Acceleration-controllable antenna slow stop and slow start method

Abstract

The invention discloses a method for slowly stopping and slowly starting an antenna with controllable acceleration, and relates to the field of electronic information. The method comprises the steps that firstly, antenna control software collects state feedback of a driver in real time through a CAN bus, the speed of the driver is calculated, and a driver speed variable of a corresponding shaft is assigned to serve as the current speed of the shaft; then acquiring an input target speed, directly outputting the speed or calculating the maximum acceleration according to an absolute value of a difference between the current speed and the target speed, and after entering a slow acceleration and deceleration function, performing slow acceleration and deceleration on the instruction speed according to a given function; and when the instruction speed reaches the target speed, the slow acceleration and deceleration processes are completed. The whole acceleration and deceleration process is smooth, and the acceleration is controllable; impact and noise are avoided in the process of acceleration and deceleration to the target speed.

Description

Technical Field

[0001] This invention relates to the field of electronic information, and in particular to a method for slow stopping and starting of an antenna with controllable acceleration. Background Technology

[0002] Communication antennas need to calculate their pointing angle in real time based on target satellite information and changes in the carrier's position and attitude during movement, and control the antenna to quickly align with the incoming satellite for tracking, ensuring the transmission of communication signals. Large-aperture, heavy antennas may stop at high speeds during rapid alignment with the target satellite due to operational errors or temporary needs. If, using ordinary standby methods, the speed is directly reduced to zero or the driver's power is disconnected, the antenna will stop within a very short time. Alternatively, if the operator applies a large speed step to accelerate the rotation, excessive acceleration can cause irreversible damage to the antenna's gears, reducer, motor, and other structural components.

[0003] The following shortcomings exist in ordinary standby or acceleration methods:

[0004] 1) Directly supplying zero speed or disconnecting the driving power, or applying a large speed step, will cause the antenna to stop or rotate to the specified speed in a very short time, causing irreversible damage to the structure of the axis, increasing the later maintenance cost, and shortening the service life of the antenna.

[0005] 2) Some equipment in the computer room or control room is located under the antenna base. Sudden stop or high-speed start-up of the equipment can cause huge impact and noise, which can cause an unpleasant experience for the operators. Summary of the Invention

[0006] In view of this, the present invention proposes a method for antenna slow stopping and slow starting with controllable acceleration. This method greatly eliminates the impact of sudden starts and stops on the mechanical structures such as antenna gears, reducers, and motors, improves the operator's experience, and increases the service life of the equipment.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] A method for slow stopping and starting of an antenna with controllable acceleration includes the following steps:

[0009] Step 1: The antenna control software collects the driver's status feedback in real time via the CAN bus, calculates the driver's speed, assigns the value to the corresponding axis's driver speed variable, and then assigns the collected driver speed value to... ;

[0010] Step 2, obtain the target speed. For a stopped working condition, the target speed is... The value is 0; for acceleration, the target speed is the same as the input speed. ;

[0011] Step 3, calculate the difference between the current speed and the target speed:

[0012]

[0013] If the absolute value of the speed difference If the absolute value of the speed difference is not specified, the target speed will be output directly; otherwise, the target speed will be output directly. Then calculate the maximum acceleration. And proceed to step 4; where, To gradually increase or decrease the deceleration threshold;

[0014] Step 4, enter the gradual acceleration / deceleration process:

[0015] For the speed of real-time commands sent to the driver, Indicates the acceleration / deceleration time, when Achieve target speed back, value remains constant.

[0016] Furthermore: Regarding the acceleration / deceleration threshold in step 3 The parameters are adjusted according to the specific antenna and the actual situation: for antennas with larger apertures and greater weight, the acceleration and deceleration thresholds should be adjusted accordingly. The smaller the setting.

[0017] Due to the adoption of the above technical solution, the beneficial effects of this invention compared with the prior art are as follows:

[0018] 1. The present invention provides a smooth overall acceleration and deceleration process during slow stopping and slow acceleration, and the acceleration is controllable.

[0019] 2. This invention produces no impact or noise during the acceleration and deceleration process to the target speed. Attached Figure Description

[0020] Figure 1 This is a flowchart of a method for controlling the acceleration of an antenna to slow down and start up, according to the present invention.

[0021] Figure 2 This is a speed curve diagram of the gradual acceleration process of the azimuth axis of a certain antenna according to the present invention.

[0022] Figure 3 This is an acceleration curve of the azimuth axis of an antenna during the gradual acceleration process according to the present invention.

[0023] Figure 4 This is a speed curve diagram of the gradual deceleration process of an antenna azimuth axis according to the present invention.

[0024] Figure 5 This is an acceleration curve of the gradual deceleration process of an antenna azimuth axis according to the present invention. Detailed Implementation

[0025] The invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] A method for slowing down and starting up an antenna with controllable acceleration, such as... Figure 1 As shown, it includes the following steps:

[0027] Step 1: The antenna control software collects the driver's status feedback in real time via the CAN bus, calculates the driver's speed, assigns the value to the corresponding axis's driver speed variable, and then assigns the collected driver speed value to... ;

[0028] Step 2, obtain the target speed. For a stopped working condition, the target speed is... The value is 0; for acceleration, the target speed is the same as the input speed. ;

[0029] Step 3, calculate the difference between the current speed and the target speed:

[0030]

[0031] If the absolute value of the speed difference If the absolute value of the speed difference is not specified, the target speed will be output directly; otherwise, the target speed will be output directly. Then calculate the maximum acceleration. And proceed to step 4; where, To gradually increase or decrease the deceleration threshold;

[0032] Step 4, enter the gradual acceleration / deceleration process:

[0033] For the speed of real-time commands sent to the driver, Indicates the acceleration / deceleration time, when Achieve target speed back, value remains constant.

[0034] Furthermore, regarding the acceleration / deceleration threshold in step 3... The parameters are adjusted according to the specific antenna and the actual situation: they can be adjusted based on the antenna's aperture and weight. Larger and heavier antennas require smaller threshold settings. For the example antenna, the threshold is set to 0.3, meaning that when the difference between the target speed and the current speed is greater than 0.3° / s, gradual acceleration and deceleration occur. T represents the time for the acceleration and deceleration process. This time can be adjusted based on the antenna's aperture and weight; larger and heavier antennas, due to their greater overall inertia, can have longer acceleration and deceleration times. For the example antenna, the entire acceleration and deceleration time is set to 1.57 seconds. Since our system's closed-loop time is typically 10ms, the discretized acceleration and deceleration time T is 157.

[0035] like Figures 2-5 As shown, after a 1.57-second acceleration and deceleration process, the target speed is finally reached. When the target speed is 0, it is a slow-deceleration process; when the absolute value of the target speed is greater than the absolute value of the current speed, it is a slow-acceleration process.

[0036] Compared to ordinary standby methods or methods that suddenly and significantly change the antenna's operating speed, this embodiment employs a piecewise function design and uses a sine function to plan the acceleration, resulting in a rapid and smooth acceleration and deceleration process. When the difference between the angle data and the software limit value is 0, and the target speed is 0, it is a slow-stop process; when the absolute value of the target speed is greater than the absolute value of the current speed, it is a slow-acceleration process.

[0037] Those skilled in the art will recognize that the described embodiments are intended to help readers understand the principles of the invention and should be understood as not limiting the scope of protection of the invention to the described embodiments. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the scope of the claims of the invention.

Claims

1. A method for acceleration-controlled antenna slow stop and slow start, characterized in that, comprising the steps of: Step 1, the antenna control software collects the state feedback of the driver in real time through the CAN bus, calculates the speed of the driver, assigns the value to the driver speed variable of the corresponding shaft, and assigns the collected driver speed to ; Step 2, obtain the target speed. For a stopped working condition, the target speed is... The value is 0; for acceleration, the target speed is the same as the input speed. ; Step 3, calculate the difference between the current speed and the target speed: ； if the absolute value of the speed difference is less than the threshold value , then directly output the target speed; if the absolute value of the speed difference is greater than the threshold value , then calculate the maximum acceleration , and execute step 4; wherein, is a soft acceleration / deceleration threshold value; Step 4, enter the soft acceleration / deceleration process: ; For the speed of real-time commands sent to the driver, Indicates the acceleration / deceleration time, when Achieve target speed back, The value remains constant.

2. The method of claim 1, wherein: For the acceleration-deceleration threshold in step 3 The parameters are adjusted according to the actual situation according to the difference of antennas: the larger the aperture and the heavier the antenna, the smaller the acceleration-deceleration threshold is set.

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