An electromechanical integrated signal beam adaptive tracking and aiming system and method

Abstract

The present invention discloses an electromechanical integrated signal beam adaptive tracking system and method. The system includes a reference channel and a regulation channel. The reference channel includes a first antenna, and the regulation channel includes a second antenna, a motor, a voltage-controlled oscillator, and a phase discriminator. The first antenna and the second antenna receive the same transmitted signal. The initial path difference between the transmitted signal and the first antenna and the second antenna is determined. The phase discriminator generates an output voltage proportional to the phase difference between the first signal corresponding to the first antenna and the second signal corresponding to the second antenna and the initial path difference. The output frequency of the voltage-controlled oscillator and the length of the motor are adjusted according to the output voltage, and the second signal corresponding to the second antenna is compensated according to the output frequency. The height of the second antenna is adjusted according to the length of the motor. Compared with the prior art, the path difference of signals received by different antennas can be compensated mechanically, which can save amplifiers and phase shifters.

Description

Technical Field

[0001] The present invention relates to the technical field of adaptive tracking, and in particular, to an electromechanical integrated signal beam adaptive tracking system and method. Background Art

[0002] The phased array radar obtains the required radiation pattern and beam pointing by controlling the phase of each radiation unit. The change of the phase of each radiation unit is realized by a phase shifter, and the value of the phase change is calculated by a computer according to the actual application requirements. As the number of radiation units increases, the computing amount of the computer also increases, which not only places higher requirements on the performance of the computer, but also increases the power consumption of the entire radar system. This will not only lead to an increase in the cost of the entire system, but also increase the operating temperature of the system and reduce the operating stability.

[0003] However, the existing technical solutions all reduce the computing amount and computing time by optimizing the beamforming algorithm or improving the performance of the computer, and greatly increase the system hardware cost and system power consumption based on the method of adding several phase shifters. Therefore, it is urgent to propose a solution that uses the structure of an analog circuit to achieve beam tracking. Summary of the Invention

[0004] In view of this, the purpose of the embodiments of the present invention is to use the structure of an analog circuit and a mechanical method to achieve beam tracking, and save amplifiers and phase shifters.

[0005] The first aspect of the present invention provides an electromechanical integrated signal beam adaptive tracking system, the system includes a reference channel and a regulation channel, the reference channel includes a first antenna, and the regulation channel includes a second antenna, a motor, a voltage controlled oscillator and a phase discriminator; the first antenna and the second antenna receive the same transmitted signal; the motor is used to adjust the height of the second antenna;

[0006] Determine the initial path difference between the transmitted signal and the first antenna and the second antenna;

[0007] The phase discriminator generates an output voltage proportional to the phase difference between the first signal corresponding to the first antenna and the second signal corresponding to the second antenna and the initial path difference;

[0008] Adjust the output frequency of the voltage controlled oscillator and the length of the motor according to the output voltage, compensate the second signal corresponding to the second antenna according to the output frequency, and adjust the height of the second antenna according to the length of the motor.

[0009] Further, the reference channel further includes a first mixer, a first filter and a first power divider; the regulation channel further includes a second mixer, a second filter and a second power divider, a low pass filter;

[0010] Determine that the transmitted signal a0 is expressed as Then the transmitted signal reaching the first antenna is expressed as The transmitted signal reaching the second antenna is expressed as

[0011] where A0 represents the amplitude of the transmitted signal, ω0 represents the frequency of the transmitted signal, represents the phase of the transmitted signal, t represents the transmission time of the transmitted signal, t1 represents the time interval from the transmission of the transmitted signal to the first antenna, and t2 represents the time interval from the transmission of the transmitted signal to the second antenna.

[0012] In the reference channel, the transmitted signal received by the first antenna is mixed with the local oscillator signal a1, and after filtering out the high-frequency components by a filter, a lower-frequency first signal b1 is obtained; where the local oscillator signal

[0013]

[0014] where A1 represents the amplitude of the local oscillator signal, ω1 represents the frequency of the local oscillator signal, represents the phase of the local oscillator signal;

[0015] In the control channel, the second signal received by the second antenna is mixed with the output signal a2 of the voltage-controlled oscillator, and after filtering out the high-frequency components by a filter, a lower-frequency second signal b2 is obtained; where the output signal of the voltage-controlled oscillator

[0016]

[0017] where A2 represents the amplitude of the output signal, ω2 represents the frequency of the output signal, represents the phase of the output signal;

[0018] After the first signal b1 and the second signal b2 are respectively input into the power divider, they are jointly input into the phase detector.

[0019] Furthermore, an output voltage proportional to the phase difference between the input first signal and second signal is generated based on the phase detector;

[0020] The output voltage is expressed as:

[0021] u d =K d θ e

[0022] where K d is the gain coefficient of the phase detector; θ e is the phase difference between b1 and b2;

[0023]

[0024] Since t2 - t1 = Δt = d / c, where c is the speed of light, the output voltage is further expressed as:

[0025]

[0026] where, Since and are the initial phases of signals a1 and a2.

[0027] Furthermore, the system further includes an amplifier;

[0028] The amplifier is used to amplify the output voltage, and the amplified output voltage is expressed as:

[0029] V PD = A d u d ;

[0030] where, A d is the amplification factor of the amplifier.

[0031] Furthermore, adjusting the output frequency of the voltage-controlled oscillator and the length of the motor according to the output voltage, and compensating the second signal corresponding to the second antenna according to the output frequency, includes:

[0032] The output frequency of the voltage-controlled oscillator is expressed as:

[0033] ω vco = K vco V PD = K vco A d u d

[0034] where, K vco represents the sensitivity of the voltage-controlled oscillator;

[0035] Set ω2 = ω vco , and compensate the second signal b2 corresponding to the second antenna based on the output frequency. Furthermore, adjust the length of the motor according to the output voltage, and the length L of the motor is expressed as:

[0036] L = K l V PD + L0;

[0037] where, K l is the lifting sensitivity of the motor.

[0038] In addition, the present invention also provides a method for adaptively adjusting a signal beam. The method is implemented based on the electromechanical integrated signal beam adaptive tracking system according to any one of claims 1-6. The method includes:

[0039] S1. At the initial stage of system operation, set ω1 = ω2. At this time is a positive constant. As the length L of the motor increases, the second antenna rises;

[0040] S2. The decrease in the path difference d between the first antenna and the second antenna will cause the output voltage u d to decrease, which directly causes the output frequency ω vco of the voltage-controlled oscillator to decrease; since ω2 = ω vco , ω1 - ω2 is no longer equal to 0, but will increase as ω2 decreases, resulting in an increase in u d ; under the action of the path difference d between the first antenna and the second antenna, the second antenna keeps rising due to the length L of the motor and finally stops at the position:

[0041]

[0042] S3. The path difference d between the first antenna and the second antenna caused by different signal incident angles is converted into a voltage V PD , and compensation is performed by adjusting the output frequency and the length L of the motor to achieve electromechanical integrated control.

[0043] In the solution of the present invention, the system includes a reference channel and a control channel. The reference channel includes a first antenna, and the control channel includes a second antenna, a motor, a voltage-controlled oscillator, and a phase discriminator; the first antenna and the second antenna receive the same transmitted signal; the motor is used to adjust the height of the second antenna; the initial path difference between the transmitted signal and the first antenna and the second antenna is determined; the phase discriminator generates an output voltage proportional to the phase difference between the first signal corresponding to the first antenna and the second signal corresponding to the second antenna and the initial path difference; the output frequency of the voltage-controlled oscillator and the length of the motor are adjusted according to the output voltage, and the second signal corresponding to the second antenna is compensated according to the output frequency, and the height of the second antenna is adjusted according to the length of the motor. Compared with the prior art, the path difference of signals received by different antennas can be compensated mechanically, saving amplifiers and phase shifters. Description of the Drawings

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0045] Figure 1 It is a schematic structural principle diagram of an electro-mechanical integrated signal beam adaptive tracking and aiming system disclosed in Embodiment 1 of the present invention;

[0046] Figure 2 It is a waveform description diagram of the signal disclosed in Embodiment 1 of the present invention;

[0047] Figure 3 It is a schematic principle diagram of electro-mechanical integration control disclosed in Embodiment 1 of the present invention;

[0048] Figure 4 It is a schematic diagram of compensating for the path difference between the received and transmitted signals of the antenna in a mechanical manner in Embodiment 1 of the present invention. Specific Embodiments

[0049] Now, the exemplary embodiments will be described more comprehensively with reference to the drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; on the contrary, these embodiments are provided so that this application will be more comprehensive and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art.

[0050] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a thorough understanding of the embodiments of this application. However, those skilled in the art will realize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of this application.

[0051] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0052] The flowcharts shown in the accompanying drawings are only illustrative descriptions and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0053] It should be noted that the term "a plurality of" mentioned in this text refers to two or more.

[0054] The implementation details of the technical solutions of the embodiments of the present application are elaborated in detail below:

[0055] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the structural principle of an electromechanical integrated signal beam adaptive tracking system disclosed in an embodiment of the present invention. As Figure 1 shown, the electromechanical integrated signal beam adaptive tracking system of the embodiment of the present invention includes a reference channel and a regulation channel. The reference channel includes a first antenna (Antenna 1), and the regulation channel includes a second antenna (Antenna 2), a motor, a voltage-controlled oscillator, and a phase discriminator; the first antenna (Antenna 1) and the second antenna (Antenna 2) receive the same transmitted signal a0; the motor is arranged below Antenna 2 and is used to adjust the height of Antenna 2. It should be noted that the reference channel further includes a mixer 1, a filter 1, and a power divider 1; the regulation channel further includes a mixer 2, a filter 2, a power divider 2, a low-pass filter, and an amplifier and other components.

[0056] In this embodiment, as Figure 1 shown, the signal a0 transmitted from the target is received by Antenna 1 and Antenna 2 respectively, and the reception times are t1 and t2 respectively. Since Antenna 2 is farther away, t2 > t1. Determine the initial path difference between the transmitted signal and Antenna 1 and Antenna 2. Assuming the path difference of the signal to the two antennas is d, then the corresponding time difference Δt = d / c, where c is the speed of light, so t2 = t1 + Δt.

[0057] Assume then the signals reaching Antenna 1 and Antenna 2 are respectively and wherein, in this embodiment, the transmitted signal is represented in the form of a cosine wave signal. Among them, as Figure 2 shown is the graph of the waveform description of the signal in this embodiment. Among them, for a cosine wave signal, A represents the amplitude of the signal, ω represents the frequency of the signal, represents the phase of the signal, T represents the signal period, and the frequency ω = 2π / T. In this embodiment, all the signals involved are represented in the form of cosine waves. Then, for the transmitted signal a0 from the target, A0 represents the amplitude of the transmitted signal, ω0 represents the frequency of the transmitted signal, represents the phase of the transmitted signal, t represents the transmission time of the transmitted signal, t1 represents the time interval from the transmission of the transmitted signal to the first antenna, and t2 represents the time interval from the transmission of the transmitted signal to the second antenna.

[0058] The signal received by antenna 1 is first mixed with the local oscillator signal a1, and after the high-frequency components are filtered out by a filter, a first signal b1 with a lower frequency is obtained. Assume Then:

[0059]

[0060] where, A1 represents the amplitude of the local oscillator signal, ω1 represents the frequency of the local oscillator signal, represents the phase of the local oscillator signal.

[0061] Assume Similarly, after the high-frequency components are filtered out by a filter, a second signal b2 with a lower frequency is obtained:

[0062]

[0063] where, A2 represents the amplitude of the output signal, ω2 represents the frequency of the output signal, represents the phase of the output signal.

[0064] After the first signal b1 and the second signal b2 are respectively input into the power divider, they are jointly input into the phase detector. The phase detector receives the first signal corresponding to the first antenna and the second signal corresponding to the second antenna, and generates an output voltage proportional to the phase difference between the input first signal and the second signal. After b1 and b2 are respectively input into the power divider, a part of the signal is directly sent to the backend digital unit for signal processing, and this function is similar to that of most radar receivers. Another part of the signal is jointly input into the phase detector.

[0065] Further, the phase detector generates an output voltage proportional to the phase difference between the input first signal and the second signal according to the parameters related to the first signal b1 corresponding to antenna 1 and the second signal b2 corresponding to antenna 2 and the initial path difference d. Since the phase detector can generate a voltage proportional to the phase difference of the input signal, its output voltage can be expressed as:

[0066] u d = K d θ e

[0067] where, K d is the gain coefficient of the phase detector, with the unit V / rad. θ e is the phase difference between b1 and b2, and is equal to:

[0068]

[0069] Since \(t_2 - t_1=\Delta t = \frac{d}{c}\), so

[0070]

[0071] wherein, and are the initial phases of signals \(a_1\) and \(a_2\), and their values are fixed. Therefore is also fixed. So, the output voltage of the phase discriminator only changes with \((\omega_1-\omega_2)t\). To simplify the formula, here let

[0072] When \(u\) d The voltage is too small to drive the subsequent voltage-controlled oscillator and motor, and an additional amplifier can be used to amplify it. The amplified voltage is \(V\) PD =A d u d , where \(A\) d is the amplification factor of the amplifier. This voltage controls both the voltage-controlled oscillator and the motor simultaneously.

[0073] Furthermore, according to the output voltage, the output frequency of the voltage-controlled oscillator and the length of the motor are adjusted, and according to the output frequency, the second signal corresponding to the second antenna is compensated, and the height of the second antenna is adjusted according to the length of the motor.

[0074] In this embodiment, first, the situation where the output voltage \(V\) PD controls the voltage-controlled oscillator is analyzed. The voltage-controlled oscillator is an oscillating circuit in which the output frequency has a corresponding relationship with the input voltage, and its output frequency can be expressed as:

[0075] \(\omega\) vco =K vco V PD =K vco A d u d

[0076] where \(K\) vco is the sensitivity of the voltage-controlled oscillator, and the unit is Hz / V. The larger the input voltage, the higher the output frequency, and vice versa. It can be seen from the system block diagram that \(\omega_2=\omega\) vco .

[0077] Secondly, the output voltage \(V\) PD can also control the length \(L\) of the motor, and their relationship can be expressed as:

[0078] \(L = K\) l V PD +L0

[0079] where \(K\) lis the motor lifting sensitivity, with the unit of m / V. L0 is the initial value of the motor position.

[0080] In summary, this embodiment further introduces the principle of mechatronic control. At the initial stage of the system operation, assume ω1 = ω2, and at this time is a positive constant. As Figure 2 shows the schematic diagram of mechatronic control in this embodiment. At this time, the length L of the motor increases, the antenna 2 rises, and the path difference d between the two antennas decreases. The decrease in d will cause u d to decrease, which directly causes the decrease of ω vco . Since ω2 = ω vco , so ω1 - ω2 is no longer equal to 0, but will increase as ω2 decreases, resulting in the increase of u d . Due to the decrease and increase effects of u d canceling each other out, u d remains unchanged. Therefore, under the action of the distance difference d between antenna 1 and antenna 2, antenna 2 keeps rising due to the action of L, and the final stop position is:

[0081]

[0082] At this point, the distance difference d between antenna 2 and 1 caused by different signal incident angles is converted into voltage V PD , and compensation is carried out by adjusting the electrical parameter ω2 and the physical parameter L, realizing mechatronic control.

[0083] Furthermore, as Figure 3 shows, it is the schematic diagram of compensating the path difference between the received and transmitted signals of the antenna based on the mechanical method in this embodiment. Due to the incident angle, there is a path difference between the signals received by each antenna, and the path difference directly causes amplitude difference and phase difference. Compared with the prior art, the amplitude difference is usually compensated by amplifiers with different gains, and the phase difference is usually compensated by phase shifters. In this embodiment, the path difference between the signals received by different antennas can be compensated by mechanical means, which can save amplifiers and phase shifters.

[0084] Embodiment 2

[0085] This embodiment proposes a method for adaptively adjusting the signal beam. The method is implemented based on the mechatronic signal beam adaptive tracking and aiming system described in Embodiment 1, and the method includes:

[0086] S1. At the initial stage of the system operation, set ω1 = ω2, and at this time is a positive constant, the length L of the motor increases, and the second antenna rises;

[0087] S2. The decrease in the path difference d between the first antenna and the second antenna will cause the output voltage u ddecreases, thus directly causing a decrease in the output frequency ω of the voltage-controlled oscillator; since ω2 = ω vco ; therefore, ω1 - ω2 is no longer equal to 0, but increases as ω2 decreases, thus causing an increase in u vco ; under the action of the path difference d between the first antenna and the second antenna, the second antenna keeps rising due to the action of the length L of the motor, and the final stopping position is: d

[0088]

[0089] S3. The path difference d between the first antenna and the second antenna caused by different signal incident angles is converted into a voltage V PD , and compensation is performed by adjusting the output frequency and the length L of the motor to achieve mechatronic control.

[0090] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0091] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices or units, and can also be electrical, mechanical or other forms of connection.

[0092] ​The unit described as a separating component may or may not be physically separated. As can be realized by those of ordinary skill in the art, the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0093] In addition, the functional units in various embodiments of the present invention can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0094] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0095] The specific embodiments described above have further detailed the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above is only the specific embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An electromechanical integrated signal beam adaptive tracking and aiming system, characterized in that, The system includes a reference channel and a regulation channel. The reference channel includes a first antenna, and the regulation channel includes a second antenna, a motor, a voltage-controlled oscillator, and a phase detector; the first antenna and the second antenna receive the same transmitted signal; Determine the initial path difference between the transmitted signal and the first antenna and the second antenna; The phase detector generates an output voltage proportional to the phase difference between the first signal corresponding to the first antenna, the second signal corresponding to the second antenna, and the initial path difference; Adjust the output frequency of the voltage-controlled oscillator and the length of the motor according to the output voltage, compensate the second signal corresponding to the second antenna according to the output frequency, and adjust the height of the second antenna according to the length of the motor; the length L of the motor is expressed as: L = K l V PD + L0; Among them, K l is the lifting sensitivity of the motor; L0 is the initial value of the motor position; V PD is the output voltage after amplifying the output voltage.

2. The electro-mechanical integrated signal beam adaptive tracking system according to claim 1, wherein The reference channel further includes a first mixer, a first filter, and a first power divider; the regulation channel further includes a second mixer, a second filter, a second power divider, and a low-pass filter; Determine that the transmitted signal a0 is expressed as Then the transmitted signal arriving at the first antenna is expressed as The transmitted signal arriving at the second antenna is expressed as where, A0 represents the amplitude of the transmitted signal, ω0 represents the frequency of the transmitted signal, represents the phase of the transmitted signal, t represents the transmission time of the transmitted signal, t1 represents the time interval from the transmission of the transmitted signal to the first antenna, and t2 represents the time interval from the transmission of the transmitted signal to the second antenna; The reference channel mixes the transmitted signal received by the first antenna with the local oscillator signal a1, and after filtering out the high-frequency components through a filter, a first signal b1 with a lower frequency is obtained; wherein, the local oscillator signal wherein, A1 represents the amplitude of the local oscillator signal, ω1 represents the frequency of the local oscillator signal, represents the phase of the local oscillator signal; The control channel mixes the second signal received by the second antenna with the output signal a2 of the voltage-controlled oscillator, and after filtering out the high-frequency components through a filter, a second signal b2 with a lower frequency is obtained; wherein, the output signal of the voltage-controlled oscillator where, A2 represents the amplitude of the output signal, ω2 represents the frequency of the output signal, represents the phase of the output signal; After the first signal b1 and the second signal b2 are respectively input into the power divider, they are jointly input into the phase detector.

3. The electromechanical integrated signal beam adaptive tracking system according to claim 2, wherein Based on the phase detector, an output voltage proportional to the phase difference between the input first signal and the second signal is generated; The output voltage is expressed as: u d = K d θ e Among them, K d is the gain coefficient of the phase detector; θ e is the phase difference between b1 and b2; Since t2 - t1 = Δt = d / c, where c is the speed of light and d is the path difference between the first antenna and the second antenna, the output voltage is further expressed as: wherein, and are the initial phases of signals a1 and a2.

4. The electro-mechanical integrated signal beam adaptive tracking system according to claim 3, characterized in that, The system further includes an amplifier; The amplifier is used to amplify the output voltage, and the amplified output voltage is expressed as: V PD = A d u d ; Among them, A d is the amplification factor of the amplifier.

5. The electromechanical integrated signal beam adaptive tracking system according to claim 4, wherein The adjusting the output frequency of the voltage-controlled oscillator and the length of the motor according to the output voltage, and compensating the second signal corresponding to the second antenna according to the output frequency includes: The output frequency of the voltage-controlled oscillator is expressed as: ω vco = K vco V PD = K vco A d u d Among them, K vco represents the sensitivity of the voltage-controlled oscillator; Set ω2 = ω vco , and compensate the second signal b2 corresponding to the second antenna based on the output frequency.

6. A signal beam adaptive adjustment method, characterized in that The method is implemented based on the electromechanical integrated signal beam adaptive tracking system according to claim 5, and the method includes: S1. At the initial stage of the system operation, set ω1 = ω2. At this time is a positive constant. As the length L of the motor increases, the second antenna rises; S2, the decrease in the path difference d between the first antenna and the second antenna will cause the output voltage u d to decrease, thereby directly causing the output frequency ω vco of the voltage-controlled oscillator to decrease; since ω2 = ω vco , so ω1 - ω2 is no longer equal to 0, but will increase as ω2 decreases, thereby causing u d to increase; under the action of the path difference d between the first antenna and the second antenna, the second antenna keeps rising due to the action of the length L of the motor, and the final stopping position is: S3. The path difference d between the first antenna and the second antenna caused by different signal incident angles is converted into a voltage V PD , and compensation is performed by adjusting the output frequency and the length L of the motor to achieve mechatronic control.

Images