Servo control device for antenna of parabolic radar jammer

Abstract

The utility model discloses a parabolic radar jammer antenna servo control device, which relates to the technical field of radar jammers and comprises an antenna, the antenna is connected with a servo turntable display control unit, and the servo turntable display control unit is electrically connected with a display control computer. The servo turntable display control unit comprises an antenna control unit, a network switch, a shaft angle encoder and a servo driving unit; the servo driving unit comprises a motor, a motor controller, a control protection circuit, a direct current power supply and a distribution line; the servo driving unit is a rotating speed and current double-closed-loop speed regulation system. According to the utility model, the control protection and driving circuits are reasonably adopted, so that the safety, the response speed and the tracking precision of the system are improved; a double-loop design is adopted, a current loop provides a control object with a wide frequency for a speed loop, and the speed loop improves the low-speed stability of the system, expands the speed regulation range of the system, improves the disturbance resistance of a load, and provides a control object with a wide frequency for position control.

Description

TECHNICAL FIELD

[0001] The utility model relates to radar jammer technical field, concretely is a parabolic radar jammer antenna servo control device. BACKGROUND

[0002] In the test training task, in order to implement effective jamming to the radar target of long distance, under the condition that the power of jammer is certain, need to use the antenna of high gain and low beam width, to improve the equivalent radiated power of radar jammer, usually adopt parabolic radar jammer antenna. Because the needle beam coverage area of parabolic antenna is limited, the original antenna servo control precision, speed and acceleration are poor, and the interference beam is difficult to aim at target radar and continuously track in the elevation and azimuth, seriously influence the interference performance of equipment. Therefore, a parabolic radar jammer antenna servo control device is needed to solve the above problems. SUMMARY

[0003] The utility model embodiment is aimed at providing a parabolic radar jammer antenna servo control device to solve the problems in the background art.

[0004] To achieve the above object, the utility model provides the following technical scheme:

[0005] A parabolic radar jammer antenna servo control device, comprising: an antenna, the antenna is electrically connected with a servo turntable display control unit, the servo turntable display control unit is electrically connected with a display control computer, the servo turntable display control unit includes: an antenna control unit, a network switch, an axis angle encoder and a servo drive unit, the antenna control unit is electrically connected with the axis angle encoder and the servo drive unit, the antenna control unit is electrically connected with the display control computer through the network switch, the antenna control unit is used to receive the radar external guide data sent by the network switch, and compares the position, azimuth angle and antenna attitude information sent by the antenna's own GPS and axis angle encoder, controls the rotation of the elevation servo azimuth joint and azimuth joint on the antenna, makes the antenna accurately point to the target position and tracks in real time, the servo drive unit is used to control the movement of the antenna, and the servo drive unit includes: a motor, a motor controller, a control protection circuit, a direct current power supply and a power distribution circuit.

[0006] As a further scheme of the utility model: the servo drive unit is a rotational speed and current double closed loop speed regulation system.

[0007] Compared with the prior art, the utility model has the advantages of:

[0008] The utility model discloses reasonable adoption control and drive circuit, improve the security, response speed and tracking accuracy of system, adopt double loop design, current loop overcomes the dead zone and nonlinearity of moment control, keeps current controllable, does not occur overcurrent, improves the dynamic characteristic of motor, provides the control object of frequency wider for speed loop, and the low speed stability of system can be improved, the speed range of system is expanded, the disturbance ability of resisting load is improved, and the control object of frequency wider is provided for position control, and the safe and stable operation of antenna is realized. BRIEF DESCRIPTION OF DRAWINGS

[0009] Fig. 1 It is a structure schematic diagram of the parabolic radar jammer antenna servo control device in the utility model embodiment.

[0010] Fig. 2 It is the connection block diagram of servo turntable display control unit in the utility model embodiment.

[0011] Fig. 3 It is the closed loop control block diagram of servo drive unit in the utility model embodiment. DETAILED DESCRIPTION

[0012] The technical scheme in the utility model embodiment will be described clearly and completely in combination with the drawings of the utility model embodiment, and obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without making creative labor belong to the range of the utility model protection.

[0013] In the utility model embodiment, please refer to Figs. 1 to 3 A parabolic radar jammer antenna servo control device, comprising: an antenna, the antenna is electrically connected with a servo turntable display control unit, the servo turntable display control unit is electrically connected with a display control computer, the servo turntable display control unit comprises: an antenna control unit (ACU), a network switch, an axis angle encoder and a servo drive unit (ADU), the antenna control unit is electrically connected with the axis angle encoder and the servo drive unit, the antenna control unit is electrically connected with the display control computer through the network switch, the antenna control unit is used to receive the radar external guide data sent by the network switch, and compares the position, azimuth angle and antenna posture information sent by the antenna's own GPS and axis angle encoder, controls the elevation servo azimuth joint and azimuth joint rotation of the antenna, makes the antenna accurately point to the target position and tracks in real time, the servo drive unit is used to control the movement of the antenna, and the servo drive unit comprises: a motor, a motor controller, a control protection circuit, a direct current power supply and a power distribution circuit.

[0014] In the embodiment, the instruction issuing and working state monitoring of the ACU are interacted with the local or remote monitoring computer through a network switch.

[0015] As an embodiment of the utility model, please refer to Fig. 3 , the servo drive unit adopts a speed and current double closed loop speed regulation system, drives two current loops and two speed loops in a double speed ring double motor direct current drive system to work independently, and a torque bias signal is taken from the output of the two speed regulators as the input of the torque bias circuit, which is the same as the double current loop and single speed loop double motor drive system, the output of the torque bias circuit is introduced into the two current loops respectively, and the two motors are applied with bias torques with equal size and opposite direction, which can effectively eliminate the transmission backlash.

[0016] Current loop design: effectively modify the speed loop control object characteristics, create convenient conditions for speed loop correction; overcome dead zone and nonlinearity, improve the static control accuracy and dynamic response bandwidth of current; limit the maximum current to achieve current controllability and correct the design of the speed loop.

[0017] By connecting the PI regulator in series in the loop, the current loop is corrected to a first-order zero-error system. The open-loop transfer function of the current loop is designed as:

[0018]

[0019] The corresponding open-loop logarithmic amplitude-frequency characteristic is:

[0020]

[0021] When the current loop open-loop logarithmic amplitude-frequency curve meets the requirements, the loop stability and rapidity requirements can be met without phase frequency checking. The closed-loop cutoff frequency of the current loop is about 1.2 times the open-loop cutoff frequency.

[0022] Speed loop design: can provide a good control object for the position loop, making it easy to correct; improve the speed response bandwidth of the drive motor; reduce the low-speed crawling and drive dead zone caused by the friction of the transmission chain, improve the low-speed stability of the motor, and expand the speed regulation range; improve the anti-load disturbance capability of the servo system, thereby reducing the error caused by gusts.

[0023] In the antenna drive system, the speed feedback element of the speed loop is a speed measuring generator integrated with the motor coaxially. The speed loop is an important inner loop of the antenna servo system, and the expected characteristics are stability margin, servo bandwidth, overshoot quality, etc. The expected characteristics are determined by the speed loop design to ensure the performance index of the drive system. The regulator commonly used is PID, which corrects the loop to a second-order zero-error system.

[0024] The speed loop control object is K mJ, the general speed loop bandwidth is 5 times of the current loop, the current loop can be constant K I The speed feedback coefficient is β, and the speed loop controlled object transfer function block diagram can be represented as:

[0025]

[0026] The speed regulator adopts a PID regulator, and the speed loop is designed as a second-order system without static error through regulator correction, and the open loop transfer function is:

[0027]

[0028] The corresponding open loop logarithmic amplitude-frequency characteristic is:

[0029]

[0030] When the speed loop open loop logarithmic amplitude-frequency curve meets the requirement, the loop stability and rapidity requirement can be met without phase frequency check. The closed loop cutoff frequency of the speed loop is about 2.24 times of the open loop cutoff frequency.

[0031] Speed torque comprehensive distribution, azimuth and pitch are driven by double motors, and the current additional function of the motor controller is used to form a pair of two motors respectively, so that the dynamic application of torque biasing can be realized, and the electric gap elimination function can be completed, so as to improve the transmission chain stiffness and improve the system performance.

[0032] The azimuth and pitch speed loop is a double motor independent speed loop, and the full digital speed regulator of the motor controller is used to realize the independent speed loop control of the double motor, so that the performance of the motor controller can be fully utilized.

[0033] The speed and torque comprehensive distributor completes the real-time control of two motor speed synchronization and torque balance, so as to realize the safe and stable operation of the antenna.

[0034] It is obvious for those skilled in the art that the utility model is not limited to the details of the above-mentioned exemplary embodiments, and the utility model can be realized in other specific forms without departing from the spirit or basic characteristics of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the utility model is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the utility model. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0035] Furthermore, it should be understood that although the specification is described in terms of embodiments, not every embodiment includes every feature or implementation described herein. The specification can include implicit combinations of explicitly mentioned features and / or implicit combinations of implicitly mentioned features. Such combinations are also expressly included within the scope of the specification and an embodiment.

Claims

1. A servo control device for a parabolic radar jammer antenna, characterized in that, include: An antenna is electrically connected to a servo turntable control unit, which is electrically connected to a control computer. The servo turntable control unit includes an antenna control unit, a network switch, an axial encoder, and a servo drive unit. The antenna control unit is electrically connected to the axial encoder and the servo drive unit. The antenna control unit is also electrically connected to the control computer via the network switch. The antenna control unit receives and acquires radar external guidance data sent by the network switch, and compares it with the position, azimuth angle, and antenna attitude information sent by the antenna's own GPS and axial encoder. It then controls the pitch servo azimuth joint and azimuth joint rotation on the antenna to ensure the antenna accurately points to the target position and tracks it in real time. The servo drive unit controls the movement of the antenna and includes a motor, a motor controller, a control and protection circuit, a DC power supply, and power distribution lines.

2. The parabolic radar jammer antenna servo control device according to claim 1, characterized in that, The servo drive unit is a dual closed-loop speed control system for both speed and current.

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