the first input of the control and input-output block, the second input of which is connected to the output of the block for automatic selection of the navigation channel, and the second output, by the signal of the given angular position of the antenna, is connected to the second input of the error determination unit; in addition, an angle sensor excitation unit and a series of input circuits connected in series, an a phase-amplitude detector and an amplitude-code converter block, the output of which is connected to the first input of the error determination block, while the input circuit block is capable of analog-to-digital conversion of both voltages and current signals depending on the type of antenna angle sensor connected to the input of the input circuit block, and the phase-amplitude converter block is configured to convert both the phase of the output signals of the input circuit block and directly transmit them to the inputs of the conversion block The amplitude-code, the initial settings of the input circuit block, and the phase-amplitude converter block are connected to the third output of the initial settings block, the clock inputs of the angle sensor block and the input circuit block are connected to the first output of the frequency grid, and the clock input is connected to the second output the amplitude-code converter block, the corresponding clock inputs of the block for approximating the angular position of the BVA are connected to the third and fourth outputs, and the clock input of the automatic selection block is connected to the fifth navigation canal converter amplitude code block output at which is formed the code of the current angular position of MVA, is also connected to a third input of the control unit and the input-output, a fourth input-output of which is designed to connect a communication channel with the radar control panel. 2. The drive control device according to claim 1, characterized in that it further comprises channels for working out the readings of the roll sensor and the trim sensor of the supporting platform, made similar to the channel for working out the readings of the angle position sensor MBA.