Five-axis linkage adaptive antenna attitude automatic control device, control method and system

Abstract

The application discloses a five-axis linkage adaptive antenna posture automatic control device, a control method and a system, wherein the control device comprises a base (100), an azimuth adjusting assembly (200), a roll adjusting assembly (300), a pitch adjusting assembly (400), a polarization adjusting assembly (500) and a scanning adjusting assembly (600); the azimuth adjusting assembly (200), the roll adjusting assembly (300), the pitch adjusting assembly (400), the polarization adjusting assembly (500) and the scanning adjusting assembly (600) are all driven to rotate by motors to change the rotating angles, and then the azimuth angle, the roll angle, the pitch angle, the scanning angle and the polarization angle of the antenna are changed. The device keeps the stability of the antenna pointing under the carrier motion condition by controlling the azimuth angle, the roll angle, the pitch angle, the polarization angle and the scanning angle of the antenna, and does not cause the dramatic change of the antenna pointing when the carrier moves dramatically.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite antennas, and in particular relates to a five-axis linkage adaptive antenna attitude automatic control device, a control method and a system. Background Art

[0002] A mobile satellite ground station communication system, or "mobile satellite communication system," refers to a satellite communication earth station installed on a mobile vehicle (such as a car, ship, or aircraft). It requires the satellite communication system to function properly while the vehicle is in motion. To ensure the proper functioning of the mobile satellite communication system, the mobile satellite antenna must always be aligned with the communication satellite, with an alignment accuracy of no greater than one-eighth of the beamwidth. Currently, satellite alignment is typically achieved by continuously adjusting the satellite antenna's attitude. For example, Chinese patent application number CN200910119284 discloses a method for automatically adjusting the attitude of a Ka-band mobile satellite communication antenna. This method achieves angular motion isolation by spatially orthogonalizing three axes, thereby suspending and isolating the antenna. The method then adjusts the antenna's azimuth, roll, and pitch angles by driving motors on the three axes, stabilizing the antenna's attitude at a predetermined position. By tracking satellite beacon signals and alternately driving the azimuth and / or pitch axes, pointing errors caused by sensor drift are eliminated, ensuring optimal reception. This method places high demands on the relative positions of the three axes and the installation of the antenna components on the three axes. Summary of the Invention

[0003] Purpose of the invention: In response to the problems existing in the prior art, the present invention provides a five-axis linkage adaptive antenna attitude automatic control device, which controls the azimuth angle, roll angle, pitch angle, polarization angle and scan angle of the antenna to maintain the stability of the antenna pointing under the condition of carrier movement. When the carrier moves violently, it will not cause drastic changes in the antenna pointing.

[0004] Technical solution: The present invention discloses a five-axis linkage adaptive antenna attitude automatic control device, comprising: a base 100, an azimuth adjustment component 200, a roll adjustment component 300, a pitch adjustment component 400, a polarization adjustment component 500, and a scan adjustment component 600;

[0005] The azimuth adjustment assembly 200 includes an azimuth gear 201, an L-shaped rod 202, an azimuth motor 203, and an azimuth pinion 204. The azimuth gear 201 is disposed on the base 100. The bottom end of the L-shaped rod 202 is connected to the azimuth motor 203. The bottom of the azimuth motor is provided with an azimuth pinion 204, which is externally meshed with the azimuth gear 201.

[0006] The roll adjustment assembly 300 includes a roll motor 301, a first connecting member 302, and a U-shaped beam 303. The roll motor 301 is disposed at the upper end of the L-shaped rod 201, and a roll pinion 304 is disposed on the outside of the roll motor 301. One side of the first connecting member 302 is connected to the U-shaped beam 303 via a bearing, and the other side is provided with a roll gear 305. The roll pinion 304 externally meshes with the roll gear 305.

[0007] The pitch adjustment assembly 400 includes a support base 401, a pitch gear 402, a second connecting member 403, a pitch motor 404, and a pitch pinion 405. The support base 401 is fixedly arranged on the back of the antenna and connected to the two arms of the U-shaped beam 303 through two bearings. The pitch gear 402 is semicircular and fixedly arranged on a first side of the support base 401. The second connecting member 403 is triangular. One side of the second connecting member 403 is fixedly connected to an arm of the U-shaped beam 303 close to the pitch gear 402, and the other side is provided with a pitch motor 404. A pitch pinion 405 is provided on the outside of the pitch motor 404. The pitch pinion 405 is externally meshed with the pitch gear 402.

[0008] The polarization adjustment assembly 500 includes a feed turntable 501, a polarization worm gear 502, a worm 503, and a polarization motor 504; the feed turntable 501 is arranged on the back of the antenna and connected to the feed on the front of the antenna; the polarization worm gear 502 is installed on the outer circumference of the feed turntable 501; the worm gear 503 is perpendicular to the first side of the support base 401 and is driven to rotate by the polarization motor 504 fixed to the support base 401; the worm gear is engaged with the polarization worm gear;

[0009] The scanning adjustment component 600 includes a scanning motor 601 and a main shaft 602 for mounting the antenna main surface; the scanning motor 601 and the main shaft 602 for mounting the antenna main surface are respectively mounted on the upper and lower sides of the second side of the support base 401. When the scanning motor 601 rotates, it drives the main shaft 602 for mounting the antenna main surface to rotate, thereby changing its position to ensure the regularity of the conical beam scanning shape.

[0010] Furthermore, two limit switches 306 are provided on the first connecting member 302 , and the limit switches are used to limit the rotation range of the rolling gear.

[0011] On the other hand, the present invention also discloses a method for automatically controlling the antenna attitude by installing the above-mentioned five-axis linkage adaptive antenna attitude automatic control device on a carrier, comprising:

[0012] Step 1: Obtain the real-time latitude, longitude, and altitude of the antenna and the parameters of the satellite to be aligned according to the satellite positioning system, and obtain the theoretical azimuth, pitch angle, and polarization angle of the current antenna posture;

[0013] Step 2: Obtain the attitude and position of the antenna relative to the carrier based on the current status of each component in the five-axis linkage adaptive antenna attitude automatic control device;

[0014] Step 3: The integrated navigation system composed of MEMS IMU and satellite positioning system obtains the real-time carrier attitude;

[0015] Step 4: The information obtained in the above three steps is transformed by PID proportional integral differential to obtain the current rotation angle of the azimuth motor, roll motor, pitch motor, polarization motor, and scan motor; each motor rotates accordingly to adjust the antenna attitude;

[0016] Step 5: The beacon receiver captures the satellite beacon to track it and complete the antenna alignment.

[0017] Furthermore, the satellite positioning system is a Beidou satellite positioning system or a GPS positioning system.

[0018] Furthermore, the tracking is step tracking. When the beacon signal received by the antenna receiving device is greater than the set value, the azimuth motor and / or pitch motor are alternately driven to rotate the azimuth and pitch angles to ensure that the antenna is aligned with the satellite. The specific tracking method is:

[0019] When the beacon signal received by the device is greater than the set value, first rotate the azimuth angle of the antenna by 0.1°~0.3°, and compare the beacon signal value received by the antenna receiving device after the rotation with the previously received beacon signal value. If it is greater than the previous beacon signal value, it means that the direction of antenna rotation is correct. Then rotate the azimuth angle by 0.1°~0.3°, and then compare again until the latter beacon signal value is less than the previous beacon signal value. Then perform the same tracking on the pitch angle. As long as the received beacon signal is greater than the set value, always perform alternating tracking in this way to keep the antenna in the best receiving state.

[0020] Furthermore, the tracking is a cone beam scanning method, which uses the combined rotation of the scanning motor and the pitch motor to achieve the regularity of the cone beam scanning shape. The scanning motor drives the scanning angle to scan according to formula (1):

[0021] α0=Asin(ωt) (1)

[0022] The pitch motor drives the pitch angle to scan according to formula (2):

[0023] β=Acos(ωt) (2)

[0024] Where: t is time, ω is the angular velocity of the beam during scanning, A is the beam axis deflection angle, α0 is the scanning angle at time t; β is the pitch angle at time t.

[0025] On the other hand, the present invention also discloses a control system for realizing the above-mentioned five-axis linkage adaptive antenna attitude automatic control method, comprising:

[0026] Antenna theoretical attitude acquisition module 1 is used to obtain the real-time antenna latitude and longitude and altitude values ​​and the satellite parameters to be aligned according to the satellite positioning system, and obtain the theoretical azimuth, pitch angle and polarization angle of the current antenna attitude;

[0027] Relative attitude and position acquisition module 2, used to obtain the attitude and position of the antenna relative to the carrier according to the current status of each component in the five-axis linkage adaptive antenna attitude automatic control device;

[0028] The carrier attitude acquisition module 3 is used to receive the real-time carrier attitude acquired by the integrated navigation system composed of MEMS IMU and satellite positioning system;

[0029] Antenna adjustment parameter acquisition module 4 is used to transform the information obtained by antenna theoretical attitude acquisition module 1, relative attitude position acquisition module 2 and carrier attitude acquisition module 3 through PID proportional integral differential transformation to obtain the current rotation angle of azimuth motor, roll motor, pitch motor, polarization motor and scanning motor;

[0030] Antenna adjustment parameter sending module 5, used to send the current azimuth motor, roll motor, pitch motor, polarization motor, and scan motor to each motor to rotate, thereby adjusting the antenna posture;

[0031] The tracking module 6 is used to track the satellite beacons captured by the beacon receiver and complete the antenna alignment.

[0032] Beneficial effects: Compared with the prior art, the five-axis linkage adaptive antenna attitude automatic control device, control method and system disclosed in the present invention have the following advantages:

[0033] 1. Currently used antennas mostly use pulley drive and servo motor automatic control. The motor automatic control board, power module, beacon board, etc. are all independent modules, which take up a lot of space, resulting in bloated systems, poor operational stability, excessive backlash and instability, causing tracking delays and easy loss of satellite tracking signals. The control device disclosed in the present invention uses five-axis linkage, gears, and worm gear transmission to reduce mechanical transmission backlash and instantaneous compensation, solving the problem of signal loss caused by sudden changes in the carrier position. It can achieve real-time tracking and timely compensation, and is applicable to multiple climates and environments.

[0034] 2. The control device disclosed in the present invention not only adjusts the azimuth, pitch, and roll parameters of the antenna, but also adds polarization angle adjustment and scanning angle adjustment for the antenna main surface feed. The entire device is easy to install, and there are no external cables exposed on the outside, which not only protects the service life of the transmission cable but also shields potential external interference.

[0035] 3. The present invention adopts a self-lubricating design, is maintenance-free, and can be applied to different environmental spaces, which greatly increases practicality and reduces costs.

[0036] 4. The control method disclosed in the present invention can quickly adjust and compensate the antenna attitude according to different scenarios of environmental changes in various shipborne communication satellite locations, and add a polarization fine-tuning mechanism, so that the satellite tracking accuracy of the moving communication antenna is greatly improved, the signal tracking is more stable, and the loss caused by signal loss due to instantaneous position mutation is minimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a three-dimensional structural diagram of the five-axis linkage adaptive antenna attitude automatic control device disclosed in the present invention;

[0038] Figures 2a-2d It is a local schematic diagram;

[0039] Figure 3 Six views of the five-axis linkage adaptive antenna attitude automatic control device disclosed in the present invention;

[0040] Figure 4 This is a flow chart of the five-axis linkage adaptive antenna attitude automatic control method disclosed in the present invention;

[0041] Figure 5 The figure is a schematic diagram of the composition of the five-axis linkage adaptive antenna attitude automatic control system disclosed in the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0043] Example 1:

[0044] The present invention discloses a five-axis linkage adaptive antenna attitude automatic control device, such as Figure 1 As shown, it includes: a base 100, an azimuth adjustment component 200, a roll adjustment component 300, a pitch adjustment component 400, a polarization adjustment component 500 and a scan adjustment component 600;

[0045] The base is used to install the five-axis linkage adaptive antenna attitude automatic control device on a carrier. Figure 2aThe figure shows a partial schematic diagram of the azimuth adjustment component 200, which includes an azimuth gearwheel 201, an L-shaped rod 202, an azimuth motor 203, and an azimuth pinion 204. The azimuth gearwheel 201 is arranged on the base 100, and the bottom end of the L-shaped rod 202 is connected to the azimuth motor 203. An azimuth pinion 204 is arranged at the bottom of the azimuth motor, and the azimuth pinion 204 is externally engaged with the azimuth gearwheel 201; when the azimuth motor rotates, it drives the azimuth pinion to rotate along the outer circumference of the azimuth gearwheel, thereby driving the L-shaped rod to rotate and controlling the azimuth angle of the antenna.

[0046] The roll adjustment assembly 300 includes a roll motor 301, a first connecting member 302, and a U-shaped beam 303; the roll motor 301 is arranged at the upper end of the L-shaped rod 201, and a roll pinion 304 is arranged on the outside of the roll motor 301; one side of the first connecting member 302 is connected to the U-shaped beam 303 through a bearing, and the other side is provided with a roll gear 305, and the roll pinion 304 is externally meshed with the roll gear 305; two limit switches 306 are provided on the first connecting member 302 to limit the rotation range of the roll gear, such as Figure 2b When the roll motor rotates, it drives the roll pinion to rotate. Since the roll pinion meshes with the roll gear, it drives the roll gear to rotate, which in turn causes the U-shaped beam to rotate around the axis of the bearing between the first connecting member and the U-shaped beam, thereby controlling the roll angle of the antenna.

[0047] The pitch adjustment assembly 400 includes a support base 401, a pitch gear 402, a second connecting member 403, a pitch motor 404, and a pitch pinion 405; the support base 401 is fixedly arranged on the back of the antenna. In this embodiment, the support base 401 is rectangular, and its four sides are named as the first side, the second side, the third side and the fourth side in sequence; the first side and the third side are connected to the two arms of the U-shaped beam 303 through two bearings; the pitch gear 402 is semicircular and fixedly arranged on the first side of the support base 401; the second connecting member 403 is triangular, and one side of the second connecting member 403 is fixedly connected to an arm of the U-shaped beam 303 close to the pitch gear 402, and the other side is provided with a pitch motor 404; a pitch pinion 405 is provided on the outside of the pitch motor 404; the pitch pinion 405 is externally meshed with the pitch gear 402; as shown Figure 2c When the pitch motor rotates, the pitch pinion rotates along the pitch gear, thereby causing the support base to rotate axially around the two bearings between the support base and the U-shaped beam, thereby controlling the pitch angle of the antenna.

[0048] The polarization adjustment assembly 500 includes a feed turntable 501, a polarization worm gear 502, a worm 503, and a polarization motor 504; the feed turntable 501 is arranged on the back of the antenna and connected to the feed on the front of the antenna; the polarization worm gear 502 is installed on the outer circumference of the feed turntable 501; the worm gear 503 is perpendicular to the first side of the support base 401 and is driven to rotate by the polarization motor 504 fixed to the support base 401; the worm gear is engaged with the polarization worm gear, as shown in FIG. Figure 2d When the polarization motor rotates, it drives the worm to rotate, which in turn drives the worm wheel to rotate, causing the feed turntable to rotate as well, thereby adjusting the feed polarization angle on the front of the antenna.

[0049] The scanning adjustment component 600 includes a scanning motor 601 and an antenna main surface mounting base plate main shaft 602. Figure 2d As shown, the scanning motor 601 and the main shaft 602 of the antenna main surface mounting base are respectively installed on the upper and lower sides of the second side of the support base 401. When the scanning motor 601 rotates, it drives the main shaft 602 of the antenna main surface mounting base to rotate, thereby changing its position to ensure the regularity of the conical beam scanning shape.

[0050] The bearings used in this embodiment are all self-lubricating bearings.

[0051] The six-view diagram of the above five-axis linkage adaptive antenna attitude automatic control device is as follows: Figure 3 As shown, Figure 3 (a)-(f) are the front view, top view, left view, right view, top view and rear view, respectively.

[0052] When the above-mentioned five-axis linkage adaptive antenna attitude automatic control device is used to automatically control the antenna attitude, the base is first installed on the carrier, the main surface of the antenna is installed on the support base 401, and the feed turntable is connected to the feed on the front of the antenna so that the feed turntable can drive the feed to rotate. Figure 4 Shown, including:

[0053] Step 1: Obtain the real-time latitude, longitude, and altitude of the antenna and the parameters of the satellite to be aligned according to the satellite positioning system, and obtain the theoretical azimuth, pitch angle, and polarization angle of the current antenna posture;

[0054] The satellite positioning system is the Beidou satellite positioning system or the GPS positioning system.

[0055] Step 2: Obtain the attitude and position of the antenna relative to the carrier based on the current status of each component in the five-axis linkage adaptive antenna attitude automatic control device;

[0056] Step 3: The integrated navigation system composed of MEMS IMU and satellite positioning system obtains the real-time carrier attitude;

[0057] Step 4: The information obtained in the above three steps is transformed by PID proportional integral differential to obtain the current rotation angle of the azimuth motor, roll motor, pitch motor, polarization motor, and scan motor; each motor rotates accordingly to adjust the antenna attitude;

[0058] Step 5: The beacon receiver captures the satellite beacon to track it and complete the antenna alignment.

[0059] The above steps 1-5 control the azimuth, roll, pitch, polarization and scan angles of the antenna by rotating the azimuth motor, roll motor, pitch motor, polarization motor and scan motor, which can keep the antenna pointing stable under the condition of carrier movement. When the carrier moves violently, it will not cause drastic changes in the antenna pointing.

[0060] When the carrier moves violently, it is necessary to correct the slow drift of the antenna pointing, that is, to eliminate the slow drift through mechanical tracking. This embodiment adopts step tracking. When the beacon signal received by the antenna receiving device is greater than the set value, the azimuth motor and / or pitch motor are alternately driven to rotate the azimuth and pitch angles to ensure that the antenna is aligned with the satellite. The specific tracking method is as follows:

[0061] When the beacon signal received by the device is greater than the set value, first rotate the azimuth angle of the antenna by 0.1°~0.3°, and compare the beacon signal value received by the antenna receiving device after the rotation with the previously received beacon signal value. If it is greater than the previous beacon signal value, it means that the direction of antenna rotation is correct. Then rotate the azimuth angle by 0.1°~0.3°, and then compare again until the latter beacon signal value is less than the previous beacon signal value. Then perform the same tracking on the pitch angle. As long as the received beacon signal is greater than the set value, always perform alternating tracking in this way to keep the antenna in the best receiving state.

[0062] The control system for realizing the above-mentioned five-axis linkage adaptive antenna attitude automatic control method is as follows: Figure 5 Shown, including:

[0063] Antenna theoretical attitude acquisition module 1 is used to obtain the real-time antenna latitude and longitude and altitude values ​​and the satellite parameters to be aligned according to the satellite positioning system, and obtain the theoretical azimuth, pitch angle and polarization angle of the current antenna attitude;

[0064] Relative attitude and position acquisition module 2, used to obtain the attitude and position of the antenna relative to the carrier according to the current status of each component in the five-axis linkage adaptive antenna attitude automatic control device;

[0065] The carrier attitude acquisition module 3 is used to receive the real-time carrier attitude acquired by the integrated navigation system composed of MEMS IMU and satellite positioning system;

[0066] Antenna adjustment parameter acquisition module 4 is used to transform the information obtained by antenna theoretical attitude acquisition module 1, relative attitude position acquisition module 2 and carrier attitude acquisition module 3 through PID proportional integral differential transformation to obtain the current rotation angle of azimuth motor, roll motor, pitch motor, polarization motor and scanning motor;

[0067] Antenna adjustment parameter sending module 5, used to send the current azimuth motor, roll motor, pitch motor, polarization motor, and scan motor to each motor to rotate, thereby adjusting the antenna posture;

[0068] The tracking module 6 is used to track the satellite beacons captured by the beacon receiver and complete the antenna alignment.

[0069] In this embodiment, the tracking module 6 uses step tracking to correct the slow drift of the antenna pointing.

[0070] Example 2:

[0071] Embodiment 1 uses a step tracking method to eliminate slow drift, but this tracking method has a slow convergence speed. Another method is to use cone beam scanning to achieve tracking.

[0072] The principle of cone-beam scanning tracking is to continuously rotate the beam around the antenna axis and determine the target direction using the angular position error signal of the antenna axis. This error signal drives the angular servo system to rotate the antenna in the direction that minimizes the error, thereby achieving target tracking. Ideal cone-beam scanning is when the plane shape perpendicular to the rotation axis during scanning forms a perfect circle. This way, the signal obtained by the system is more conducive to correcting deviation direction. There are currently two scanning methods in use:

[0073] 1. Conical beam scanning is achieved by combining azimuth and elevation rotations. This method has two drawbacks. The first is that the azimuth axis and the antenna beam axis are not orthogonal (they are orthogonal only when the relative elevation angle is 0°). The azimuth axis rotation angle is inconsistent with the antenna beam rotation angle. The relationship between them and the relative elevation angle of the antenna is as follows:

[0074]

[0075] Where θ is the rotation angle of the antenna azimuth axis, and ψ is the actual scanning angle of the antenna perpendicular to the axis of the elevation axis and the beam axis; is the relative elevation angle of the antenna.

[0076] When the elevation angle is not 0 and the posture of the carrier changes dramatically when it moves (the relative elevation angle changes dramatically at this time), it is difficult to ensure the shape regularity of the conical beam scanning, which directly affects the tracking performance; another defect is that the moment of inertia of the azimuth axis is relatively large.

[0077] 2. Conical beam scanning is achieved by rotating the sub-reflector. The advantage of this method is that the moment of inertia is small, so the load of the scanning motor is small and the shape of the conical beam scanning is regular. However, it has a fatal flaw, which destroys the directional pattern characteristics of the antenna. In actual use, it will cause the first lobe to exceed the standard.

[0078] This embodiment uses improved cone beam scanning for tracking. Specifically, the cone beam scanning shape is regularized by the combined rotation of the scanning motor and the pitch motor. The scanning motor drives the scanning angle to scan according to formula (1):

[0079] α0=Asin(ωt) (1)

[0080] The pitch motor drives the pitch angle to scan according to formula (2):

[0081] β=Acos(ωt) (2)

[0082] Where: t is time, ω is the angular velocity of the beam during scanning, A is the beam axis deflection angle, α0 is the scanning angle at time t; β is the pitch angle at time t.

[0083] From equations (1) and (2), we can know that this is a parametric equation of a standard circle. The scanning method composed of the scanning angle and the pitch angle according to equations (1) and (2) can make up for the defects of the above two conical beam scanning methods, and can ensure the regularity of the conical beam scanning shape under different conditions without destroying the antenna's directional pattern characteristics.

[0084] Similarly, in the control system of this embodiment, the tracking module 6 uses improved cone beam scanning for tracking. Specifically, the combined rotation of the scanning motor and the pitch motor is used to achieve the regularity of the cone beam scanning shape. The scanning motor drives the scanning angle and the pitch motor drives the pitch angle to scan according to the above formula (1) and formula (2), respectively.

Claims

1. A five-axis linkage adaptive antenna attitude automatic control device, characterized in that: include: A base (100), an azimuth adjustment component (200), a roll adjustment component (300), a pitch adjustment component (400), a polarization adjustment component (500), and a scan adjustment component (600); The azimuth adjustment assembly (200) comprises an azimuth gear (201), an L-shaped rod (202), an azimuth motor (203), and an azimuth pinion (204); the azimuth gear (201) is arranged on the base (100); the bottom end of the L-shaped rod (202) is connected to the azimuth motor (203); an azimuth pinion (204) is arranged at the bottom of the azimuth motor; and the azimuth pinion (204) is externally meshed with the azimuth gear (201); The roll adjustment assembly (300) comprises a roll motor (301), a first connecting member (302), and a U-shaped beam (303); the roll motor (301) is arranged at the upper end of the L-shaped rod (201), and a roll pinion (304) is arranged on the outside of the roll motor (301); one side of the first connecting member (302) is connected to the U-shaped beam (303) via a bearing, and the other side is provided with a roll gear (305), and the roll pinion (304) is externally meshed with the roll gear (305); The pitch adjustment assembly (400) comprises a support seat (401), a pitch gear (402), a second connecting member (403), a pitch motor (404), and a pitch pinion (405); the support seat (401) is fixedly arranged on the back of the antenna and connected to the two arms of the U-shaped beam (303) through two bearings; the pitch gear (402) is semicircular and fixedly arranged on the first side of the support seat (401); the second connecting member (403) is triangular, one side of the second connecting member (403) is fixedly connected to an arm of the U-shaped beam (303) close to the pitch gear (402), and the other side is provided with the pitch motor (404); the outer side of the pitch motor (404) is provided with a pitch pinion (405); the pitch pinion (405) is externally meshed with the pitch gear (402); The polarization adjustment component (500) comprises a feed turntable (501), a polarization worm gear (502), a worm (503), and a polarization motor (504); the feed turntable (501) is arranged on the back of the antenna and connected to the feed on the front of the antenna; the polarization worm gear (502) is installed on the outer circumference of the feed turntable (501); the worm gear (503) is perpendicular to the first side of the support base (401) and is driven to rotate by the polarization motor (504) fixed on the support base (401); the worm gear is engaged with the polarization worm gear; The scanning adjustment component (600) comprises a scanning motor 601 and an antenna main surface mounting base plate main shaft 602; the scanning motor 601 and the antenna main surface mounting base plate main shaft 602 are respectively mounted on the upper and lower sides of the second side of the support base 401, and when the scanning motor 601 rotates, the antenna main surface mounting base plate main shaft 602 is driven to rotate, thereby changing its position to ensure the regularity of the conical beam scanning shape.

2. The five-axis linkage adaptive antenna attitude automatic control device according to claim 1 is characterized in that: Two limit switches (306) are provided on the first connecting member (302), and the limit switches are used to limit the rotation range of the rolling gear.

3. A control method for a five-axis linkage adaptive antenna attitude automatic control device according to any one of claims 1 to 2, wherein the base of the five-axis linkage adaptive antenna attitude automatic control device is installed on a carrier, characterized in that: include: Step 1: Obtain the real-time latitude, longitude, and altitude of the antenna and the parameters of the satellite to be aligned according to the satellite positioning system, and obtain the theoretical azimuth, pitch angle, and polarization angle of the current antenna posture; Step 2: Obtain the attitude and position of the antenna relative to the carrier based on the current status of each component in the five-axis linkage adaptive antenna attitude automatic control device; Step 3: The integrated navigation system composed of MEMS IMU and satellite positioning system obtains the real-time carrier attitude; Step 4: The information obtained in the above three steps is transformed by PID proportional integral differential to obtain the current rotation angle of the azimuth motor, roll motor, pitch motor, polarization motor, and scan motor; each motor rotates accordingly to adjust the antenna attitude; Step 5: The beacon receiver captures the satellite beacon to track it and complete the antenna alignment.

4. The control method according to claim 3, characterized in that: The satellite positioning system is the Beidou satellite positioning system or the GPS positioning system.

5. The control method according to claim 3, characterized in that: The tracking is a step tracking. When the beacon signal received by the antenna receiving device is greater than the set value, the azimuth motor and / or pitch motor are alternately driven to rotate the azimuth and pitch angles to ensure that the antenna is aligned with the satellite. The specific tracking method is: When the beacon signal received by the device is greater than the set value, first rotate the azimuth angle of the antenna by 0.1°~0.3°, and compare the beacon signal value received by the antenna receiving device after the rotation with the previously received beacon signal value. If it is greater than the previous beacon signal value, it means that the direction of antenna rotation is correct. Then rotate the azimuth angle by 0.1°~0.3°, and then compare again until the latter beacon signal value is less than the previous beacon signal value. Then perform the same tracking on the pitch angle. As long as the received beacon signal is greater than the set value, always perform alternating tracking in this way to keep the antenna in the best receiving state.

6. The control method according to claim 3, characterized in that: The tracking method is a cone beam scanning method, which uses the combined rotation of the scanning motor and the pitch motor to achieve the regularity of the cone beam scanning shape. The scanning motor drives the scanning angle to scan according to formula (1): (1) The pitch motor drives the pitch angle to scan according to formula (2): (2) in: For time, is the angular velocity of the beam during scanning, A is the beam axis deflection angle, for Scan angle at the moment; for The pitch angle at the moment.

Images