Low-elevation tracking speed-limiting protection method for shipborne two-degree-of-freedom servo system

Abstract

The invention discloses a low-elevation tracking speed-limiting protection method, system and device for a shipborne two-degree-of-freedom servo system, and the method comprises the following steps: obtaining an antenna azimuth angle and an antenna pitch angle; when the azimuth angle of the antenna is in a sideboard tracking threshold range and the pitch angle of the antenna is in a low elevationangle threshold range, obtaining a speed limit threshold corresponding to a collected ship rolling signal, wherein a one-to-one corresponding mapping relation exists between the ship rolling signal and the speed limit threshold value; and outputting a motion speed voltage of an antenna pitching branch according to the error voltage, and when the motion speed voltage of the antenna pitching branchreaches the voltage value corresponding to the speed limit threshold, outputting the voltage corresponding to the speed limit threshold to control the motion speed of the antenna. According to the low-elevation tracking speed-limiting protection method for the shipborne two-degree-of-freedom servo system, on the premise of ensuring the low-elevation tracking performance of the shipborne two-degree-of-freedom servo system, the method effectively prolongs the response time of a servo manipulator, so that the risk of structural damage to an antenna can be reduced to the minimum, and the safety isimproved.

Description

technical field [0001] The invention relates to a low-elevation angle tracking speed limit protection method, system and equipment for a ship-borne two-degree-of-freedom servo system, and relates to the technical field of a ship-borne two-degree-of-freedom servo system. Background technique [0002] The function of the ship-borne two-degree-of-freedom servo system is to align the beam of the antenna with the aircraft so that the antenna can sense electromagnetic waves from the target. When the target enters the radar line of sight, the servo subsystem should be able to automatically search and capture the target, and continuously track the target with a certain tracking accuracy, so that the target is always near the center line of the main beam of the antenna, so that the target can be received continuously and reliably with the maximum gain Signal. Two-degree-of-freedom servo system, the antenna is a pitch-azimuth (A-E) antenna, the azimuth can be rotated between ±360°, a...

AI Technical Summary

Problems solved by technology

[0006] The above two methods are the antenna protection measures currently used in the ship-borne two-degree-of-freedom servo system. Both methods have their limitations. The mechanical limit device can only protect the structure and cannot predict the movement trend of the antenna in advance. It also does not allow the operator to have enough time to react to the operation, and to limit the speed of the servo pitch branch on the speed loop circuit. The limited speed value is set according to experience, usually conservative, and the set value is relatively low. And it cannot be adjusted. When the ship is shaking or the target is moving at a high speed, it will limit the tracking performance of the servo system at low elevation angles. Due to the existence of speed limit protection, there will be a large dynamic lag in the tracking process of the servo system. With the tracking error The continuous accumulation of the tracking target out of the range of the antenna beam will eventually lead to the loss of the target. Therefore, too low speed limit protection will lead to abnormal tracking of the servo system at low elevation angles, resulting in the risk of target tracking loss

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