Antenna control software embedded simulation method

Abstract

This invention proposes an embedded simulation method for antenna control software. The simulation method is implemented through an embedded target simulation function integrated within the antenna control software. The simulation method includes: S100, acquiring the simulated target position information and the antenna simulated angular position information; S200, generating control commands based on the simulated target position information and the antenna simulated angular position information; S300, controlling the simulated operation of the antenna through the control commands. During the antenna operation, the antenna simulated angle is acquired in real time, and the control commands are adjusted based on changes in the antenna simulated angle. The embedded simulation method for antenna control software according to this invention is applicable to the software-embedded target simulation technology based on antenna characteristics for turntable parabolic antennas. It can solve the problems of design, process, functional testing, and joint testing of large parabolic antennas, and can meet the testing requirements of antenna control software at low cost.

Description

Technical Field

[0001] This invention relates to the field of antenna technology, and in particular to a method for embedding simulation within antenna control software. Background Technology

[0002] Large rotary table parabolic antennas are widely used in the measurement and control of near-Earth and deep-space spacecraft, as well as in receiving related payload data. On one hand, the parabolic antenna collects electromagnetic signals from space through a reflector and a feeding system, then amplifies and down-converts the signals using a channel system. The spatial position error of the target is then demodulated using a baseband system. On the other hand, the antenna control software can obtain the position error by comparing a given external position control command with the actual angle of the antenna. Whether it's spatial or positional error, the control input for antenna operation is ultimately calculated by a regulator, driving the antenna to move towards a position where the error is reduced. This achieves target acquisition, precise tracking, and pointing. The control principle block diagram is shown below. Figure 1 and Figure 2 As shown.

[0003] Spacecraft orbits include high-Earth orbit, medium-Earth orbit, and low-Earth orbit, etc. Antenna design specifications are related to the feed and antenna surface shaping, directly reflecting antenna system characteristics such as antenna gain, radiation pattern, and beamwidth. Tracking equipment, such as baseband or tracking receivers, determines the tracking information output to the control system based on the operating frequency band, signal gain, distance, and loop gain. Therefore, during the verification of the system's target acquisition and tracking functions, it is necessary to comprehensively consider antenna design specifications such as beamwidth and signal strength, the tracking signal processing characteristics of the baseband receiver, antenna servo control capabilities, and target operational characteristics.

[0004] In traditional system testing and integration, the primary focus is on actual spacecraft, using real equipment to build complete systems for testing acquisition and tracking strategies and procedures. However, due to the design of the spacecraft's orbit and the placement of antenna stations, the visible arc is limited, resulting in a very limited number of test orbits available to the system each day, often failing to meet the needs of actual testing and integration. Summary of the Invention

[0005] The technical problem to be solved by this invention is how to achieve the functional testing requirements of antenna equipment at low cost. This invention proposes an antenna control software embedded simulation method.

[0006] According to an embodiment of the present invention, an antenna control software embedded simulation method is implemented through an embedded target simulation function integrated within the antenna control software. The simulation method includes:

[0007] S100, acquire simulated target position information and antenna simulated angular position information;

[0008] S200, generate control commands based on the simulated target position information and the simulated antenna angular position information;

[0009] S300 controls the simulated operation of the antenna through the control commands;

[0010] In the process of controlling the antenna operation, the simulated antenna angle is acquired in real time, and the control command is adjusted based on the changes in the simulated antenna angle.

[0011] The antenna control software embedded simulation method according to embodiments of the present invention is applicable to the software embedded target simulation technology based on antenna characteristics for turntable parabolic antennas. It can solve the problems of design, process and functional testing and joint testing of large parabolic antennas, and realize the testing requirements of antenna control software at low cost.

[0012] According to some embodiments of the present invention, in step S100, the azimuth angle and pitch angle of the loaded guidance data at the current time are used as the simulated target position information.

[0013] In some embodiments of the present invention, in step S200, the method for generating the control command includes:

[0014] Based on the simulated target position information and the simulated antenna angular position information, the locking signal, AGC, and error voltage are obtained;

[0015] Control commands are generated based on the lock signal, AGC signal, and error voltage.

[0016] According to some embodiments of the present invention, the method further includes:

[0017] Before performing the simulation, preset antenna parameters are obtained, and the radiation pattern curve fitting and maximum value calculation are completed based on the preset antenna parameters.

[0018] In some embodiments of the present invention, during the antenna control software simulation process, the simulated target is tracked and located using the sum and difference radiation patterns.

[0019] According to some embodiments of the present invention, the radiation pattern curve is calculated using the following formula:

[0020] Gain θ =10log 10 [η(πDf c ) 2 / c 2 +20log 10 F(θ);

[0021] Among them, 20log 10F(θ) is the signal attenuation caused by the deviation from the θ angle; D is the antenna aperture (m); f c C is the carrier frequency (MHz); C is the speed of light, C = 3 × 10⁻⁶. 8 (dB); η is the antenna efficiency, taken as an empirical value;

[0022] λ is the wavelength; θ is the spatial offset angle; It is a first-order Bessel function; For parameters.

[0023] In some embodiments of the present invention, obtaining the preset antenna parameters includes: reading in the antenna frequency, antenna aperture, antenna efficiency, target EIRP value, antenna maximum speed, regulator parameters, and radiation pattern curve.

[0024] According to some embodiments of the present invention, during the antenna control software simulation process, the real-time azimuth and elevation angle values ​​of the antenna after being controlled by the control signal are simulated, and the azimuth and elevation values ​​satisfy the following model:

[0025] θ1=θ0+t×Kp×[(-K×V t-1 )+t / (V t-1 +V t )×(t-2×t r )];

[0026] Where: K = (t - 2 × t) r ) / (t+2×t r Kp is the ratio of the speed loop design command to the rotational speed; θ0 is the analog coded angle of the previous control cycle; θ1 is the analog coded angle of the current control cycle; t is the time interval of the control cycle; t r Rise time was designed to compensate for speed; V t-1 The antenna speed in the previous control cycle; V t This refers to the antenna speed during this control cycle.

[0027] In some embodiments of the present invention, the antenna control software is applied to a turntable parabolic antenna. Attached Figure Description

[0028] Figure 1 This is a block diagram illustrating the control principle of an existing antenna control system.

[0029] Figure 2 This is a control flowchart for an existing antenna control system.

[0030] Figure 3 This is a flowchart of the antenna control software embedded simulation method according to an embodiment of the present invention;

[0031] Figure 4This is a schematic diagram of target guidance data according to an embodiment of the present invention, wherein the horizontal axis represents azimuth and the vertical axis represents pitch;

[0032] Figure 5 This is a schematic diagram of the radiation pattern in the antenna control software embedded simulation method according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the differential radiation pattern in the antenna control software embedded simulation method according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the receiver slope characteristics in the antenna control software embedded simulation method according to an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the receiver slope characteristics in the antenna control software embedded simulation method according to an embodiment of the present invention;

[0036] Figure 9 This is a block diagram illustrating the simulation principle of the antenna control system in the embedded simulation method of the antenna control software according to an embodiment of the present invention.

[0037] Figure 10 This is a block diagram illustrating the principle of antenna tracking simulation in the antenna control software embedded simulation method according to an embodiment of the present invention. Detailed Implementation

[0038] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0039] The steps described in the specification and the flowcharts in the accompanying drawings of this invention are not necessarily to be strictly followed according to the step numbers; the execution order of the steps can be changed. Furthermore, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be broken down into multiple steps.

[0040] Large rotary table parabolic antennas are widely used for tracking and telemetry of various spacecraft. The antenna pointing and tracking target operation control require antenna control software. The control software uses the difference between the space target and the current angle of the antenna as the control input to drive the antenna movement. After the position loop regulator calculates and outputs the speed command to control the antenna movement, the antenna finally points to the target.

[0041] With the increasing demand for integrated measurement and data transmission for spacecraft targets, antenna target acquisition and tracking methods have become more complex. The distances of tracked targets are getting farther and farther, and the antenna apertures are getting larger and larger. With the increase in data transmission services such as remote sensing images and satellite-to-ground data communication, the frequency of system operation is also getting higher and higher. These changes have brought great difficulties to the target acquisition and tracking function testing and system cascade testing of antenna systems. At present, the equipment development cycle is generally shortened, the on-site testing and cascade testing time is drastically shortened, and the verification cycle of new equipment functions is also significantly shortened. The biggest problem facing the equipment is that most tracked targets (spacecraft) cannot provide enough spacecraft orbits for debugging at this stage, which cannot meet the requirements of the equipment development cycle.

[0042] Therefore, in order to meet the requirements of complex tracking and acquisition functions and new function testing and joint testing of equipment, improve the software system integration testing capabilities, shorten the field joint testing cycle of large parabolic antennas, and reduce the difficulty of joint testing, it is necessary to use new technologies and methods. Based on system indicators such as target trajectory, antenna design specifications, baseband receiver characteristics, and antenna system control capabilities, simulation algorithms and technologies should be embedded in the antenna control software. The antenna control software should integrate and embed target simulation functions. Through parameter configuration or setting, a tracking simulation signal close to the actual spacecraft target can be established to achieve the simulation of signals and antenna control that meet the spacecraft characteristics and system design specifications, thereby improving the efficiency of equipment development and testing and meeting the requirements of equipment development and joint testing.

[0043] There is currently no documented technology regarding target simulation methods embedded in control software based on antenna characteristics for rotary table parabolic antennas.

[0044] This invention presents a software-embedded target simulation method based on antenna characteristics for turntable parabolic antennas. This method is easy to implement and highly practical, providing a zero-cost, easy-to-implement, and efficient solution for engineering applications.

[0045] The following analysis focuses on the simulation principles of spacecraft operation characteristics, antenna design specifications related to target tracking, baseband receiver signal characteristics, and antenna control capabilities, and establishes a simulation method based on this analysis.

[0046] a) Characteristics of spacecraft operation;

[0047] The position of a spacecraft in space relative to a ground-based observation station can establish a correspondence between the azimuth and elevation angles of a turntable antenna, yielding the azimuth and elevation angles observed at the station. This pattern can be represented by the spacecraft's orbital file. Based on time and orbital parameters, as well as the station's coordinates, guidance data containing information such as time, azimuth, elevation angle, and distance can be obtained for the spacecraft relative to the station. (See [link to relevant documentation]). Figure 4As shown. Therefore, when designing target simulations, the azimuth and pitch angles of the guidance data can be used as the target's position in space, and the deviation from the target can be achieved by superimposing an offset on this trajectory, thus simulating spatial errors.

[0048] b) Antenna design specifications related to target tracking;

[0049] Antenna reception of signals from spacecraft primarily relies on the convergence of electromagnetic signals from the antenna feed and parabolic antenna surface. These signals are then amplified and denoised by the channel system before being used by the integrated baseband or tracking receiver. Based on the system's target tracking requirements, the antenna system's sum and difference radiation patterns are designed (see...). Figures 5-6 (As shown), antenna gain, etc. The antenna pattern provides information on the relationship between the antenna azimuth and elevation angles and the tracked target. For the summation pattern, information such as the main lobe, first sidelobe, and sidelobes can be obtained; for the difference pattern, information such as difference null depth and difference slope can be obtained. See [reference needed]. Figure 7 As shown. These parameters can be used to set the gain magnitude related to the target distance and the sidelobe effect caused by the antenna deviating from the target.

[0050] c) Integrate baseband or tracking receiver signals;

[0051] The signal received by the antenna system undergoes noise reduction, level adjustment, and frequency conversion by the channel system before entering the integrated baseband or tracking receiver system. The positional relationship between the target and the station antenna is reflected through error slope, error voltage, AGC level, and S / Φ signal strength. For example, the error voltage corresponding to 1 mil, the AGC amplitude, and the main and side lobes corresponding to S / Φ are shown. The relationship between error and angle is described in [reference needed]. Figures 7-8 As shown.

[0052] d) Antenna control parameters;

[0053] The antenna control system primarily calculates the position error by subtracting the position command from the current position. This error is then used by the regulator to obtain the control voltage signal for antenna operation. This signal, after being amplified by the drive power amplifier, drives the antenna to operate according to design specifications. The antenna control command output satisfies the antenna's maximum operating speed and acceleration requirements; for example, the maximum output voltage corresponds to the maximum speed, and acceleration is described by a slope. To simplify the model, the drive control equipment and antenna equipment can be equivalently represented as a first-order inertial element to achieve position closed-loop simulation, as follows: Figure 9 As shown.

[0054] Specifically, such as Figure 3 As shown, according to an embodiment of the present invention, an antenna control software embedded simulation method is implemented through an embedded target simulation function integrated within the antenna control software. The simulation method includes:

[0055] S100, acquire simulated target position information and antenna simulated angular position information;

[0056] S200 generates control commands based on simulated target position information and simulated antenna angular position information;

[0057] The S300 controls the simulated operation of the antenna via control commands.

[0058] In the process of controlling the antenna operation, the simulated antenna angle is acquired in real time, and the control commands are adjusted based on the changes in the simulated antenna angle.

[0059] The antenna control software embedded simulation method according to embodiments of the present invention is applicable to the software embedded target simulation technology based on antenna characteristics for turntable parabolic antennas. It can solve the problems of design, process and functional testing and joint testing of large parabolic antennas, and realize the testing requirements of antenna control software at low cost.

[0060] According to some embodiments of the present invention, in step S100, the azimuth angle and pitch angle of the loaded guidance data at the current time are used as the simulated target position information.

[0061] In some embodiments of the present invention, step S200, the method for generating control commands includes:

[0062] Based on the simulated target position information and the simulated antenna angular position information, obtain the locking signal, AGC, and error voltage;

[0063] Control commands are generated based on the lockout signal, AGC signal, and error voltage.

[0064] According to some embodiments of the present invention, the method further includes:

[0065] Before performing the simulation, the preset antenna parameters are obtained, and the radiation pattern curve fitting and maximum value calculation are completed based on the preset antenna parameters.

[0066] In some embodiments of the present invention, during the antenna control software simulation process, the simulated target is tracked and located using the sum and difference radiation patterns.

[0067] According to some embodiments of the present invention, the radiation pattern curve is calculated using the following formula:

[0068] Gain θ =10log 10 [η(πDf c ) 2 / c 2 +20log 10 F(θ);

[0069] Among them, 20log 10 F(θ) is the signal attenuation caused by the deviation from the θ angle; D is the antenna aperture (m); fc C is the carrier frequency (MHz); C is the speed of light, C = 3 × 10⁻⁶. 8 m / s; η is the antenna efficiency, taken as an empirical value;

[0070] λ is the wavelength; θ is the spatial offset angle; It is a first-order Bessel function; For parameters.

[0071] In some embodiments of the present invention, obtaining preset antenna parameters includes: reading in the antenna frequency, antenna aperture, antenna efficiency, target EIRP value, antenna maximum speed, regulator parameters, and radiation pattern curve.

[0072] According to some embodiments of the present invention, during the antenna control software simulation process, the real-time azimuth and elevation angle values ​​of the antenna after being controlled by the control signal are simulated, and the azimuth and elevation values ​​satisfy the following model:

[0073] θ1=θ0+t×Kp×[(-K×V t-1 )+t / (V t-1 +V t )×(t-2×t r )];

[0074] Where: K = (t - 2 × t) r ) / (t+2×t r Kp is the ratio of the speed loop design command to the rotational speed; θ0 is the analog coded angle of the previous control cycle; θ1 is the analog coded angle of the current control cycle; t is the time interval of the control cycle; t r Rise time was designed to compensate for speed; V t-1 The antenna speed in the previous control cycle; V t This refers to the antenna speed during this control cycle.

[0075] In some embodiments of the present invention, antenna control software is applied to a turntable parabolic antenna.

[0076] The antenna control software embedded simulation method according to the present invention will now be described in detail with reference to the accompanying drawings and a specific embodiment. It is to be understood that the following description is merely exemplary and should not be construed as a specific limitation of the present invention.

[0077] This invention organically combines target operation simulation, target position-related gain, main and sidelobe and receiver signal simulation, and antenna load operation simulation. These simulations are then sequentially invoked by the antenna control software according to a timing sequence, completing the embedded target simulation within the turntable parabolic antenna control software based on the antenna system tracking model. Figure 10 As shown.

[0078] The simulation steps are as follows:

[0079] When the A100 is in simulation mode, it uses simulated data generated internally by the software to complete the antenna control process.

[0080] A200 loads the antenna pattern or pattern test curve, and parameters such as antenna operating frequency, antenna aperture, antenna design speed, maximum output speed, receiver gain, and antenna efficiency. It calculates the width of the antenna main lobe at that frequency, and divides the angle region according to the main lobe region, the first side lobe, and the second side lobe region to provide a basis for segmented fitting.

[0081] The curve data is read and the curve is segmented and fitted according to the required angle. To reduce the difficulty of obtaining the fitted curve, multiple polynomials can be generated from the main lobe, the first secondary lobe, and the side lobes of the curve segment for fitting. When using the fitting polynomials, the relationship between the azimuth and elevation angles and the angles on their respective radiation patterns is used.

[0082] If a measured radiation pattern is unavailable, the curve can be approximated using the following formula:

[0083] Gain θ =10log 10 [η(πDf c ) 2 / c 2 +20log 10 F(θ);

[0084] Among them, 20log 10 F(θ) is the signal attenuation caused by the deviation from the θ angle; D is the antenna aperture (m); f c C is the carrier frequency (MHz); C is the speed of light, C = 3 × 10⁻⁶. 8 (dB); η is the antenna efficiency, taken as an empirical value;

[0085] λ is the wavelength; θ is the spatial offset angle; It is a first-order Bessel function; For parameters.

[0086] A300 uses the azimuth and pitch angles of the current time as the guide data to determine the true position of the target.

[0087] The A400 is used for real-time antenna angle simulation based on antenna motion parameters and performs closed-loop simulation based on tuner parameter settings; it simulates and generates real-time azimuth and elevation angle values ​​of the antenna after being controlled by the tuner.

[0088] For orientation and pitch, the model is as follows:

[0089] θ1=θ0+t×Kp×[(-K×V t-1 )+t / (Vt-1 +V t )×(t-2×t r )];

[0090] Where: K = (t - 2 × t) r ) / (t+2×t r Kp is the ratio of the speed loop design command to the rotational speed; θ0 is the analog coded angle of the previous control cycle; θ1 is the analog coded angle of this control cycle; t is the time interval of the control cycle; t r Rise time was designed to compensate for speed; V t-1 The antenna speed in the previous control cycle; V t The antenna speed for this control cycle;

[0091] A500, based on antenna pattern gain (or design value), channel attenuation, target distance, target EIRP value, and effective radiated power of the antenna, calculate the signal strength S / θ0 of the simulated antenna when its electrical axis is aligned with the target at its current position:

[0092] S / θ0=GT+EIRPS-(20lgR+20lgf c +32.4+channel attenuation)–K;

[0093] Where: GT value is the gain of the main antenna design, 10log 10 [η(πDf c ) 2 / c 2 [or actual measured value of radiation pattern; D is the antenna aperture (m); f] c C is the carrier frequency (MHz); C is the speed of light, C = 3 × 10⁻⁶. 8 (dB); η is the antenna efficiency; EIRPS is the effective radiated power of the target; R is the target range; K is the Boltzmann constant;

[0094] Based on the simulated azimuth and pitch angles, the deviations from the current guidance data are calculated as the root mean square (RMS) X of azimuth and pitch, and the following quantities are determined accordingly:

[0095] a) S / Φ value: S / Φ is obtained by fitting the polynomial in the radiation pattern and performing piecewise fitting based on X and the designed main lobe and side lobe ranges. The sum of the fitted values ​​is corrected for channel attenuation, target EIRP value and range. The corrected data is used to obtain the S / Φ under simulated azimuth and elevation angles.

[0096] S / Φ = F (x);

[0097] F is the pattern fitting polynomial;

[0098] b) Lock state: 1 when the S / Φ signal is higher than the receiver's set threshold, otherwise 0.

[0099] c) AGC value: Piecewise linear fitting is performed using the system-calibrated AGC-S / θ curve:

[0100] AGC = S / θ*[(AGCN-AGCN-1) / (S / ΦN-S / ΦN-1)], and the calculated value has a minimum value of 0 and a maximum value of 5.

[0101] d) Azimuth error voltage: Ua=△az×K az ;

[0102] Pitch error voltage: Ue=△EL×K el ;

[0103] Where: K az : Receiver azimuth gain coefficient at this frequency;

[0104] K el : Receiver elevation gain coefficient at this frequency;

[0105] To simulate the coupling phenomenon caused by the non-orthogonality of the azimuth and elevation signal paths, a coefficient can be set according to the severity of the coupling, and the coefficients can be superimposed on the azimuth and elevation error voltage paths. The specific method is as follows:

[0106] U a =U a +U e *K ce ;

[0107] U e =U e +U a *K ca ;

[0108] K ce K is the coupling coefficient between pitch and azimuth. ca This is the azimuth-elevation coupling coefficient.

[0109] To simulate the random error of the receiver channel, a random function can be superimposed on the calculated error voltage, and the amplitude can be set. When Ua is greater than zero, it takes the minimum value of 10.0 and Ua; when Ua is less than zero, it takes the maximum value of -10.0 and Ua. The same applies to elevation.

[0110] Depending on the operating mode, if the A600 is used for position control, then the A400 is used to calculate the angle. If it is used for tracking, then the calculated error voltage is used as the closed-loop angle input for tracking control.

[0111] By applying simulation technology to multiple newly developed integrated measurement, control, and data transmission equipment, the joint testing time can be significantly shortened. At the same time, the process verification of three-band target switching and acquisition has been completed, meeting system requirements. It will be applied in engineering in multiple series of measurement, control, and telemetry antenna systems.

[0112] In summary, this invention, by employing a software-embedded target simulation technology based on antenna characteristics suitable for turntable parabolic antennas, can solve the problems of design, process and functional testing, and joint testing of large parabolic antennas.

[0113] Through the description of specific embodiments, a more in-depth and specific understanding should be gained of the technical means and effects adopted by the present invention to achieve the intended purpose. However, the accompanying drawings are only provided for reference and illustration and are not intended to limit the present invention.

Claims

1. A simulation method for embedding antenna control software, characterized in that, The simulation method is implemented through an embedded target simulation function integrated within the antenna control software, and the simulation method includes: S100, acquire simulated target position information and antenna simulated angular position information; S200, generate control commands based on the simulated target position information and the simulated antenna angular position information; S300 controls the simulated operation of the antenna through the control commands; In the process of controlling the operation of the antenna, the simulated antenna angle is acquired in real time, and the control command is adjusted based on the change of the simulated antenna angle. The method further includes: Before performing the simulation, the preset antenna parameters are obtained, and the radiation pattern curve fitting and maximum value calculation are completed based on the preset antenna parameters. The radiation pattern curve is obtained by calculating the following formula: Gain θ =10log 10 [η(πDf c ) 2 / c 2 ]+20log 10 F(θ); Among them, 20log 10 F(θ) represents the signal attenuation caused by the deviation from the θ angle; D is the antenna aperture in meters; f c The carrier frequency is in MHz; c is the speed of light, c = 3 × 10⁻⁶. 8 m / s; η is the antenna efficiency.

2. The antenna control software embedded simulation method according to claim 1, characterized in that, In step S100, the azimuth and pitch angles of the loaded guidance data at the current time are used as the simulation target position information.

3. The antenna control software embedded simulation method according to claim 1, characterized in that, In step S200, the method for generating the control command includes: Based on the simulated target position information and the simulated antenna angular position information, the locking signal, AGC, and error voltage are obtained; Control commands are generated based on the lock signal, AGC signal, and error voltage.

4. The antenna control software embedded simulation method according to claim 1, characterized in that, During antenna control software simulation, the simulated target is tracked and located using sum and difference radiation patterns.

5. The antenna control software embedded simulation method according to claim 1, characterized in that, Obtaining the preset antenna parameters includes: reading in the antenna frequency, antenna aperture, antenna efficiency, target EIRP value, antenna maximum speed, regulator parameters, and radiation pattern curve.

6. The antenna control software embedded simulation method according to claim 1, characterized in that, During the antenna control software simulation, the real-time azimuth and elevation angle values ​​of the antenna after being controlled by the control signal are simulated. The azimuth and elevation values ​​satisfy the following model: θ1=θ0+t×Kp×[(-K×V t-1 )+t / (V t-1 +V t )×(t-2×t r )]; Where: K = (t - 2 × t) r ) / (t+2×t r Kp is the ratio of the speed loop design command to the rotational speed; θ0 is the analog coded angle of the previous control cycle; θ1 is the analog coded angle of the current control cycle; t is the time interval of the control cycle; t r Rise time was designed to compensate for speed; V t-1 The antenna speed in the previous control cycle; V t This refers to the antenna speed during this control cycle.

7. The antenna control software embedded simulation method according to any one of claims 1-6, characterized in that, The antenna control software is applied to the turntable parabolic antenna.

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