A shipborne television satellite antenna tracking motion system and control method based on WY211S-JQR

Abstract

The present invention relates to a shipborne TV satellite antenna tracking motion system based on WY211S-JQR, comprising: a key display module, a controller module, an electronic compass signal detection module, a stepper motor drive module and a power module; the stepper motor drive module comprises a power drive module and a stepper motor; the key display module is composed of a key display interface chip, a key interface circuit and an LED display interface circuit. The beneficial effects of the present invention are: the present invention does not rely on GPS positioning, is provided with an electronic compass, and in view of the problem that the measurement accuracy of the electronic compass is not high, the system circuit is reasonably designed, and a low-cost, anti-shake, shock-resistant, and stable TV satellite antenna tracking motion system based on WY211S-JQR is provided. The circuit of the present invention is stable and reliable, the system has stable stability, is adaptive to dynamic environmental changes, has low design cost, good stability, and has good application value.

Description

Technical Field

[0001] The invention belongs to the field of shipborne television satellite antenna tracking, and in particular relates to a shipborne television satellite antenna tracking motion system based on WY211S-JQR and a control method. Background Art

[0002] During the operation of the ship, watching TV programs is one of the main entertainment methods for the crew members in their long-term life on board. The ups and downs of the waves constantly change the attitude of the ship, which directly affects the continuity of the TV satellite antenna signal reception, making the quality of the received signal poor and affecting the viewing effect. There are many shipborne satellite antenna tracking systems on the market, which generally use the location information provided by my country's Beidou navigation system and GPS, and the cost is relatively high. For the stability of shipborne TV signals, low cost and low power consumption are required. The use of electronic compasses can also achieve three-dimensional orientation, which is relatively cheap and greatly reduces the cost. The electronic compass uses the working principle of the geomagnetic field and has good environmental adaptability. Compared with other forms of attitude sensors such as GPS and inertial navigation systems, the measurement accuracy of the electronic compass is relatively poor. Conventional electronic compasses are used in mobile satellite tracking with small up and down fluctuations. When the fluctuation is large, the accuracy is not high. In order to obtain the relevant low cost, low power consumption and stable performance, it is necessary to reasonably design and utilize the relevant circuits and combine the relevant control methods to achieve a better low-cost shipborne satellite antenna tracking effect. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a shipborne television satellite antenna tracking motion system and a control method based on WY211S-JQR.

[0004] The circuit of the shipborne television satellite antenna tracking motion system based on WY211S-JQR comprises: a key display module, a controller module, an electronic compass signal detection module, a stepper motor drive module and a power supply module; the stepper motor drive module comprises a power drive module and a stepper motor; the key display module comprises a key display interface chip, a key interface circuit and an LED display interface circuit; the controller module comprises a single-chip microcomputer, a reset circuit, an oscillation circuit, a key display interface, a stepper motor drive interface and an electronic compass position detection interface; the electronic compass signal detection module comprises an electronic compass detection module and an electronic compass serial port level conversion module; the power supply module comprises a full-bridge rectifier circuit, a voltage stabilizing filter circuit and a power supply indication circuit; the 220V AC power supply is converted into a stable +5V DC power supply through the power supply module, which is used as the power supply VCC for part of the system; the power drive module comprises a motor drive chip, an optical coupling isolation input circuit and a pulse The output circuit is composed of: an electronic compass signal detection module is connected to a single-chip microcomputer (STC89C52RC) in a controller module through serial communication; a control signal interface (CS, pin 6), a clock signal interface (CLK pin 7), a data signal interface (DATA, pin 8) and a key control terminal signal interface (KEY, pin 9) of a key display interface chip (HD7279) in a key display module are connected to output pins (key display interface, pins 23, 3, 4, 13) of control signals, clock signals, data signals and key control terminal signals of the single-chip microcomputer in the controller module, so as to realize the single-chip microcomputer's control of reading key values ​​of the key display module and outputting 8-bit segment code tube display; pins (25, 26, 27, 28) of four-way pulse signals output by the single-chip microcomputer are respectively connected to four-phase input terminals (IN1-IN4) on a motor drive chip (L298N) through an optocoupler isolation input circuit (optocoupler device TLP521) in a power drive module.

[0005] As a preferred embodiment, the SA~SG pin control valves (pins 10~16) on the key display interface chip (HD7279) in the key display module are respectively connected to a current limiting resistor (R12~R18), and a pull-up resistor (resistance exclusion RP2) is connected before each current limiting resistor, and the pull-up resistor (resistance exclusion RP2) is grounded; the operation control ends of the matrix keys S0~S15 are connected after the current limiting resistors (R12~R18), and the operation control ends of the matrix keys S0~S15 are respectively connected to the corresponding LED segment code tubes; the bit control pins (D0~D7, pins 18~25) on the key display interface chip (HD7279) are respectively connected to the LED segment code tubes; The ground terminal (GND, pin 3) of the key display interface chip is grounded, and the power terminal (VCC, pin 1) of the key display interface chip is connected to the power module; the key display interface chip is also connected to the reset circuit (resistor R19 and capacitor C9 constitute the reset circuit of HD7279); the reset control pin (RST, pin 9) of the single-chip microcomputer (STC89C52RC) in the controller module is connected to the reset circuit (composed of reset button S1, capacitor C1 and resistor R1), and the single-chip microcomputer is connected to the oscillation circuit (composed of crystal oscillator Y1, capacitor C2 and capacitor C3, and the crystal oscillator adopts 12MHz crystal oscillator) through the corresponding pin; the key display interface is the controller module and the key The key display module communicates with the stepper motor drive interface, the stepper motor drive interface is the interface for the controller module to communicate with the stepper motor drive module, the electronic compass position detection interface is the interface for the controller module to communicate with the electronic compass signal detection module, the resistor RP1 is the pull-up resistor of the microcontroller P1 port, and the resistor RP1 is connected to the power module; one port (pin 1) of the electronic compass signal detection module (using the flat electronic compass WY211S-JQR) is connected to the power module, one port (pin 2) is grounded, and the other two serial port data transmission signal terminals (RX, pin 3; TX, pin 4) are respectively connected to the electronic compass serial port level conversion module (RX, pin 1) and the electronic compass signal level conversion module (RX, pin 2) are respectively connected to the electronic compass serial port level conversion module (RX, pin 3). Pin 3); the optocoupler isolation input circuit (optocoupler device TLP521) in the stepper motor driver module is connected to the motor driver chip (L298N); the output end (OUT1~OUT4) of the motor driver chip (L298N) is connected to the diode (D1~D8) shaping circuit, the diode shaping circuit is connected to the pulse control end (M1~M4) of the stepper motor, and the motor is controlled to perform tracking operation; the input signal of the power circuit in the power module is connected to the full-bridge rectifier circuit (diodes D9~D12), the full-bridge rectifier circuit is then connected to the voltage stabilizing filter circuit (capacitors C10, C11), and the voltage stabilizing filter circuit (capacitors C10, C11) is connected to the power indication circuit.

[0006] As a preferred method, the electronic compass signal detection module is connected to the single-chip microcomputer through serial communication in the following manner: the two output signal interfaces (DIN and DOUT) of the electronic compass detection module are connected to the corresponding pins of the converter (SP202E) in the electronic compass serial port level conversion module, the send data pin (TXD, pin 10) of the converter (SP202E) is connected to the receive data pin (RXD, pin 10) of the single-chip microcomputer, and the send data pin (TXD, pin 11) of the single-chip microcomputer is connected to the receive data pin (RXD, pin 9) of the converter in the electronic compass serial port level conversion module. In addition, the control method is implemented in the single-chip microcomputer through software.

[0007] The control method of the shipborne television satellite antenna tracking motion system circuit based on WY211S-JQR comprises the following steps:

[0008] Step 1, system initialization: initialize the system clock, key display interface, electronic compass position detection interface, and stepper motor drive interface of the single-chip microcomputer in the controller module, and set the initial status of related ports and related modules;

[0009] Step 2: The electronic compass signal detection module and the single-chip microcomputer in the controller module are communicated and processed. The single-chip microcomputer controls the electronic compass through serial communication. The baud rate of the electronic compass and the single-chip microcomputer communication is set. The single-chip microcomputer receives the detection data of the electronic compass. The electronic compass signal detection module is used to isolate the carrier disturbance and detect the position information.

[0010] Step 3, read the button processing in the button display module, and perform system calibration or system positioning;

[0011] Step 4, display processing: The LED display interface circuit displays the status and detection value according to the operating conditions. There are eight-digit LED segment code tubes in the LED display interface circuit; when the calibration button is pressed, the eight-digit LED segment code tube displays 88888888, indicating that the system enters the calibration system; when the zero key of the electronic compass is pressed, the rightmost three-digit LED segment code tube displays 000, indicating that the current tracking position is set to 0°; when the direction changes, with the tracking position 0° as a reference, the rightmost three-digit LED segment code tube displays the angle value of the changed position, and when the direction returns to the original position, the rightmost three-digit LED segment code tube still displays 000;

[0012] Step 5: According to the angle difference obtained from the detection data of the electronic compass, fuzzy PID control is performed, which has the characteristics of self-adaptation. The three parameters (proportional, integral and differential) of the PID controller can be automatically adjusted according to the changes in the external environment to ensure the stability of the control system. It has better performance in adapting to dynamic environmental changes than traditional PID control and improves the stability of the system.

[0013] Step 6, drive control of the stepper motor: convert the output of the fuzzy PID control into a signal to control the stepper motor driver, and generate a four-phase eight-beat stepper motor drive control pulse through an eight-beat stepper pulse drive, and subdivide the step angle of the stepper motor by 1 / 2 (that is, the original step angle is 1.8°, and the actual operation is 0.9° to improve the working performance of the stepper motor and the accuracy of the overall system); the stepper motor will adjust to the tracking position by rotating forward or reverse according to the angle difference to track the shipborne satellite antenna.

[0014] Preferably, step 3 specifically comprises the following steps:

[0015] Step 3.1, the single-chip microcomputer controls the key display interface chip and reads the key value; the single-chip microcomputer controls the bit of the segment code tube through the operation control terminal according to the received key display control signal, and controls the display content of the segment code tube and the key scanning through the pin control valve;

[0016] Step 3.2: Make function judgment according to the key value and execute relevant control: if the key value read is in the calibration state, execute system calibration; if the positioning key is pressed, execute system positioning;

[0017] Step 3.2.1, system calibration: After pressing the calibration button on the electronic compass for a long time, rotate the compass horizontally for two times. The rotation interval is 1 to 2 minutes. The rotation method is to rotate around its own central axis or make circular motion around a point in the plane. Then press the calibration button of the electronic compass for a short time to end the calibration. Switch to the calibration system by pressing the button. If the eight-digit LED segment code tube displays 88888888, it indicates that it has switched to the calibration system.

[0018] Step 3.2.2, system positioning: After completing the system calibration, switch to the positioning system by pressing the button, continuously measure the current angle with the electronic compass and transmit it to the microcontroller in 232-level mode. The microcontroller compares the measured current angle with the original angle and obtains the deviation; if the deviation is greater than 180°, the stepper motor 4 will rotate forward; if the deviation is less than 180°, the stepper motor will rotate reversely.

[0019] Preferably, step 5 comprises the following steps:

[0020] Step 5.1, according to the angle difference, the differential of the angle difference is obtained, the differential of the angle difference is used as the input of the fuzzy PID control, and the angle difference is divided into seven levels according to the value range: negative large NB, negative medium NM, negative small NS, zero ZO, positive small PS, positive medium PM and positive large PB;

[0021] Step 5.2, then establish the input and output fuzzy rule table, and adjust the proportion, integral and differential of PID according to the fuzzy rule table and through the fuzzy logic algorithm;

[0022] Step 5.3: perform parameter defuzzification and PID controller output control.

[0023] Preferably, in step 2, the baud rate of the communication between the electronic compass and the single-chip microcomputer is set to 9600 bp / s, and the serial communication uses an interrupt mode to send control signals and receive detection data.

[0024] The beneficial effects of the present invention are:

[0025] 1) The present invention does not rely on GPS positioning, but adopts an electronic compass. Aiming at the problem of low measurement accuracy of the electronic compass, the system circuit is reasonably designed, and an adaptive fuzzy PID control algorithm is adopted to provide a low-cost, anti-shake, anti-vibration, and stable operation TV satellite antenna tracking motion system and control method based on WY211S-JQR. The circuit of the present invention is stable and reliable, the system has stable performance, is adaptive to dynamic environmental changes, has low design cost, good stability performance, and has good application value.

[0026] 2) The present invention utilizes the STC89C52RC single-chip microcomputer as a controller in hardware to detect the electronic compass positioning signal and also to control the button display circuit, the motor drive circuit, etc.; the STC89C52RC single-chip microcomputer detects and collects the electronic compass positioning signal through serial communication; the relevant angle difference is obtained according to the collected signal, and the adaptive fuzzy PID control method is adopted according to the angle difference. The output of the adaptive fuzzy PID is converted into an eight-beat drive signal of a two-phase four-wire stepper motor driver, and the 57BYGH78-401A stepper motor is controlled to move, thereby realizing the shipborne television satellite positioning and tracking control. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is the module relationship diagram of the shipborne TV satellite antenna tracking motion system based on WY211S-JQR;

[0028] Figure 2 This is the circuit diagram of the controller module;

[0029] Figure 3 This is the circuit diagram of the electronic compass serial port level conversion module;

[0030] Figure 4 This is the circuit diagram of the electronic compass signal detection module;

[0031] Figure 5 This is the circuit diagram of the stepper motor drive control module;

[0032] Figure 6 Display the circuit diagram of the interface module for the key;

[0033] Figure 7 This is the circuit diagram of the power module.

[0034] Description of the accompanying drawings: button display module 1, controller module 2, power driving module 3, stepping motor 4, electronic compass signal detection module 5, stepping motor driving module 6. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with embodiments. The description of the following embodiments is only used to help understand the present invention. It should be noted that for ordinary persons in the art, without departing from the principle of the present invention, the present invention can also be modified in some ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0036] As an embodiment, a shipborne television satellite antenna tracking motion system and control method based on WY211S-JQR is as follows:

[0037] like Figure 1 As shown, the shipborne TV satellite antenna tracking motion system circuit based on WY211S-JQR includes:

[0038] Key display module 1, controller module 2, electronic compass signal detection module 5, stepper motor drive module 6 and power module; the stepper motor drive module 6 includes a power drive module 3 and a stepper motor 4; the controller module uses a single-chip microcomputer STC89C52RC as a controller, which is the core component of the system, and is used to detect the signal of the electronic compass of the system, and perform adaptive fuzzy PID control according to the angle difference, and at the same time control the output to the stepper motor drive control module, through the control of the key and display interface, read the relevant key input function, and display the corresponding display status; the electronic compass signal detection module uses a flat electronic compass WY211S-JQR, the electronic compass is used to isolate carrier disturbances, to detect position information, and to connect data with the single-chip microcomputer through serial communication ; The stepper motor drive module mainly amplifies the output signal of the single-chip controller, performs power amplification of the motor driver (L298N), and converts it into an eight-beat pulse, provides a control pulse signal to the stepper motor (57BYGH78-401A), and performs positioning and tracking movements; the button display module includes a button display interface chip HD7279, a button interface circuit and an LED display interface circuit. The button is mainly used to set the system's operating functions, such as calibration function and positioning function, etc. The display module is mainly used to display the operating status, detection value and positioning information, etc. The power supply module mainly adopts the LM7805 voltage stabilizer. The 220V AC power supply passes through a full-bridge rectifier circuit and a voltage stabilizer filter circuit to output a stable +5V as the system's power supply VCC signal, and then the power supply is indicated through the LED light.

[0039] like Figure 2As shown, the controller module is mainly composed of a single-chip microcomputer (U1), a reset circuit, an oscillation circuit, a key display interface, a stepper motor drive interface, etc.; the single-chip microcomputer (U1) adopts STC89C52RC; the reset circuit is composed of a reset button S1, a capacitor C1 and a resistor R1, and the 9-pin RST of the single-chip microcomputer is a reset control pin; the oscillation circuit is composed of a crystal oscillator Y1, a capacitor C2 and a capacitor C3, and the crystal oscillator adopts a 12MHz crystal oscillator; the key display interface is connected to the CLK, DAT, KEY and CS of the key display interface circuit by the 3, 4, 13 and 23 pins of the single-chip microcomputer, and the multi-key display circuit performs operations such as control, reading keys, and outputting display values; the stepper motor drive interface is output by the 25-28 of the single-chip microcomputer to the four-phase input terminals IN1-IN4 of the stepper motor drive circuit, and the resistor RP1 provides a pull-up resistor for the P1 port of the single-chip microcomputer;

[0040] The electronic compass signal detection module is mainly composed of the electronic compass detection module ( Figure 4 ) and electronic compass serial port level conversion module ( Figure 3 ), the electronic compass adopts the flat electronic compass WY211S-JQR, the level conversion circuit needs to convert the TTL level signal of the compass into the level signal of the serial port 232, and transmit data with the single-chip microcomputer through serial communication; the 4 ports of the electronic compass detection module, ports 1 and 2 are the positive and negative signals of the +5V power supply, ports 3 and 4 (RX and TX) are the transmission signal ends of the serial port data, and the level conversion is performed through SP202 to convert the DIN and DOUT signals of the electronic compass end into the sending TXD and receiving RXD signals of the serial communication;

[0041] like Figure 5 As shown, the stepper motor drive module includes an optocoupler isolation input circuit, an L298 motor driver and an output circuit. The isolation input is composed of four channels IN1 to IN4. The output signal of the single-chip microcomputer in channel 1 is composed of an optocoupler TLP521, a resistor R7, a resistor R8 and an indicator LED 1. The input signal is isolated and given to the stepper motor driver L298N. The isolation input circuits of channel 2 (IN2), channel 3 (IN3) and channel 4 (IN4) are the same. The isolation input can realize the isolation of the electrical signals of the controller part and the motor part, which plays a protective role. The stepper motor driver L298N outputs OUT1 to OUT4, which are sorted out by the diode D1 to D4 circuit and output M1 to M4 signals to provide a four-phase pulse drive signal to the stepper motor 57BYGH78-401A to control the motor to track and run. PWMA and PWMB are the interface signals of the motor.

[0042] like Figure 6As shown, the key display module is composed of the HD7279 key display interface control chip, display circuit, and key circuit. The HD7279 is a special coding keyboard interface chip that can perform multi-keyboard and multi-bit display. The interface with the single-chip microcomputer is simplified. The 6-9 signals of the HD7279 are the control signal CS, the clock signal CLK, the data signal DATA, and the key control terminal KEY signal. These four signals are connected to the single-chip microcomputer to realize the single-chip microcomputer's control of the key display module's reading of key values ​​and output of 8-bit segment code tube display; the 10-16 pins of the HD7279 are the segment code tubes of the SA-SG segment code tube display and the operation control terminals of the matrix keys S0-S15. The row resistor RP2 is used as the pull-up resistor of the port, and R12-R18 are current-limiting resistors; the resistor R19 and the capacitor C9 constitute the reset circuit of the HD7279;

[0043] like Figure 7 As shown, the power module is composed of a rectifier circuit, a voltage stabilization filter, a power indicator, etc. The 220V AC power supply is the input signal V+ and V- of the power circuit, which is rectified by the full bridge of diodes D9-D12, filtered by capacitors C10 and C11, stabilized by the +5V voltage stabilizing chip LM7805, and the power output part of capacitors C12 and C13 outputs a stable VCC (+5V) power supply as the power supply VCC for part of the system; the resistor R20 and the light-emitting diode LED2 indicate the power supply operation;

[0044] The control method of the shipborne television satellite antenna tracking motion system based on WY211S-JQR includes the following steps:

[0045] Step 1: System initialization, i.e. initialization of the MCU system clock, key display interface, electronic compass position detection interface, stepper motor drive interface and other parts, setting the initial state of related ports and related modules, and providing a basis for the operation of each part;

[0046] Step 2: Communication processing between WY211S-JQR electronic compass and STC89C52RC microcontroller. The microcontroller STC89C52RC controls the communication through the serial port. In the program, the REN bit of the SCON control register controls whether to send or receive data, and the RI and TI bits correspond to receiving and sending data respectively. Since the output baud rate of the WY211S-JQR planar digital compass is 9600bp / s, the program also needs to set the baud rate to 9600bp / s by setting the SMOD bit of the PCON register of the microcontroller, the SM0 and SM1 bits of the SCON register, and the timer 1 of the TMOD register. The serial communication uses the interrupt method to send control signals and receive detection data. When sending, the microcontroller first sends a byte of data. If the data is sent, the sending interrupt flag T1 is set to 1, and the interrupt program is entered to execute related functions. When receiving data, if 1 byte is received, an interrupt is entered to read and process the data.

[0047] Step 3: Read the key processing, according to whether the key state is calibration state or positioning state; read the key value, STC89C52RC single chip microcomputer controls the key display interface chip to control the key value reading; then judge the function according to the key value and execute related control; if the key value read is the calibration key, the system calibration program is executed; if the positioning key is pressed, the system positioning program is executed; calibration control is a compensation for electronic compass measurement. Once the environment around the compass changes, the inherent magnetic field environment around the compass will also change. At this time, the angle information calculated and output by the compass will be inaccurate. In order to eliminate the influence of the surrounding inherent magnetic field changes, the compass must be calibrated. Method: After the calibration key on the electronic compass is pressed for a long time, the compass is rotated evenly and slowly horizontally for two weeks, generally one rotation every 1 to 2 minutes. (It can rotate around its own central axis or make circular motion around a point in the plane), then press the calibration button of the electronic compass for a short time to end the calibration; here, a stepper motor is used in conjunction with a delay function to achieve this, and the button is switched to the calibration system, and the LED segment code tube displays 88888888 to indicate that it is in this state; after completing the system calibration, the button is switched to the positioning system, which is the main system of the system. At this time, the electronic compass continuously measures the current angle and transmits it to the microcontroller in 232-level mode. The microcontroller compares it with the original angle and obtains the deviation, and compares it with 180° based on the deviation. If it is greater than 180°, the motor will be controlled to rotate forward; if it is less than 180°, the motor will be controlled to reverse;

[0048] Step 4: Display processing. Display the status and test value according to the operation status. There are 8 LED segment code tubes in the system. When the calibration key is pressed, the 8 LED segment code tubes display all 8, indicating that the system enters the calibration system. When the zero key of the electronic compass is pressed, the rightmost three digits will display 000, indicating that the current tracking position is set to 0°. When the direction changes, the angle value of the changed position will be displayed (with the tracking position 0° as a reference). When the direction returns to the original position, it still displays 000.

[0049] Step 5, control method implementation, according to the angle difference obtained from the measurement data, fuzzy PID control control method adopts module PID control, according to the angle difference e, the differential of the angle difference ec is obtained at the same time, as the input of the fuzzy PID, and the angle difference is divided into seven levels according to the value range {negative large NB, negative medium NM, negative small NS, zero ZO, positive small PS, positive medium PM, positive large PB}, and then establish the input and output fuzzy rule table, fuzzy rule table reasoning, through the fuzzy logic algorithm to adjust the three parameters of PID proportion, integration and differentiation, and then perform parameter defuzzification and PID controller output control, with the characteristics of self-adaptation, the three parameters of PID can be automatically adjusted according to the change of the external environment to ensure the stability of the control system, compared with the traditional PID control has better performance in adapting to dynamic environmental changes, improve the stability of the system;

[0050] Step 6: Stepper motor drive control, convert the output of fuzzy PID control into a signal to control the stepper motor driver, control the motor, and realize the positioning of the TV satellite cable. The pulse mode adopts eight-beat mode, and the step angle of the stepper motor is subdivided by 1 / 2. That is, the original step angle is 1.8°, and the actual operation is 0.9°, which improves the working performance of the stepper motor and the accuracy of the overall system; the stepper driver generates a four-phase 8-beat stepper motor drive control pulse. According to the different deviation angles measured and calculated (whether it is greater than 180° as the standard), the stepper motor will make forward or reverse rotation to adjust to the tracking position to realize the tracking of the shipborne satellite antenna.

Claims

1. A shipborne TV satellite antenna tracking motion system circuit based on WY211S-JQR, characterized in that: include: A key display module (1), a controller module (2), an electronic compass signal detection module (5), a stepper motor drive module (6) and a power supply module; the stepper motor drive module (6) comprises a power drive module (3) and a stepper motor (4); the key display module (1) comprises a key display interface chip, a key interface circuit and an LED display interface circuit; the controller module (2) comprises a single chip microcomputer, a reset circuit, an oscillation circuit, a key display interface, a stepper motor drive interface and an electronic compass position detection interface; the electronic compass signal detection module (5) comprises an electronic compass detection module and an electronic compass serial port level conversion module; the power supply module comprises a full-bridge rectifier circuit, a voltage stabilizing filter circuit and a power supply indication circuit; the power drive module (3) comprises a motor drive chip, an optical coupling isolation input circuit and a pulse output circuit; The electronic compass signal detection module (5) is connected to the single-chip microcomputer in the controller module (2) through serial communication; the control signal interface, clock signal interface, data signal interface and key control terminal signal interface of the key display interface chip in the key display module (1) are connected to the output pins of the single-chip microcomputer control signal, clock signal, data signal and key control terminal signal in the controller module (2); the pins of the single-chip microcomputer outputting four pulse signals are respectively connected to the four-phase input terminals on the motor drive chip after passing through the optical coupling isolation input circuit in the power drive module (3); The electronic compass signal detection module (5) is connected to the single-chip microcomputer through serial communication in the following manner: the two-way output signal interface of the electronic compass detection module is connected to the corresponding pins of the converter in the electronic compass serial port level conversion module, the send data pin of the converter is connected to the receive data pin of the single-chip microcomputer, and the send data pin of the single-chip microcomputer is connected to the receive data pin of the converter in the electronic compass serial port level conversion module; the single-chip microcomputer realizes the detection and collection of the electronic compass positioning signal through serial communication; the relevant angle difference is obtained according to the collected signal, and the adaptive fuzzy PID control method is adopted according to the angle difference, and the output of the adaptive fuzzy PID is converted into an eight-beat drive signal of the two-phase four-wire stepper motor driver to control the stepper motor to move, thereby realizing the shipborne television satellite positioning tracking control.

2. According to claim 1, the shipborne TV satellite antenna tracking motion system circuit based on WY211S-JQR is characterized in that: In the key display module (1), the pin control valves on the key display interface chip are respectively connected to a current limiting resistor, and a pull-up resistor is connected before each current limiting resistor, and the pull-up resistor is grounded; the operation control terminal of the matrix key is connected after the current limiting resistor, and the operation control terminal of the matrix key is respectively connected to the corresponding LED segment code tube; the bit control pins on the key display interface chip are respectively connected to the LED segment code tube; the ground terminal of the key display interface chip is grounded, and the power terminal of the key display interface chip is connected to the power module; the key display interface chip is also connected to a reset circuit; The reset control pin of the single-chip microcomputer in the controller module (2) is connected to the reset circuit, and the single-chip microcomputer is connected to the oscillation circuit through the corresponding pin; the key display interface is an interface for the controller module (2) to communicate with the key display module (1); the stepper motor drive interface is an interface for the controller module (2) to communicate with the stepper motor drive module (6); the electronic compass position detection interface is an interface for the controller module (2) to communicate with the electronic compass signal detection module (5); the resistor array is a pull-up resistor of the single-chip microcomputer P1 port, and the resistor array is connected to the power supply module; One port of the electronic compass signal detection module (5) is connected to the power module, one port is grounded, and the other two serial port data transmission signal ports are respectively connected to the electronic compass serial port level conversion module; The optocoupler isolation input circuit in the stepper motor drive module (6) is connected to the motor drive chip; the output end of the motor drive chip is connected to the diode shaping circuit, and the diode shaping circuit is connected to the pulse control end of the stepper motor (4); The input signal of the power circuit in the power module is connected to the full-bridge rectifier circuit, the full-bridge rectifier circuit is then connected to the voltage stabilizing filter circuit, and the voltage stabilizing filter circuit is connected to the power indication circuit.

3. According to claim 1, the control method of the shipborne television satellite antenna tracking motion system circuit based on WY211S-JQR is characterized in that: The steps include: Step 1, system initialization: Initialize the system clock, key display interface, electronic compass position detection interface, and stepper motor drive interface of the single-chip microcomputer in the controller module (2); Step 2, the electronic compass signal detection module (5) and the single-chip microcomputer in the controller module (2) are communicated and processed, the single-chip microcomputer controls the electronic compass through serial communication, the baud rate of communication between the electronic compass and the single-chip microcomputer is set, and the single-chip microcomputer receives the detection data of the electronic compass; Step 3, reading the button processing in the button display module (1) to perform system calibration or system positioning; Step 4, display processing: The LED display interface circuit displays the status and detection value according to the operating conditions. There are eight-digit LED segment code tubes in the LED display interface circuit; when the calibration button is pressed, the eight-digit LED segment code tube displays 88888888, indicating that the system enters the calibration system; when the zero key of the electronic compass is pressed, the rightmost three-digit LED segment code tube displays 000, indicating that the current tracking position is set to 0°; when the direction changes, with the tracking position 0° as a reference, the rightmost three-digit LED segment code tube displays the angle value of the changed position, and when the direction returns to the original position, the rightmost three-digit LED segment code tube still displays 000; Step 5: Perform fuzzy PID control based on the angle difference obtained from the detection data of the electronic compass; Step 6, drive control of the stepper motor (4): the output of the fuzzy PID control is converted into a signal for controlling the stepper motor driver, and a four-phase eight-beat stepper motor drive control pulse is generated through an eight-beat stepper pulse drive, and the step angle of the stepper motor (4) is subdivided into 1 / 2; the stepper motor (4) will be adjusted to the tracking position by forward or reverse rotation according to the angle difference to track the ship-borne satellite antenna.

4. According to claim 3, the control method of the shipborne television satellite antenna tracking motion system circuit based on WY211S-JQR is characterized in that: Step 3 specifically includes the following steps: Step 3.1, the single-chip microcomputer controls the key display interface chip and reads the key value; the single-chip microcomputer controls the bit of the segment code tube through the operation control terminal according to the received key display control signal, and controls the display content of the segment code tube and the key scanning through the pin control valve; Step 3.2: Make function judgment according to the key value and execute relevant control: if the key value read is in the calibration state, execute system calibration; if the positioning key is pressed, execute system positioning; Step 3.2.1, system calibration: After pressing the calibration button on the electronic compass for a long time, rotate the compass horizontally for two times. The rotation interval is 1 to 2 minutes. The rotation method is to rotate around its own central axis or make circular motion around a point in the plane. Then press the calibration button of the electronic compass for a short time to end the calibration. Switch to the calibration system by pressing the button. If the eight-digit LED segment code tube displays 88888888, it indicates that it has switched to the calibration system. Step 3.2.2, system positioning: After completing the system calibration, switch to the positioning system by pressing the button, continuously measure the current angle with the electronic compass and transmit it to the single-chip microcomputer in 232-level mode. The single-chip microcomputer compares the measured current angle with the original angle and obtains the deviation; if the deviation is greater than 180°, the stepper motor (4) is rotated forward; if the deviation is less than 180°, the stepper motor (4) is reversed.

5. According to claim 3, the control method of the shipborne television satellite antenna tracking motion system circuit based on WY211S-JQR is characterized in that: Step 5 includes the following steps: Step 5.1, according to the angle difference, the differential of the angle difference is obtained, the differential of the angle difference is used as the input of the fuzzy PID control, and the angle difference is divided into seven levels according to the value range: negative large, negative medium, negative small, zero, positive small, positive medium and positive large; Step 5.2, then establish the input and output fuzzy rule table, and adjust the proportion, integral and differential of PID according to the fuzzy rule table and through the fuzzy logic algorithm; Step 5.3: perform parameter defuzzification and PID controller output control.

6. According to claim 3, the control method of the shipborne television satellite antenna tracking motion system circuit based on WY211S-JQR is characterized in that: In step 2, the baud rate of the electronic compass and the single-chip microcomputer communication is set to 9600bp / s, and the serial communication uses interruption mode to send control signals and receive detection data.

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