A method, apparatus, system and antenna for controlling an antenna

Abstract

The application discloses a kind of control method of antenna, it is related to communication field, it is applied to the main processor in the control device of antenna, control device also includes first driver, second driver, horizontal motor and pitching motor and respective corresponding transmission mechanism, by obtaining the last historical operation mode of horizontal motor and pitching motor and this target operation mode determination adjustment operation mode, driver control corresponding motor is started based on adjustment operation mode, antenna reaches target operation mode by corresponding transmission mechanism, the adjustment of antenna in horizontal and pitching two angles is realized by two drivers and corresponding motor, the angle of two directions can be combined adjustment, it provides great degree of freedom for the adjustment of antenna, expands coverage, realizes the coverage of multiple directions, and the control of coverage is more accurate.The application also discloses a kind of control device, system and antenna of antenna, with the same beneficial effects of the above-mentioned control method of antenna.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication, in particular to a control method of an antenna. BACKGROUND

[0002] With the continuous progress of radio technology, the application of antennas, especially communication antennas, is also more and more widely used. How to increase the coverage range of the received signal of the communication antenna in the application has become an important direction to promote the further development of the communication antenna. For the communication antenna, its coverage to the signal is mainly realized through the vertical plane main beam, so the coverage range of the main beam can be adjusted to adjust the coverage range of the communication antenna. However, the coverage range of the main beam is relatively fixed, and the overall coverage area is small, and there is a range that cannot be covered. How to adjust the coverage range of the main beam is the key point that needs to be solved urgently at present. SUMMARY

[0003] The purpose of the present application is to provide a control method, device, system and antenna of an antenna, which realizes the adjustment of the antenna in horizontal and pitch angles, and the angles in two directions can be combined to adjust, which provides great freedom for the adjustment of the antenna, expands the coverage range, realizes multi-directional coverage, and controls the coverage range more accurately.

[0004] To solve the above technical problems, the present application provides a control method of an antenna, which is applied to a main processor in a control device of the antenna. The control device further includes a first driver, a second driver, a horizontal motor and a pitch motor, and respective corresponding transmission mechanisms. The first driver is connected with the main processor and the horizontal motor respectively, the second driver is connected with the main processor and the pitch motor respectively, and the horizontal motor and the pitch motor are connected with the antenna through respective transmission mechanisms. The method includes:

[0005] Determining the last historical operation mode of the horizontal motor and the pitch motor, wherein the historical operation mode includes the rotation angle of the horizontal motor and the pitch motor;

[0006] Determining the target operation mode corresponding to the horizontal motor and the pitch motor this time;

[0007] Determining the adjustment operation mode of the horizontal motor and the pitch motor based on the last historical operation mode of the horizontal motor and the pitch motor and the target operation mode corresponding to the horizontal motor and the pitch motor this time;

[0008] starting the horizontal motor based on the adjustment operation mode until the target operation mode is reached by the first driver, and starting the pitch motor based on the adjustment operation mode until the target operation mode is reached by the second driver.

[0009] Preferably, before determining the target operation mode corresponding to the horizontal motor and the pitch motor this time, the method further comprises:

[0010] judging whether the state parameters of the horizontal motor and the pitch motor in the historical operation mode are enabled, the state parameters including enabled and disabled;

[0011] If not, entering the step of determining the target operation mode corresponding to the horizontal motor and the pitch motor this time;

[0012] If yes, adjusting the horizontal motor and / or the pitch motor to the rotation angle corresponding to the historical operation mode, and entering the step of determining the target operation mode corresponding to the horizontal motor and the pitch motor this time.

[0013] Preferably, determining the adjustment operation mode of the horizontal motor and the pitch motor based on the historical operation mode of the horizontal motor and the pitch motor last time and the target operation mode corresponding to the horizontal motor and the pitch motor this time comprises:

[0014] subtracting the rotation angle of the horizontal motor in the historical operation mode from the rotation angle of the horizontal motor in the target operation mode to obtain a first angle difference, and taking the first angle difference as the rotation angle of the horizontal motor in the adjustment operation mode;

[0015] subtracting the rotation angle of the pitch motor in the historical operation mode from the rotation angle of the pitch motor in the target operation mode to obtain a second angle difference, and taking the second angle difference as the rotation angle of the pitch motor in the adjustment operation mode.

[0016] Preferably, before determining the historical operation mode of the horizontal motor and the pitch motor last time, the method further comprises:

[0017] judging whether a hardware initialization success instruction in the main processor is received;

[0018] If yes, entering the step of determining the historical operation mode of the horizontal motor and the pitch motor last time.

[0019] Preferably, determining the target operation mode corresponding to the horizontal motor and the pitch motor this time comprises:

[0020] obtaining a preset communication data packet, the communication data packet including the target operation mode.

[0021] The communication data packets are read and unpacked to obtain the target operating modes corresponding to the horizontal motor and the pitch motor in this operation.

[0022] Preferably, after controlling the horizontal motor to start based on the adjusted operating mode until the target operating mode is reached by the first driver, and controlling the pitch motor to start based on the adjusted operating mode until the target operating mode is reached by the second driver, the method further includes:

[0023] Obtain the forward backlash compensation parameters and reverse backlash compensation parameters of the horizontal motor and the pitch motor, and the current rotation state of the horizontal motor and the pitch motor, wherein the rotation state includes forward rotation, reverse rotation, and stop;

[0024] When the horizontal motor and / or the pitch motor are rotating forward, the forward backlash compensation parameter of the horizontal motor and / or the pitch motor is adjusted to enable the horizontal motor and / or the pitch motor to reach the target operating mode.

[0025] When the horizontal motor and / or the pitch motor are in reverse, the reverse backlash compensation parameter of the horizontal motor and / or the pitch motor is reversed so that the horizontal motor and / or the pitch motor can reach the target operating mode;

[0026] When the horizontal motor and / or the pitch motor are stopped, the horizontal motor and / or the pitch motor have reached the target operating mode.

[0027] Preferably, before obtaining the positive backlash compensation parameters and negative backlash compensation parameters of the horizontal motor and the pitch motor, and the current rotation state of the horizontal motor and the pitch motor, the method further includes:

[0028] The transmission mechanisms corresponding to the horizontal motor and the pitch motor are controlled to rotate forward by a preset angle to obtain the first angle of the horizontal motor and the pitch motor;

[0029] The transmission mechanisms corresponding to the horizontal motor and the pitch motor are controlled to reverse by a preset angle to obtain a second angle for the horizontal motor and the pitch motor;

[0030] Subtracting the second angle from the first angle yields the positive clearance compensation parameters for the horizontal motor and the pitch motor; subtracting the first angle from the second angle yields the negative clearance compensation parameters for the horizontal motor and the pitch motor.

[0031] To solve the above-mentioned technical problems, the present invention also provides an antenna control device, including a first driver, a second driver, a horizontal motor and a pitch motor and their respective transmission mechanisms, wherein the first driver is connected to the horizontal motor, the second driver is connected to the pitch motor, and the horizontal motor and the pitch motor are both connected to the antenna through their respective transmission mechanisms.

[0032] Also includes:

[0033] Memory, used to store computer programs;

[0034] A processor, connected to the first driver and the second driver respectively, is used to implement the steps of the antenna control method as described above when executing the computer program.

[0035] To address the aforementioned technical problems, the present invention also provides an antenna, including an antenna body and a control device for the antenna as described above.

[0036] To solve the above-mentioned technical problems, the present invention also provides an antenna control system, which is applied to a main processor in the antenna control device. The control device further includes a first driver, a second driver, a horizontal motor and a vertical motor, and their respective transmission mechanisms. The first driver is connected to the main processor and the horizontal motor, and the second driver is connected to the main processor and the vertical motor, respectively. The horizontal motor and the vertical motor are both connected to the antenna through their respective transmission mechanisms. The system includes:

[0037] A historical operating mode determination unit is used to determine the previous historical operating mode of the horizontal motor and the pitch motor, wherein the historical operating mode includes the rotation angle of the horizontal motor and the pitch motor;

[0038] A target operating mode determination unit is used to determine the target operating mode corresponding to the horizontal motor and the pitch motor in this current operation.

[0039] An adjustment operation mode determination unit is used to determine the adjustment operation mode of the horizontal motor and the pitch motor based on the previous historical operation mode of the horizontal motor and the pitch motor and the target operation mode corresponding to the horizontal motor and the pitch motor in this current operation mode.

[0040] The motor unit is used to control the horizontal motor to start based on the adjusted operating mode until the target operating mode is reached through the first driver, and to control the pitch motor to start based on the adjusted operating mode until the target operating mode is reached through the second driver.

[0041] This invention provides an antenna control method, applied to the main processor in an antenna control device. The control device also includes a first driver, a second driver, a horizontal motor, and a pitch motor, and their respective transmission mechanisms. By acquiring the previous historical operating mode and the current target operating mode of the horizontal and pitch motors, an adjustment operating mode is determined. The driver controls the corresponding motor to start based on the adjustment operating mode. The corresponding transmission mechanism enables the antenna to reach the target operating mode. The two drivers and corresponding motors achieve adjustment of the antenna in both horizontal and pitch angles. The angles in the two directions can be adjusted in combination, providing a great degree of freedom for antenna adjustment, expanding the coverage range, achieving multi-directional coverage, and making the control of the coverage range more precise.

[0042] The present invention also provides an antenna control device, system and antenna, which have the same beneficial effects as the antenna control method described above. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A flowchart illustrating an antenna control method provided by the present invention;

[0045] Figure 2 A schematic diagram of the structure of an antenna control device provided by the present invention;

[0046] Figure 3 A schematic diagram of an antenna structure provided by the present invention;

[0047] Figure 4 A schematic diagram of the structure of an antenna control system provided by the present invention;

[0048] Figure 5 A schematic diagram of the structure of another antenna control device provided by the present invention;

[0049] Figure 6 A flowchart illustrating another antenna control method provided by the present invention;

[0050] Figure 7 This is a flowchart illustrating the gap compensation method of an antenna control method provided by the present invention. Detailed Implementation

[0051] The core of this invention is to provide an antenna control method, device, system, and antenna, which enables adjustment of the antenna in both horizontal and vertical angles. The angles in the two directions can be adjusted in combination, providing a great degree of freedom for antenna adjustment, expanding the coverage range, achieving multi-directional coverage, and making the control of the coverage range more precise.

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] Please refer to Figure 1 , Figure 1 A flowchart illustrating an antenna control method provided by the present invention;

[0054] An antenna control method is applied to a main processor in an antenna control device. The control device further includes a first driver 3, a second driver 4, a horizontal motor 5, and a vertical motor 6, and their respective transmission mechanisms. The first driver 3 is connected to the main processor and the horizontal motor 5, and the second driver 4 is connected to the main processor and the vertical motor 6, respectively. The horizontal motor 5 and the vertical motor 6 are both connected to the antenna through their respective transmission mechanisms. The method includes:

[0055] S11: Determine the previous historical operating mode of horizontal motor 5 and pitch motor 6. The historical operating mode includes the rotation angle of horizontal motor 5 and pitch motor 6.

[0056] Understandably, it is necessary to first determine the previous historical operating modes of the horizontal motor 5 and the pitch motor 6, that is, to read the previous operating states of the horizontal motor 5 and the pitch motor 6 to determine the current position information of the horizontal motor 5 and the pitch motor 6, i.e., the current rotation angle of the horizontal motor 5 and the pitch motor 6, so as to facilitate subsequent control of the specific rotation process of the antenna. This application does not impose any special limitations on the determination and specific reading methods of the historical operating modes; generally, the historical operating modes are obtained from the power-down saved storage area of ​​the main processor.

[0057] S12: Determine the target operating mode for horizontal motor 5 and pitch motor 6 for this operation;

[0058] Specifically, after determining the historical operating modes of the horizontal motor 5 and the pitch motor 6, the target operating mode to be achieved by the horizontal motor 5 and the pitch motor 6 in this application is determined. This application does not make any special restrictions on the determination and specific acquisition method of the target operating mode. Different target operating modes can be preset in the main processor in advance, and the corresponding target operating mode can be selected as the target operating mode for this application according to the application requirements in actual application. Alternatively, the operating mode can be obtained from other devices or processing modules through the communication module, either manually input or preset in other devices, as the target operating mode for this application.

[0059] S13: Determine the adjustment operation mode of horizontal motor 5 and pitch motor 6 based on the previous historical operation mode of horizontal motor 5 and pitch motor 6 and the target operation mode corresponding to horizontal motor 5 and pitch motor 6 this time.

[0060] It should be noted that if the antenna is to change from the previous historical operating mode to the current target operating mode, it is necessary to determine the adjustment operating mode required for the antenna to change from the historical operating mode to the target operating mode. This application does not make any special restrictions on the specific method of determining the adjustment operating mode. The adjustment operating mode can be determined directly by the rotation angle difference, or by other methods.

[0061] S14: The first driver 3 controls the horizontal motor 5 to start based on the adjusted operating mode until the target operating mode is reached, and the second driver 4 controls the pitch motor 6 to start based on the adjusted operating mode until the target operating mode is reached.

[0062] Understandably, after determining the operating mode, the main processor can control the horizontal motor 5 to start based on the operating mode via the first driver 3, and control the pitch motor 6 to start based on the operating mode via the second driver 4, until both the horizontal motor 5 and the pitch motor 6 have reached the target operating mode. At the same time, since the first transmission mechanism 7 corresponding to the horizontal motor 5 and the second transmission mechanism 8 corresponding to the pitch motor 6 are both connected to the antenna, the horizontal motor 5 adjusts the antenna's horizontal angle by controlling the corresponding first transmission mechanism 7, and the pitch motor 6 adjusts the antenna's pitch angle by controlling the corresponding second transmission mechanism 8.

[0063] It should be noted that during this process, only the horizontal motor 5 or the pitch motor 6 can be started to adjust the antenna at a single angle, or both the horizontal motor 5 and the pitch motor 6 can be started simultaneously to adjust the two angles of the antenna in a coordinated manner, thereby expanding the coverage range of the antenna. This application does not make any special restrictions on the specific content and setting methods of adjusting the operating mode, historical operating mode and target operating mode.

[0064] Understandably, the main processor will also determine the status parameters of the horizontal motor 5 and the pitch motor 6 in the target operating mode. The horizontal motor 5 and / or the pitch motor 6 can only be started when the horizontal motor 5 and / or the pitch motor 6 are enabled. It is necessary to compare the status parameters of the target operating mode with the status parameters in the historical operating mode to determine whether the status parameters have been modified, so as to determine the status parameters of the horizontal motor 5 and / or the pitch motor 6.

[0065] Specifically, the starting process of the horizontal motor 5 and the pitch motor 6 can be implemented based on the corresponding motor loop subroutines. When the conditions are met, the corresponding horizontal motor 5 loop subroutine and / or pitch motor 6 loop subroutine are directly entered to implement the starting control of the horizontal motor 5 and the pitch motor 6. This application does not make any special limitations on the specific starting method of the two motors, nor does it make any special limitations on the specific implementation and setting method of the motor loop subroutines.

[0066] Specifically, the above four steps are all controlled by the main processor in the antenna control device. The adjustment of the antenna's downtilt angle is mainly based on the principle of antenna electronic adjustment. The motor changes the phase of the power signal obtained by each radiating element in the antenna array through the phase shifter to adjust the physical tilt angle of the antenna. The radiating element can also be called a vibrator. The specific implementation of the horizontal motor 5 and the pitch motor 6 controlling the antenna through the corresponding transmission mechanism is not specifically limited in this application.

[0067] It is understandable that the determination of the motor's rotation angle during the entire process can be achieved in various ways. This application does not impose any particular limitation here. A position can be set in advance as a reference angle, and the rotation angle can then be determined by the relative position between the current angle and the reference angle. Alternatively, the command information corresponding to each angle can be set in advance, and each angle can be distinguished by different command information. The motor's rotation angle can also be determined by devices such as encoders and / or position sensors. The position sensor can be a Hall sensor. This application does not impose any particular limitation on the specific implementation method for determining the motor's rotation angle, and it can be adjusted according to the actual application environment and application requirements.

[0068] It should be noted that the antenna control device can be implemented by directly reusing the antenna's RCU (Remote Control Unit) system, or it can be implemented in other ways. Please refer to [reference needed]. Figure 5 , Figure 5This invention provides a schematic diagram of the structure of another antenna control device. When the antenna's RCU system is reused, in addition to the main processor providing logic processing and computation, and the first driver 3 and second driver 4 providing basic hardware implementation of the drive motor, the antenna control device also includes modules such as communication circuits, signal conditioning circuits, power management, and interface integration. The communication circuit provides an external communication interface for the antenna control device; the signal conditioning circuit provides processed sensor signals and sampled voltage and current signals; the power management provides reliable and stable power to all components requiring power for the antenna control device; and the interface integration provides an integrated interface for all external signals required by the antenna control device, providing software functions such as logic processing, drive implementation, communication implementation, and control implementation. The "HALL" in the diagram represents a Hall sensor. This application does not impose specific limitations on the types and specific implementation methods of each module; adjustments can be made according to the actual application environment and application requirements.

[0069] In specific applications, besides the horizontal motor 5 and pitch motor 6 that provide power generation, and the corresponding transmission mechanisms for the system's power transformation, the system generally includes an actuator, an RRU (Remote Radio Unit), and / or an RRH (Remote Radio Head) device. The transmission mechanism is connected to the antenna's actuator to control the antenna, representing the final control effect of this invention and a specific, practical application scenario. The RRU and / or RRH device are connected to the antenna's control device via an integrated interface, serving as the antenna's transmitting and receiving modules. This application does not impose specific limitations on the types and implementation methods of each module; adjustments can be made according to the actual application environment and requirements.

[0070] Specifically, the antenna control device can be configured as a driver board, embedded as an integral driver unit on the driver board, or it can be configured in other ways. This application does not make any special limitations on the specific configuration of the antenna control device, nor does it make any special limitations on the specific implementation and configuration methods of the various modules of the antenna control device. Generally, the transmission mechanism is implemented in the form of gears, which can be achieved by setting up a gearbox or the like.

[0071] This invention provides an antenna control method, applied to the main processor in an antenna control device. The control device also includes a first driver 3, a second driver 4, a horizontal motor 5, and a pitch motor 6, and their respective transmission mechanisms. By acquiring the previous historical operating mode and the current target operating mode of the horizontal motor 5 and the pitch motor 6, an adjustment operating mode is determined. The driver controls the corresponding motor to start based on the adjustment operating mode. The corresponding transmission mechanism enables the antenna to reach the target operating mode. The two drivers and the corresponding motors realize the adjustment of the antenna in both horizontal and pitch angles. The angles in the two directions can be adjusted in combination, providing a great degree of freedom for antenna adjustment, expanding the coverage range, realizing multi-directional coverage, and making the control of the coverage range more precise.

[0072] Based on the above embodiments,

[0073] As a preferred embodiment, before determining the target operating mode corresponding to the horizontal motor 5 and the pitch motor 6, the method further includes:

[0074] Determine whether the status parameters of horizontal motor 5 and pitch motor 6 in the historical operation mode are enabled. The status parameters include enabled and disabled.

[0075] If not, proceed to the step of determining the target operating mode corresponding to horizontal motor 5 and pitch motor 6 for this operation;

[0076] If so, adjust the horizontal motor 5 and / or the pitch motor 6 to the rotation angle corresponding to the historical operating mode, and proceed to the step of determining the target operating mode corresponding to the horizontal motor 5 and the pitch motor 6 this time.

[0077] Considering that the historical operating modes of horizontal motor 5 and pitch motor 6 may be affected by abnormal situations such as power outages and application environment influences, resulting in the current actual position of horizontal motor 5 and pitch motor 6 not being exactly the same as the final position of the historical operating mode, a self-check process for the two motors has been added. This process checks whether the status parameters of horizontal motor 5 and pitch motor 6 in the historical operating mode are enabled. If the status parameters of horizontal motor 5 and pitch motor 6 in the historical operating mode are enabled, it means that horizontal motor 5 and pitch motor 6 were still working when the machine was finally stopped last time, and there may be other operating processes afterward. Therefore, it is necessary to first adjust horizontal motor 5 and / or pitch motor 6 to the rotation angle corresponding to the historical operating mode to ensure that the current position of horizontal motor 5 and pitch motor 6 is consistent with the historical operating mode, so as to facilitate the subsequent determination of the adjusted operating mode.

[0078] When the state parameters of horizontal motor 5 and pitch motor 6 are disabled instead of enabled in the historical operating mode, it indicates that horizontal motor 5 and pitch motor 6 were already stopped when they finally stopped last time, and no further operation is possible. The current positions of horizontal motor 5 and pitch motor 6 are consistent with the historical operating mode, and subsequent control processes can be directly performed. The determination process of the state parameters of the two motors can be performed simultaneously or in a preset order. This application does not make any special restrictions on the specific implementation method of the determination process.

[0079] Considering that the historical operating modes of the horizontal motor 5 and the pitch motor 6 may be affected by abnormal situations such as power outages and application environment, resulting in the current actual position of the horizontal motor 5 and the pitch motor 6 not being exactly the same as the final position of the historical operating mode, a self-check process for the two motors was added to ensure that the current position of the horizontal motor 5 and the pitch motor 6 is consistent with the result in the historical operating mode. This improves the accuracy of subsequent adjustment of the operating mode, ensures the accuracy of the final antenna control process, improves control precision, and ensures the reliability and safety of the entire control process.

[0080] As a preferred embodiment, the adjustment operation mode of the horizontal motor 5 and the pitch motor 6 is determined based on the previous historical operation mode of the horizontal motor 5 and the pitch motor 6 and the target operation mode corresponding to the horizontal motor 5 and the pitch motor 6 in this operation, including:

[0081] The first angle difference is obtained by subtracting the rotation angle of the horizontal motor 5 in the historical operating mode from the rotation angle of the horizontal motor 5 in the target operating mode, and the first angle difference is used as the rotation angle of the horizontal motor 5 in the adjusted operating mode.

[0082] The second angle difference is obtained by subtracting the rotation angle of the pitch motor 6 in the historical operating mode from the rotation angle of the pitch motor 6 in the target operating mode. The second angle difference is used as the rotation angle of the pitch motor 6 in the adjusted operating mode.

[0083] Specifically, determining the adjustment operation mode of horizontal motor 5 and pitch motor 6 based on the previous historical operation mode of horizontal motor 5 and pitch motor 6 and the target operation mode corresponding to horizontal motor 5 and pitch motor 6 this time is the process of determining the rotation angle difference. By directly subtracting the rotation angle in the target operation mode from the rotation angle in the historical operation mode, the rotation angle required for adjusting the operation mode can be obtained.

[0084] As a specific implementation, the rotation angle for adjusting the operating mode is determined by calculating the angle difference. The process is simple, convenient, and easy to implement, ensuring that the subsequent horizontal motor 5 and pitch motor 6 can achieve the target operating mode, thus guaranteeing the complete realization of the entire control process.

[0085] As a preferred embodiment, before determining the previous historical operating mode of the horizontal motor 5 and the pitch motor 6, the method further includes:

[0086] Determine whether a hardware initialization success instruction has been received from the main processor;

[0087] If so, proceed to the step of determining the previous historical operating mode of the horizontal motor 5 and the pitch motor 6.

[0088] Considering that a hardware initialization process will occur after the system powers on, a process for determining whether the hardware initialization was successful has been added. When a hardware initialization success instruction is received from the main processor, it indicates successful hardware initialization, and subsequent control procedures can proceed. If no hardware initialization success instruction is received from the main processor, hardware initialization has failed, and the hardware initialization process needs to be re-entered. Only after confirming successful hardware initialization can subsequent control procedures proceed. This application does not specifically limit the specific implementation method or settings of hardware initialization.

[0089] Considering that a hardware initialization process will occur after the system is powered on, a process to determine whether the hardware initialization was successful has been added. Subsequent control processes only proceed after hardware initialization is complete. This ensures the reliability and safety of each hardware component during control, guarantees the complete implementation of the control process, ensures the accuracy of the final antenna control, improves control precision, and guarantees the reliability and safety of the entire control process.

[0090] As a preferred embodiment, determining the target operating mode corresponding to the horizontal motor 5 and the pitch motor 6 for this operation includes:

[0091] Acquire a preset communication data packet, which includes the target operating mode;

[0092] Read the communication data packets and unpack them to obtain the target operating modes corresponding to horizontal motor 5 and pitch motor 6 for this operation.

[0093] It is understood that the process of determining the target operating mode can be achieved by obtaining a preset communication data packet from a preset location, and then unpacking the communication data packet after reading it to obtain the target operating mode corresponding to the horizontal motor 5 and the pitch motor 6 at this time. The communication data packet may also include other operating parameters of the antenna control device, etc. This application does not make any special limitations on the specific content and setting method of the communication data packet.

[0094] Specifically, the main processor acquires communication data packets based on the AISG (Antenna Interface Standards Group) 2.0 protocol. These communication data packets can be manually input, pre-set in the main processor, or acquired from RRU and / or RRH devices through the communication interface. This application does not impose any special restrictions on the specific acquisition method of the communication data packets, and adjustments can be made according to the actual application environment and application requirements.

[0095] As a specific embodiment, by obtaining a preset communication data packet from a preset location, the target operating mode corresponding to the horizontal motor 5 and the pitch motor 6 is determined. The process is simple, convenient, and easy to implement, ensuring the implementation of subsequent control processes. The content setting of the communication data packet is highly flexible and easy to adjust, enhancing the flexibility of the entire control process and expanding the application scope.

[0096] In a preferred embodiment, after the horizontal motor 5 is started based on the adjusted operating mode and reaches the target operating mode by the first driver 3, and the pitch motor 6 is started based on the adjusted operating mode and reaches the target operating mode by the second driver 4, the method further includes:

[0097] Obtain the forward backlash compensation parameters and reverse backlash compensation parameters of the horizontal motor 5 and the pitch motor 6, as well as the current rotation state of the horizontal motor 5 and the pitch motor 6, including forward rotation, reverse rotation, and stop.

[0098] When the horizontal motor 5 and / or the pitch motor 6 are rotating forward, the forward clearance compensation parameter of the horizontal motor 5 and / or the pitch motor 6 is adjusted to enable the horizontal motor 5 and / or the pitch motor 6 to reach the target operating mode.

[0099] When the horizontal motor 5 and / or the pitch motor 6 are in reverse, reverse the backlash compensation parameter of the horizontal motor 5 and / or the pitch motor 6 so that the horizontal motor 5 and / or the pitch motor 6 can reach the target operating mode.

[0100] When the horizontal motor 5 and / or the pitch motor 6 are stopped, the horizontal motor 5 and / or the pitch motor 6 have reached the target operating mode.

[0101] When the transmission mechanism is geared and the position information of the two motors is determined by position sensors, the transmission mechanism and the position sensors are not mounted on the same drive shaft. The position sensors are typically located at the tail of the motor, detecting changes in the rotor shaft position. However, the position information transmitted through the transmission mechanism has a certain deviation due to the unknown degree of gear meshing, resulting in a travel difference after the motor rotates in both directions. This travel difference causes a certain backlash error in the final position information acquired by the position sensor, requiring compensation and optimization. This can be offset using a simple formula based on the linear relationship of the reduction ratio, or it can be achieved through other methods.

[0102] This invention provides a precise backlash compensation method. First, the positive and negative backlash compensation parameters for the horizontal motor 5 and the pitch motor 6 are determined through control of the main processor or manual control. The determined results are transmitted to the main processor. The main processor then reads the current operating state of the motor commands issued by the motors through changes in the detection results of position sensors or other means to determine the current rotation state of the horizontal motor 5 and the pitch motor 6. When the horizontal motor 5 and / or the pitch motor 6 are in different rotation states, corresponding operations are performed on the motors according to the corresponding compensation parameters to bring the horizontal motor 5 and the pitch motor 6 to the target operating mode.

[0103] This application does not impose any special limitations on the specific determination methods and implementation processes of the forward backlash compensation parameters, reverse backlash compensation parameters, and the current rotation state of the horizontal motor 5 and the pitch motor 6.

[0104] Considering the inherent gap error in the position information acquired by the position sensor, a gap compensation method was added. After determining the forward gap compensation parameters and reverse gap compensation parameters of the horizontal motor 5 and the pitch motor 6, as well as the current rotation state of the horizontal motor 5 and the pitch motor 6, the corresponding compensation operation was performed based on the current rotation state of the horizontal motor 5 and the pitch motor 6. This enabled the horizontal motor 5 and the pitch motor 6 to more accurately reach the target operating mode, offsetting the control accuracy loss caused by the gap in the transmission mechanism, reducing errors, greatly reducing the control device's dependence on the consistency of the transmission structure, improving control accuracy, ensuring the accuracy of the final antenna control process, and guaranteeing the reliability and safety of the entire control process.

[0105] In a preferred embodiment, before obtaining the positive backlash compensation parameters and negative backlash compensation parameters of the horizontal motor 5 and the pitch motor 6, and the current rotation state of the horizontal motor 5 and the pitch motor 6, the method further includes:

[0106] By controlling the transmission mechanisms corresponding to the horizontal motor 5 and the pitch motor 6 to rotate forward by a preset angle, the first angle of the horizontal motor 5 and the pitch motor 6 is obtained.

[0107] The transmission mechanisms corresponding to the horizontal motor 5 and the pitch motor 6 are reversed by a preset angle to obtain the second angle of the horizontal motor 5 and the pitch motor 6.

[0108] Subtracting the second angle from the first angle yields the positive clearance compensation parameters for the horizontal motor 5 and the pitch motor 6; subtracting the first angle from the second angle yields the negative clearance compensation parameters for the horizontal motor 5 and the pitch motor 6.

[0109] Specifically, this embodiment provides a method for determining the forward backlash compensation parameters and the reverse backlash compensation parameters. When the preset angle is 5°, the transmission mechanism is mechanically limited and locked at ±5° by the main processor under the control of the main processor and with the use of precision-machined parts. The position sensor data under the ±5° condition is obtained. When rotating forward, it is called the first angle, and when rotating in reverse, it is called the second angle. The data is saved in the storage module. Subsequently, the forward backlash compensation parameters and the reverse backlash compensation parameters of the two motors are determined by calculating the data under the two conditions for subsequent compensation operations.

[0110] As a specific embodiment, a method for determining the positive clearance compensation parameters and the negative clearance compensation parameters is provided. The operation process is simple and convenient, and easy to implement. The determination process of the positive clearance compensation parameters and the negative clearance compensation parameters is implemented by the main processor, which ensures the accuracy of the final result, improves the control precision, and ensures the reliability and safety of the entire control process.

[0111] Please refer to Figure 6 , Figure 6 A flowchart illustrating another antenna control method provided by the present invention;

[0112] The antenna control method is divided into a main program flow and a communication subroutine flow. The main program flow implements hardware initialization and the self-test process of horizontal motor 5 and pitch motor 6. After hardware initialization, it enters the process of reading the previous running state, that is, determining the previous historical running mode of horizontal motor 5 and pitch motor 6. The communication subroutine is set as an interrupt-triggered subroutine. Communication reception is enabled in the main flow, that is, after the communication subroutine is enabled, the communication subroutine is triggered by the communication interrupt signal. When the communication subroutine receives communication data packets, it reads and unpacks the data, and judges whether the status parameters in the data have been modified, and whether horizontal motor 5 and pitch motor 6 need to move. That is, it determines the adjustment running mode of horizontal motor 5 and pitch motor 6 based on the previous historical running mode of horizontal motor 5 and pitch motor 6 and the corresponding target running mode of horizontal motor 5 and pitch motor 6. Finally, the corresponding operations are implemented through three processing subroutines: parameter modification subroutine, horizontal motor 5 control loop, and pitch motor 6 control loop.

[0113] Please refer to Figure 7 , Figure 7 This is a flowchart illustrating a gap compensation method for antenna control provided by the present invention. The method includes a gap acquisition process and a gap compensation process. Generally, the gap acquisition process is performed first, and the gap compensation process can be embedded in a loop sub-process to achieve the final correction process. The HALL data in the diagram represents the detection results of the HALL sensor. At the beginning of the gap acquisition process, the positive and negative gap data stored in memory are erased to make the final detection results more accurate. The target position in the diagram refers to the position reached by the horizontal motor 5 and the pitch motor 6 after adjusting their operating modes.

[0114] Please refer to Figure 2 , Figure 2 A schematic diagram of the structure of an antenna control device provided by the present invention;

[0115] To solve the above-mentioned technical problems, the present invention also provides an antenna control device, including a first driver 3, a second driver 4, a horizontal motor 5 and a pitch motor 6 and their respective transmission mechanisms. The first driver 3 is connected to the horizontal motor 5, the second driver 4 is connected to the pitch motor 6, and the horizontal motor 5 and the pitch motor 6 are both connected to the antenna through their respective transmission mechanisms.

[0116] Also includes:

[0117] Memory 1 is used to store computer programs;

[0118] The processor 2 is connected to the first driver 3 and the second driver 4 respectively, and is used to implement the steps of the antenna control method described above when executing a computer program.

[0119] This application does not impose any particular limitations on the type and specific implementation of memory 1 and processor 2. Memory 1 may include one or more computer-readable storage media, which may be non-transitory. Memory 1 may also include high-speed random access memory 1 and non-volatile memory 1, such as one or more disk storage devices or flash storage devices. In addition, the resources stored in memory 1 may also include operating systems and data, and the storage method may be temporary storage or permanent storage. Processor 2 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. Processor 2 may be implemented using at least one hardware form of DSP (Digital Signal Processor), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array).

[0120] This application does not impose any particular limitations on the type and specific implementation of the first driver 3, the second driver 4, the horizontal motor 5, and the pitch motor 6, as well as their respective corresponding transmission mechanisms; there are multiple options available.

[0121] It will be understood by those skilled in the art that Figure 2 The structure shown does not constitute a limitation on the control device for the antenna and may include more or fewer components than shown.

[0122] For a description of the antenna control device provided by the present invention, please refer to the above method embodiments; the present invention will not be described again here.

[0123] Please refer to Figure 3 , Figure 3 A schematic diagram of an antenna structure provided by the present invention;

[0124] To solve the above-mentioned technical problems, the present invention also provides an antenna, including an antenna body 21 and a control device for the antenna as described above.

[0125] Specifically, this application does not impose any special restrictions on the type and specific implementation of the antenna, which can be adjusted according to the actual application environment and application requirements. This application also does not impose any special restrictions on the specific implementation of other modules in the antenna.

[0126] For an introduction to the antenna provided by this invention, please refer to the above method embodiments; the invention itself will not be described in detail here.

[0127] Please refer to Figure 4 , Figure 4A schematic diagram of the structure of an antenna control system provided by the present invention;

[0128] To solve the above-mentioned technical problems, the present invention also provides an antenna control system, which is applied to the main processor in the antenna control device. The control device further includes a first driver 3, a second driver 4, a horizontal motor 5 and a pitch motor 6, and their respective transmission mechanisms. The first driver 3 is connected to the main processor and the horizontal motor 5, and the second driver 4 is connected to the main processor and the pitch motor 6, respectively. The horizontal motor 5 and the pitch motor 6 are both connected to the antenna through their respective transmission mechanisms. The system includes:

[0129] The historical operation mode determination unit 31 is used to determine the previous historical operation mode of the horizontal motor 5 and the pitch motor 6. The historical operation mode includes the rotation angle of the horizontal motor 5 and the pitch motor 6.

[0130] The target operation mode determination unit 32 is used to determine the target operation mode corresponding to the horizontal motor 5 and the pitch motor 6 in this operation.

[0131] The operation mode determination unit 33 is used to determine the operation mode of the horizontal motor 5 and the pitch motor 6 based on the previous historical operation mode of the horizontal motor 5 and the pitch motor 6 and the target operation mode corresponding to the horizontal motor 5 and the pitch motor 6 this time.

[0132] The starter motor unit 34 is used to control the horizontal motor 5 to start based on the adjusted operating mode until the target operating mode is reached through the first driver 3, and to control the pitch motor 6 to start based on the adjusted operating mode until the target operating mode is reached through the second driver 4.

[0133] As a preferred embodiment, it further includes:

[0134] The first judgment unit is used to determine whether the status parameters of the horizontal motor 5 and the pitch motor 6 in the historical operation mode are enabled. The status parameters include enabled and disabled. If they are enabled, the target operation mode determination unit 32 is triggered; if not, the angle adjustment unit is triggered.

[0135] An angle adjustment unit is used to adjust the horizontal motor 5 and / or the pitch motor 6 to the rotation angle corresponding to the historical operating mode, and to trigger the target operating mode determination unit 32.

[0136] In a preferred embodiment, the operation mode determination unit 33 includes:

[0137] The unit for determining the rotation angle of the horizontal motor 5 is used to subtract the rotation angle of the horizontal motor 5 in the historical operating mode from the rotation angle of the horizontal motor 5 in the target operating mode to obtain the first angle difference, and to use the first angle difference as the rotation angle of the horizontal motor 5 in the adjustment operating mode.

[0138] The unit for determining the rotation angle of the pitch motor 6 is used to subtract the rotation angle of the pitch motor 6 in the historical operating mode from the rotation angle of the pitch motor 6 in the target operating mode to obtain the second angle difference, and the second angle difference is used as the rotation angle of the pitch motor 6 in the adjustment operating mode.

[0139] As a preferred embodiment, it further includes:

[0140] The second judgment unit is used to determine whether the hardware initialization success instruction in the main processor has been received. If so, the historical running mode determination unit 31 is triggered.

[0141] In a preferred embodiment, the target operating mode determination unit 32 includes:

[0142] The data packet acquisition unit is used to acquire a preset communication data packet, which includes the target operating mode.

[0143] The unpacking unit is used to read communication data packets and unpack them to obtain the target operating mode corresponding to the horizontal motor 5 and the pitch motor 6.

[0144] As a preferred embodiment, it further includes:

[0145] The compensation parameter acquisition unit is used to acquire the forward backlash compensation parameters and reverse backlash compensation parameters of the horizontal motor 5 and the pitch motor 6, as well as the current rotation state of the horizontal motor 5 and the pitch motor 6, including forward rotation, reverse rotation, and stop.

[0146] The forward rotation compensation unit is used to compensate the forward backlash parameters of the horizontal motor 5 and / or the pitch motor 6 when the horizontal motor 5 and / or the pitch motor 6 are rotating forward, so that the horizontal motor 5 and / or the pitch motor 6 can reach the target operating mode.

[0147] The reverse compensation unit is used to reverse the backlash compensation parameters of the horizontal motor 5 and / or the pitch motor 6 when the horizontal motor 5 and / or the pitch motor 6 are in reverse so that the horizontal motor 5 and / or the pitch motor 6 can reach the target operating mode.

[0148] The stop compensation unit is used when the horizontal motor 5 and / or the pitch motor 6 have reached the target operating mode and are in a stopped state.

[0149] As a preferred embodiment, it further includes:

[0150] The first angle unit is used to control the transmission mechanism corresponding to the horizontal motor 5 and the pitch motor 6 to rotate forward by a preset angle, so as to obtain the first angle of the horizontal motor 5 and the pitch motor 6.

[0151] The second angle unit is used to control the transmission mechanisms corresponding to the horizontal motor 5 and the pitch motor 6 to reverse the preset angle to obtain the second angle of the horizontal motor 5 and the pitch motor 6.

[0152] The compensation parameter determination unit is used to subtract the second angle from the first angle to obtain the positive clearance compensation parameters of the horizontal motor 5 and the pitch motor 6; and to subtract the first angle from the second angle to obtain the negative clearance compensation parameters of the horizontal motor 5 and the pitch motor 6.

[0153] For a description of the antenna control system provided by the present invention, please refer to the above method embodiments; the present invention will not be described again here.

[0154] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the antenna control method described above.

[0155] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, 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 executes all or part of the steps of the methods described in the various embodiments of this application. Specifically, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, and portable hard drives, or any type of media or device suitable for storing instructions or data, etc., and this application does not make any special limitations here.

[0156] For a description of the computer-readable storage medium provided by the present invention, please refer to the above method embodiments; the present invention will not be described again here.

[0157] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0158] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

Claims

1. A method for controlling an antenna, characterized in that, A main processor is applied in the control device of the antenna. The control device further includes a first driver, a second driver, a horizontal motor and a vertical motor, and their respective transmission mechanisms. The first driver is connected to the main processor and the horizontal motor, and the second driver is connected to the main processor and the vertical motor, respectively. The horizontal motor and the vertical motor are both connected to the antenna through their respective transmission mechanisms. The method includes: Determine the previous historical operating mode of the horizontal motor and the pitch motor, wherein the historical operating mode includes the rotation angle of the horizontal motor and the pitch motor; Determine the target operating modes for the horizontal motor and the pitch motor in this operation. The adjustment operation mode of the horizontal motor and the pitch motor is determined based on the previous historical operation mode of the horizontal motor and the pitch motor and the target operation mode corresponding to the horizontal motor and the pitch motor in this current operation mode. The first driver controls the horizontal motor to start based on the adjusted operating mode until the target operating mode is reached; the second driver controls the pitch motor to start based on the adjusted operating mode until the target operating mode is reached. Before determining the target operating mode corresponding to the horizontal motor and the pitch motor for this operation, the following steps are also included: Determine whether the state parameters of the horizontal motor and the pitch motor in the historical operating mode are enabled, and the state parameters include enabled and disabled. If not, proceed to the step of determining the target operating mode corresponding to the horizontal motor and the pitch motor for this operation; If so, adjust the horizontal motor and / or the pitch motor to the rotation angle corresponding to the historical operating mode, and proceed to the step of determining the target operating mode corresponding to the horizontal motor and the pitch motor this time.

2. The antenna control method as described in claim 1, characterized in that, The adjustment operation mode of the horizontal motor and the pitch motor is determined based on their previous historical operating modes and the current target operating modes, including: The first angle difference is obtained by subtracting the rotation angle of the horizontal motor in the historical operating mode from the rotation angle of the horizontal motor in the target operating mode, and the first angle difference is used as the rotation angle of the horizontal motor in the adjusted operating mode. The second angle difference is obtained by subtracting the rotation angle of the pitch motor in the historical operating mode from the rotation angle of the pitch motor in the target operating mode, and the second angle difference is used as the rotation angle of the pitch motor in the adjusted operating mode.

3. The antenna control method as described in claim 1, characterized in that, Before determining the previous historical operating modes of the horizontal motor and the pitch motor, the process also includes: Determine whether a hardware initialization success instruction has been received from the main processor; If so, proceed to the step of determining the previous historical operating mode of the horizontal motor and the pitch motor.

4. The antenna control method as described in claim 1, characterized in that, Determining the target operating mode for the horizontal motor and the pitch motor in this operation includes: Obtain a preset communication data packet, wherein the communication data packet includes the target operating mode; The communication data packets are read and unpacked to obtain the target operating modes corresponding to the horizontal motor and the pitch motor in this operation.

5. The antenna control method according to any one of claims 1 to 4, characterized in that, After controlling the horizontal motor to start based on the adjusted operating mode and reach the target operating mode via the first driver, and controlling the pitch motor to start based on the adjusted operating mode and reach the target operating mode via the second driver, the method further includes: Obtain the forward backlash compensation parameters and reverse backlash compensation parameters of the horizontal motor and the pitch motor, and the current rotation state of the horizontal motor and the pitch motor, wherein the rotation state includes forward rotation, reverse rotation, and stop; When the horizontal motor and / or the pitch motor are rotating forward, the forward backlash compensation parameter of the horizontal motor and / or the pitch motor is adjusted to enable the horizontal motor and / or the pitch motor to reach the target operating mode. When the horizontal motor and / or the pitch motor are in reverse, the reverse backlash compensation parameter of the horizontal motor and / or the pitch motor is reversed so that the horizontal motor and / or the pitch motor can reach the target operating mode; When the horizontal motor and / or the pitch motor are stopped, the horizontal motor and / or the pitch motor have reached the target operating mode.

6. The antenna control method as described in claim 5, characterized in that, Before obtaining the positive backlash compensation parameters and negative backlash compensation parameters of the horizontal motor and the pitch motor, and the current rotation state of the horizontal motor and the pitch motor, the method further includes: The transmission mechanisms corresponding to the horizontal motor and the pitch motor are controlled to rotate forward by a preset angle to obtain the first angle of the horizontal motor and the pitch motor; The transmission mechanisms corresponding to the horizontal motor and the pitch motor are controlled to reverse by a preset angle to obtain a second angle for the horizontal motor and the pitch motor; Subtracting the second angle from the first angle yields the positive clearance compensation parameters for the horizontal motor and the pitch motor; subtracting the first angle from the second angle yields the negative clearance compensation parameters for the horizontal motor and the pitch motor.

7. A control device for an antenna, characterized in that, It includes a first driver, a second driver, a horizontal motor and a pitch motor, and their respective transmission mechanisms. The first driver is connected to the horizontal motor, the second driver is connected to the pitch motor, and both the horizontal motor and the pitch motor are connected to the antenna through their respective transmission mechanisms. Also includes: Memory, used to store computer programs; A processor, connected to the first driver and the second driver respectively, is used to implement the steps of the antenna control method as described in any one of claims 1 to 6 when executing the computer program.

8. An antenna, characterized in that, It includes the antenna body and the control device for the antenna as described in claim 7.

9. A control system for an antenna, characterized in that, A main processor is applied in the control device of the antenna. The control device further includes a first driver, a second driver, a horizontal motor, and a vertical motor, and their respective transmission mechanisms. The first driver is connected to the main processor and the horizontal motor, and the second driver is connected to the main processor and the vertical motor, respectively. The horizontal motor and the vertical motor are both connected to the antenna through their respective transmission mechanisms. The system includes: A historical operating mode determination unit is used to determine the previous historical operating mode of the horizontal motor and the pitch motor, wherein the historical operating mode includes the rotation angle of the horizontal motor and the pitch motor; A target operating mode determination unit is used to determine the target operating mode corresponding to the horizontal motor and the pitch motor in this current operation. An adjustment operation mode determination unit is used to determine the adjustment operation mode of the horizontal motor and the pitch motor based on the previous historical operation mode of the horizontal motor and the pitch motor and the target operation mode corresponding to the horizontal motor and the pitch motor in this current operation mode. The motor unit is used to control the horizontal motor to start based on the adjusted operating mode until the target operating mode is reached through the first driver, and to control the pitch motor to start based on the adjusted operating mode until the target operating mode is reached through the second driver; Also includes: The first judgment unit is used to determine whether the state parameters of the horizontal motor and the pitch motor in the historical operation mode are enabled, and the state parameters include enabled and disabled; if not, the target operation mode determination unit is triggered; if yes, the angle adjustment unit is triggered. An angle adjustment unit is used to adjust the horizontal motor and / or the pitch motor to a rotation angle corresponding to the historical operating mode, and to trigger the target operating mode determination unit.

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