Control assembly and system for QV frequency band feed antenna assembly of Internet communication satellite and control method of QV frequency band feed antenna assembly

Abstract

The invention relates to a control assembly and system for a QV frequency band feed antenna assembly of an Internet communication satellite and a control method of the QV frequency band feed antenna assembly. A control assembly of a QV frequency band feed antenna assembly used for an internet communication satellite comprises the QV frequency band feed antenna assembly and a motor used for driving the QV frequency band feed antenna assembly, the QV frequency band feed antenna assembly comprises a QV antenna, an antenna joint comprising an antenna rotating shaft and a connecting part connecting the QV antenna and the antenna joint, and the control assembly comprises a Hall sensor arranged at the connecting position of the antenna joint and the connecting part, the absolute position of the antenna rotating shaft is detected; the rotary transformer is arranged at one end of the motor to detect the single-circle absolute position of the motor; the motor controller is coupled with the Hall sensor and the rotary transformer in a communication manner so as to control the movement of the motor, and the motor controller is configured to perform fault detection on the Hall sensor and the rotary transformer respectively; determining an absolute zero position of the antenna rotating shaft based on a fault detection result; a position control mode of the QV band feed antenna assembly is selectively performed based on a result of the fault detection.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft, and more particularly to a control component, a system and a control method of a QV band feeding antenna component for an Internet communication satellite. Background Art

[0002] At present, in the aerospace field, the QV band feed antenna, as an important communication payload of global multimedia satellites, undertakes the key task of realizing the information interaction between the earth and the sky. The servo control system must have the ability of high-precision pointing, fast response, high reliability and long life. According to the satellite orbit and the position of the ground gateway, the servo control system receives the calculated position angle required for pointing to the ground gateway from the payload management unit or the satellite computer, and then controls the antenna motor and its components to track the target position accurately in real time. To achieve these functions, extremely high requirements are placed on the accuracy and reliability of position detection. According to different position detection technologies, the servo control system adopts corresponding position control strategies to optimize the performance of the controller.

[0003] In the aerospace field, the position detection of the QV-band dual-offset feed antenna on the satellite usually uses a Hall sensor or a photoelectric switch, and is combined with a stepper motor to realize the open-loop position control of the rotating mechanism. Although this method has a simple structure, it is prone to out-of-step phenomenon, resulting in a large deviation in the antenna pointing accuracy. In addition, due to the lack of real-time position feedback, it is difficult to detect faults such as shaft jamming or hard limit in time. This not only increases the risk of use, but may also cause vibrations caused by impacting the hard limit, posing a potential threat to the normal operation of other sensitive payloads on the satellite.

[0004] In order to solve the problems caused by open-loop position control, the current improvement measure is to add a dual-channel rotary transformer or a high-precision grating encoder at the reducer end. Although this solution effectively solves the defects of open-loop control, the dual-channel rotary transformer decoder or grating encoder has the disadvantages of high product prices and complex decoding circuits when used in aerospace applications. For the increasingly competitive commercial aerospace field, such a cost is unbearable.

[0005] Therefore, there is a need in the art for a low-cost, high-reliability control component, system and control method for a QV band feed antenna component for an Internet communication satellite. Summary of the invention

[0006] The present invention is provided in order to provide a low-cost, high-reliability control component, system and control method of a QV band feeding antenna component for an Internet communication satellite.

[0007] According to one aspect of the present invention, a control component of a QV band feed antenna assembly for an Internet communication satellite is provided, wherein the satellite comprises the QV band feed antenna assembly and a motor for driving the QV band feed antenna assembly to move, the QV band feed antenna assembly comprises a QV antenna, an antenna joint, and a connecting portion connecting the QV antenna and the antenna joint, the antenna joint comprises an antenna shaft, and the control component comprises: a Hall sensor, arranged at a connection between the antenna joint and the connecting portion, for detecting an absolute position of the antenna shaft; a rotary transformer, arranged at one end of the motor, for detecting a single-turn absolute position of the motor; a motor controller, communicatively coupled to the Hall sensor and the rotary transformer to control the movement of the motor, the motor controller being configured to: perform fault detection on the Hall sensor and the rotary transformer, respectively; determine an absolute zero position of the antenna shaft based on a result of the fault detection; and selectively execute a position control mode of the QV band feed antenna assembly based on a result of the fault detection.

[0008] According to the control assembly as described above, wherein the motor controller is configured to: execute a closed-loop position control mode in response to a result of the fault detection indicating that the resolver functions normally.

[0009] A control component according to any one of the above items, wherein the motor controller is configured to: in response to the result of the fault detection indicating that the Hall sensor is functioning normally, determine the absolute zero position based on the signal of the Hall sensor and the signal of the rotary transformer in an open-loop position control mode; or in response to the result of the fault detection indicating that the Hall sensor is functioning abnormally, in the open-loop position control mode, determine the absolute zero position based on the signal of the rotary transformer through the occurrence of a collision with the hard limit at the antenna joint.

[0010] The control assembly according to any one of the above items, wherein the motor controller is further configured to: store the current absolute zero position and the single-turn absolute position of the motor currently detected by the resolver before power is cut off.

[0011] A control component according to any of the above items, wherein the motor controller is further configured to: determine whether the single-turn absolute position of the motor detected by the rotary transformer matches the stored single-turn absolute position of the motor after the next task is powered on; and in response to the result of the judgment indicating a match, use the stored absolute zero position to restore the current position of the antenna shaft.

[0012] The control assembly according to any one of the above items, wherein the motor controller is configured to: in response to a result of the fault detection indicating that the resolver is malfunctioning, execute an open-loop subdivision position control mode.

[0013] A control component according to any one of the above items, wherein the motor controller is configured to: in response to the result of the fault detection indicating that the Hall sensor is functioning normally, determine the absolute zero position based on the pulse width counts at the rising and falling edges of the Hall sensor; or in response to the result of the fault detection indicating that the Hall sensor is functioning abnormally, determine the absolute zero position based on a hard limit collision control strategy.

[0014] A control assembly according to any one of the above items, wherein the motor controller comprises: a resolver signal decoding circuit and a Hall signal conditioning circuit, which are communicatively coupled to the resolver and the Hall sensor respectively.

[0015] The control component according to any one of the above items, wherein the resolver signal decoding circuit is configured to perform hardware decoding and software decoding, wherein the hardware decoding and the software decoding back up each other.

[0016] According to another aspect of the present invention, a QV band feed antenna system is provided, comprising: a QV band feed antenna assembly; a motor, used to drive the QV band feed antenna assembly to move; a harmonic reducer, coupled between the QV band feed antenna assembly and the motor; and a control assembly according to any one of the above items, the control assembly being coupled to the motor.

[0017] According to the system as described above, the system further comprises: a connector, which is respectively connected to the output shaft of the harmonic reducer and the antenna shaft of the QV band feeding antenna assembly.

[0018] According to another aspect of the present invention, a method for controlling a QV band feed antenna assembly of an Internet communication satellite is provided, wherein the satellite comprises the QV band feed antenna assembly, a motor for driving the QV band feed antenna assembly to move, a Hall sensor and a rotary transformer, wherein the QV band feed antenna assembly comprises a QV antenna, an antenna joint, and a connecting portion connecting the QV antenna and the antenna joint, wherein the Hall sensor is arranged at the connection between the antenna joint and the connecting portion, and is used to detect the absolute position of the antenna shaft, and the rotary transformer is arranged at one end of the motor, and is used to detect the single-turn absolute position of the motor, wherein the method comprises: performing fault detection on the Hall sensor and the rotary transformer respectively; determining the absolute zero position of the antenna shaft based on the result of the fault detection; and selectively executing a position control mode of the QV band feed antenna assembly based on the result of the fault detection.

[0019] According to the method as described above, selectively executing the position control mode of the QV band feed antenna assembly based on the result of the fault detection includes: executing a closed-loop position control mode in response to the result of the fault detection indicating that the rotary transformer functions normally.

[0020] According to the method described in any of the above items, determining the absolute zero position of the antenna shaft based on the result of the fault detection includes: in response to the result of the fault detection indicating that the Hall sensor is functioning normally, determining the absolute zero position based on the signal of the Hall sensor and the signal of the rotary transformer in an open-loop position control mode; or in response to the result of the fault detection indicating that the Hall sensor is functioning abnormally, determining the absolute zero position based on the signal of the rotary transformer in the open-loop position control mode through the occurrence of a collision with a hard limit at the antenna joint.

[0021] According to any of the above methods, the method further comprises: storing the current absolute zero position and the single-turn absolute position of the motor currently detected by the rotary transformer before power failure.

[0022] According to the method described in any of the above items, the method also includes: after the next task is powered on, determining whether the single-turn absolute position of the motor detected by the rotating transformer matches the stored single-turn absolute position of the motor; and in response to the result of the determination indicating a match, using the stored absolute zero position to restore the current position of the antenna shaft.

[0023] According to the method described in any one of the above items, wherein, based on the result of the fault detection, selectively executing the position control mode of the QV band feed antenna assembly includes: in response to the result of the fault detection indicating that the rotary transformer is malfunctioning, executing an open-loop subdivision position control mode.

[0024] According to the method described in any one of the above items, determining the absolute zero position of the antenna shaft based on the result of the fault detection includes: in response to the result of the fault detection indicating that the Hall sensor is functioning normally, determining the absolute zero position based on the pulse width counts accumulated at the rising and falling edges of the Hall sensor; or in response to the result of the fault detection indicating that the Hall sensor is functioning abnormally, determining the absolute zero position based on a hard limit collision control strategy.

[0025] The control components, system and control method of the QV band feed antenna assembly for Internet communication satellites according to the embodiments of the present invention eliminate the risk of loss of step of traditional stepper motors and their components, improve the continuous pointing and tracking accuracy of the antenna, while reducing production costs and hardware circuit costs and shortening the mission development cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a control component of a QV band feed antenna component for an Internet communication satellite according to an embodiment of the present invention is shown.

[0027] Figure 2 A schematic diagram of a control component of a QV band feeding antenna component for an Internet communication satellite according to another embodiment of the present invention is shown.

[0028] Figure 3 A schematic diagram of a QV band feeding antenna system according to an embodiment of the present invention is shown.

[0029] Figure 4 A flow chart of a method for controlling a QV band feed antenna assembly of an Internet communication satellite according to an embodiment of the present invention is shown.

[0030] Figure 5 A schematic diagram of a process 500 for implementing a position memory function according to an embodiment of the present invention is shown.

[0031] Figure 6 A flow chart showing a process of determining the absolute zero position of the antenna shaft based on the result of fault detection according to an embodiment of the present invention.

[0032] Figure 7 A flow chart showing a process for controlling a QV band feed antenna assembly of an Internet communication satellite according to another embodiment of the present invention.

[0033] Figure 8 A schematic diagram of a QV band feed antenna system according to an embodiment is shown.

[0034] Fig. 9 A schematic diagram showing a control flow of a motor for a QV band feeding antenna according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] In the following description, numerous specific details are set forth. However, it should be understood that embodiments of the present invention may be implemented without these specific details. In other instances, well-known circuits, structures, and techniques are not shown in detail to avoid obscuring the understanding of this description.

[0037] References in the specification to "one embodiment," "an embodiment," "an example embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment may include the particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is considered to be within the knowledge of those skilled in the art to affect such feature, structure, or characteristic in conjunction with other embodiments, whether or not explicitly described.

[0038] In the following description and claims, the terms "connected," "coupled," and "coupled" and their derivatives may be used. It should be understood that these terms are not intended to be synonymous with each other. Instead, in particular embodiments, "connected" may be used to indicate that two or more elements are in direct physical or electrical contact with each other. "Coupled" and "coupled" may mean that two or more elements are in direct physical or electrical contact. However, "coupled" and "coupled" may also mean that two or more elements are not in direct contact with each other, but still cooperate or interact with each other.

[0039] According to one aspect of the present invention, a control component of a QV band feed antenna component for an Internet communication satellite is provided.

[0040] In this application, the term "QV band" refers to the combination of the Q band and the V band, which generally covers a frequency range of 37 GHz to 51 GHz. This band has a large bandwidth and high capacity, and is mainly used in satellite communications, microwave communications, broadband access and other fields. The term "QV" antenna refers to an antenna used to transmit or receive electromagnetic waves in the QV band.

[0041] Figure 1 A schematic diagram of a control component 100 of a QV band feed antenna component 300 for an Internet communication satellite according to an embodiment of the present invention is shown. Figure 1 In the embodiment shown in the figure, the satellite may include a QV band feed antenna assembly 300 and a motor 200 for driving the QV band feed antenna assembly 300 to move. The QV band feed antenna assembly 300 may include a QV antenna, an antenna joint, and a connecting portion connecting the QV antenna and the antenna joint. The antenna joint may include an antenna shaft.

[0042] like Figure 1As shown, the control assembly 100 may include a Hall sensor 110. The Hall sensor 110 may be disposed at a connection (not shown) between an antenna joint and a connection portion of the QV band feed antenna assembly 300 to detect the absolute position of an antenna shaft of the QV band feed antenna assembly 300. As an example, the Hall sensor 110 may be a Hall switch sensor. The control assembly 100 may include a rotary transformer 120. The rotary transformer 120 may be disposed at one end of the motor 200 to detect a single-turn absolute position of the motor 200. Alternatively, the rotary transformer 120 may be a single-turn absolute position sensor mounted at one end of the motor 200 to detect a single-turn absolute position of the motor 200.

[0043] The control assembly 100 may further include a motor controller 130. The motor controller 130 may be communicatively coupled with the Hall sensor 110 and the rotary transformer 120 to control the movement of the motor 200. As an example, the motor controller 130 may be a stepper motor controller, and the motor 200 may be a stepper motor. As an example, the motor controller 130 may indirectly determine the position of the antenna shaft through the single-turn absolute position of the motor 200 detected by the rotary transformer 120 and through the accumulation of multiple-turn positions.

[0044] The motor controller 130 may be configured to perform fault detection on the Hall sensor 110 and the rotary transformer 120, respectively. As an example, the motor controller 130 may have built-in fault detection software, which can determine whether the Hall sensor 110 and the rotary transformer 120 are faulty based on the signals received from the Hall sensor 110 and the rotary transformer 120. The motor controller 130 may be configured to determine the absolute zero position of the antenna shaft based on the result of the fault detection. There are four cases in the results of the fault detection of the Hall sensor 110 and the rotary transformer 120, namely: the Hall sensor 110 and the rotary transformer 120 are both detected as normal, the Hall sensor 110 and the rotary transformer 120 are both detected as abnormal, the Hall sensor 110 is detected as normal and the rotary transformer 120 is detected as abnormal, and the Hall sensor 110 is detected as abnormal and the rotary transformer 120 is detected as normal. As an example, the above four cases correspond to four different modes for determining the absolute zero position. The motor controller 130 may be configured to selectively execute the position control mode of the QV band feed antenna assembly 300 based on the result of the fault detection. As an example, the position control mode may include an open-loop position control mode and a closed-loop position control mode, and the motor controller 130 may be configured to selectively execute the position control mode (i.e., the open-loop position control mode and the closed-loop position control mode) of the QV band feed antenna assembly 300 based on the results of different fault detections. By adopting a heterogeneous position detection method combining the Hall sensor 110 with the rotary transformer 120, the open-loop position control mode and the closed-loop position control mode can be selectively adopted, and the multi-turn absolute position closed-loop feedback of the rotary transformer eliminates the risk of desynchronization of the traditional stepper motor, improves the continuous pointing tracking accuracy of the antenna (single-axis control accuracy ≤ 0.007°) and reliability, and at the same time, the Hall sensor and the rotary transformer are both ordinary aerospace-grade products, thereby reducing the hardware cost.

[0045] Figure 2 A schematic diagram of a control component 100 of a QV band feeding antenna component for an Internet communication satellite according to another embodiment of the present invention is shown.

[0046] like Figure 2 As shown, the control assembly 100 may include a Hall sensor 110 and a rotary transformer 120. Figure 2In the embodiment, the Hall sensor 110 may be disposed at the connection between the antenna joint 310 and the connecting portion 320 of the QV band feed antenna assembly 300, so as to detect the absolute position of the antenna shaft of the QV band feed antenna assembly. As an example, the Hall sensor 110 may be a Hall switch sensor. By disposing the Hall sensor 110 at the connection between the antenna joint 310 and the connecting portion 320, the hidden danger caused by the slippage generated at the connection between the output shaft of the harmonic reducer 210 and the expansion sleeve of the antenna joint 310 can be eliminated. In other words, since the Hall sensor 110 is disposed at the connection between the antenna joint 310 and the connecting portion 320, even if the slippage occurs at the connection between the output shaft of the harmonic reducer 210 and the expansion sleeve of the antenna joint 310, the absolute zero position calibrated by the Hall sensor 110 can still be corrected by relying on the signal of the Hall sensor 110.

[0047] The control assembly 100 may include a rotary transformer 120. The rotary transformer 120 may be disposed at one end of the motor 200 to detect a single-turn absolute position of the motor 200. Figure 2 As shown, the rotary transformer 120 may be installed at the left end of the motor. As an example, the rotary transformer 120 may be a single-turn absolute position sensor for detecting the single-turn absolute position of the motor 200.

[0048] The control assembly 100 may further include a motor controller 130. The motor controller 130 may be communicatively coupled with the Hall sensor 110 and the rotary transformer 120 to control the movement of the motor 200. As an example, the motor controller 130 may be a stepper motor controller, and the motor 200 may be a stepper motor. As an example, the motor controller 130 is capable of indirectly determining the position of the antenna shaft through the single-turn absolute position of the motor 200 detected by the rotary transformer 120 and the accumulation of multiple turns of positions. The motor controller 130 may be configured to perform fault detection on the Hall sensor 110 and the rotary transformer 120, respectively. As an example, the motor controller 130 may have built-in fault detection software, which may determine whether the Hall sensor 110 and the rotary transformer 120 are faulty based on the signals received from the Hall sensor 110 and the rotary transformer 120. The motor controller 130 may be configured to determine the absolute zero position of the antenna shaft based on the result of the fault detection. There are four situations in the results of the fault detection of the Hall sensor 110 and the rotary transformer 120, namely: the Hall sensor 110 and the rotary transformer 120 are both detected as normal, the Hall sensor 110 and the rotary transformer 120 are both detected as abnormal, the Hall sensor 110 is detected as normal and the rotary transformer 120 is detected as abnormal, and the Hall sensor 110 is detected as abnormal and the rotary transformer 120 is detected as normal. As an example, the above four situations correspond to four different modes of determining the absolute zero position. The motor controller 130 can be configured to selectively execute the position control mode of the QV band feed antenna assembly 300 based on the result of the fault detection. As an example, the position control mode may include an open-loop position control mode and a closed-loop position control mode, and the motor controller 130 can be configured to selectively execute the position control mode of the QV band feed antenna assembly 300 (i.e., the open-loop position control mode and the closed-loop position control mode) based on the results of different fault detections. By adopting a heterogeneous position detection method combining the Hall sensor 110 and the rotary transformer 120, it is possible to selectively adopt an open-loop position control mode and a closed-loop position control mode. The multi-turn absolute position closed-loop feedback of the rotary transformer eliminates the risk of losing steps of the traditional stepper motor and improves the continuous pointing tracking accuracy of the antenna (single-axis control accuracy ≤ 0.007°) and reliability. At the same time, both the Hall sensor and the rotary transformer are ordinary aerospace-grade products, which also reduces hardware costs.

[0049] In some embodiments, the motor controller 130 may be configured to execute a closed-loop position control mode in response to the result of the fault detection indicating that the rotary transformer 120 functions normally. As an example, after the absolute zero position of the antenna shaft is determined, if the rotary transformer 120 functions normally, the motor controller 130 may execute a closed-loop position control mode based on a feedback signal of the rotary transformer 120.

[0050] In some embodiments, the motor controller 130 may be configured to determine the absolute zero position based on the signal of the Hall sensor 110 and the signal of the rotary transformer 120 in the open-loop position control mode in response to the result of the fault detection indicating that the Hall sensor 110 functions normally. As an example, when the rotary transformer 120 and the Hall sensor 110 function normally, the antenna can determine the one-to-one position relationship between the absolute position determined by the rotary transformer 120 at the motor end and the rising edge or falling edge of the Hall sensor 110 after calibration. Therefore, the rotary transformer 120 and the Hall sensor 110 can be used for joint detection under non-contact hard limit conditions, so that the absolute zero position can be quickly found, and closed-loop position control can be implemented to eliminate the risk of stepping out of step of the stepping motor. Among them, the antenna calibration process is: after assembly, the main axis and the secondary axis of the antenna are returned to the ideal absolute zero position through the joint detection of the rotary transformer 120 and the Hall sensor 110, and then the deviation between the main electric axis of the antenna and the theoretical zero position is determined by photographing, and then the rotation angle deviation of the main axis and the secondary axis is calculated by inverse kinematics to correct the ideal absolute zero position value; generally, after repeated corrections two or three times, the electric axis zero position pointing deviation will reach within 0.02°. In other embodiments, the motor controller 130 may be configured to respond to the result of the fault detection indicating that the Hall sensor 110 is abnormal, and in the open-loop position control mode, the absolute zero position is determined by the occurrence of a collision with the hard limit at the antenna joint and based on the signal of the rotary transformer 120. For example, the signal based on the rotary transformer 120 may involve the absolute position determined by the rotary transformer and the positional relationship between the absolute position and the hard limit. As an example, when the rotary transformer 120 functions normally and the Hall sensor 110 functions abnormally, the antenna can determine the positional relationship between the absolute position of the rotary transformer 120 at the motor end and the hard limit of the antenna joint after calibration. It can also quickly find the absolute zero position when contacting the hard limit. The software built-in state observer can detect the change in the phase voltage of the stepper motor or the change in the position of the rotary transformer through collision detection to identify the hard limit. Then the motor slows down and stops slowly, and the absolute position of the rotary transformer is recorded and position compensation is added. At this time, the absolute position of the antenna shaft is confirmed, and the antenna enters the position closed-loop control mode. As another example, if a single-particle flip occurs in the rotary transformer signal decoding circuit in the closed-loop control mode, the system will automatically determine and enter the open-loop position mode without interrupting the current antenna pointing task, thereby improving the robustness of the system.

[0051] In some embodiments, the motor controller 130 may also be configured to store the current absolute zero position and the single-turn absolute position of the motor currently detected by the rotary transformer 120 before power failure. In some embodiments, the motor controller 130 may also be configured to determine whether the single-turn absolute position of the motor detected by the rotary transformer 120 matches the stored single-turn absolute position of the motor after the next mission is powered on; and in response to the result of the judgment indicating a match, use the stored absolute zero position to restore the current position of the antenna shaft. As an example, in the closed-loop position control mode, after the current orbital mission is completed, the motor controller 130 will retain the absolute position of the current antenna joint and the single-turn absolute position of the motor detected by the rotary transformer before power failure. After the next mission is powered on, it will determine whether to use the memory position to quickly restore the position by judging the single-turn absolute position of the motor detected by the rotary transformer stored and the single-turn absolute position of the motor detected by the real-time rotary transformer currently read. In this way, the number of times the motor rotates when searching for the zero position can be reduced, thereby improving the overall service life of the antenna system.

[0052] In some embodiments, the motor controller 130 may be configured to execute an open-loop subdivision position control mode in response to the result of the fault detection indicating that the resolver 120 is malfunctioning. As an example, the open-loop subdivision position control mode may be a conventional control method for a stepper motor.

[0053] In some embodiments, the motor controller 130 may be configured to determine the absolute zero position based on the pulse width counts accumulated at the rising and falling edges of the Hall sensor 110 in response to the result of the fault detection indicating that the Hall sensor 110 is functioning normally. Specifically, the pulse width count may refer to the position count after the step angle of the stepper motor in the motor controller 130 is finely subdivided. As an example, when the Hall sensor 110 functions normally and the rotary transformer 120 functions abnormally, under open-loop position control, the rising and falling edge signals of the Hall sensor 110 are detected, and the number of pulse subdivisions accumulated by the stepper motor at the rising and falling edges is recorded to determine the absolute position of the antenna shaft. Specifically, under the fine-segmentation control of the stepper motor, the subdivision angle after the motor step angle is subdivided by 4 / 32 / 64 / 128 / 256, etc. corresponds one to one with the pulse width count. When the motor controller 130 captures the rising edge of the Hall signal, it will accumulate and count the subdivided micro-step angles of the motor 200 until the falling edge of the Hall signal is triggered to end the counting, and the motor 200 stops rotating. Based on the count, the current relative position of the motor 200 to the middle of the Hall signal can be determined. In addition, the middle position of the Hall signal has been calibrated as the absolute position through photography. Therefore, the absolute position of the motor 200 and the antenna shaft can be determined through the double edges of the Hall signal (i.e., the rising edge and the falling edge).

[0054] In other embodiments, the motor controller 130 may be configured to determine the absolute zero position based on the hard limit collision control strategy in response to the result of the fault detection indicating that the Hall sensor 110 is malfunctioning. As an example, when both the Hall sensor 110 and the rotary transformer 120 are malfunctioning, the antenna can be calibrated to determine whether the antenna shaft has rotated to the hard limit by means of a timer delay or a state observer, and the position at this time is used as the initial position of the absolute position.

[0055] In some embodiments, the motor controller 130 may further include a resolver signal decoding circuit 130b and a Hall signal conditioning circuit 130a, which are communicatively coupled to the resolver 120 and the Hall sensor 110, respectively. As an example, the Hall signal conditioning circuit 130a is mainly used to provide a trigger signal, which is divided into a rising edge and a falling edge, and is mainly used to determine the absolute position of the antenna joint. In some embodiments, the resolver signal decoding circuit 130b can be configured to perform hardware decoding and software decoding, wherein the hardware decoding and the software decoding are mutually backed up. In this way, the resolver signal decoding circuit 130b includes two functions, hardware decoding and software decoding, and the soft and hard decoding are mutually backed up to improve the reliability of position decoding, wherein the hardware decoding is the main function and the software decoding is the auxiliary function, thereby improving the accuracy of the resolver position and reducing the bit error rate. In addition, by making the Hall signal conditioning circuit 130a and the resolver signal decoding circuit 130b cooperate with each other and be redundant with each other, the absolute zero position can be normally determined when one of the two circuits fails or not, thereby improving the reliability of position detection and the robustness of the system.

[0056] According to another aspect of the present invention, a QV band feeding antenna system is provided.

[0057] Figure 3 A schematic diagram of a QV band feeding antenna system 3000 according to an embodiment of the present invention is shown.

[0058] like Figure 3 As shown, the QV band feed antenna system 3000 may include a QV band feed antenna assembly 300, a motor 200, a harmonic reducer 210, and a control assembly 100. The motor 200 may be used to drive the QV band feed antenna assembly 300 to move. As an example, the motor 200 may be a stepper motor. The harmonic reducer 210 may be coupled between the QV band feed antenna assembly 300 and the motor 200. The control assembly 100 may be a reference Figure 1 and Figure 2 The control assembly 100 described above will not be described in detail herein.

[0059] In some embodiments, the QV band feed antenna system 3000 may further include a connector 220. The connector 220 is respectively connected to the output shaft of the harmonic reducer 210 and the antenna shaft of the QV band feed antenna assembly 300. As an example, the connector 220 may be a coupling or a locking sleeve. Figure 3 As shown, the Hall sensor 110 can be set on the right side of the connector 220. Specifically, the Hall sensor 110 can be set at the connection between the antenna joint of the QV band feed antenna assembly 300 and the connection part connecting the QV antenna 340 and the antenna joint. Since the connector 220 is in the state of the antenna 340 being retracted, there is a risk of slippage during the active phase of rocket launch. Once slippage occurs, the calibrated absolute zero position will fail, causing the antenna pointing error to be too large, and in severe cases, it will cause the antenna to fail in orbit. By installing the Hall sensor 110 at the connection between the antenna joint and the connection part connecting the QV antenna 340 and the antenna joint, even if the connector slips, the absolute zero position calibrated by the Hall sensor can still be corrected by relying on the Hall sensor signal.

[0060] According to another aspect of the present invention, a method for controlling a QV band feed antenna assembly of an Internet communication satellite is provided.

[0061] Figure 4 A flow chart of a method 400 for controlling a QV band feed antenna assembly of an Internet communication satellite according to an embodiment of the present invention is shown. The QV band feed antenna assembly may be a combination of the above Figure 1-Figure 3 The QV band feed antenna assembly 100 described in the specification will not be described again here for the sake of brevity.

[0062] like Figure 4 As shown, the method 400 may include: step 410, performing fault detection on the Hall sensor and the rotary transformer respectively. As an example, the motor controller may have built-in fault detection software, which may determine whether the Hall sensor and the rotary transformer are faulty based on signals received from the Hall sensor and the rotary transformer.

[0063] Method 400 may include: step 420, determining the absolute zero position of the antenna shaft based on the result of the fault detection. There are four situations in the results of the fault detection of the Hall sensor and the rotary transformer, namely: the Hall sensor and the rotary transformer are both detected as normal, the Hall sensor and the rotary transformer are both detected as abnormal, the Hall sensor is detected as normal and the rotary transformer is detected as abnormal, and the Hall sensor is detected as abnormal and the rotary transformer is detected as normal. As an example, the above four situations correspond to four different modes of determining the absolute zero position. The operation of step 420 will be referred to below. Figure 6 Described in further detail.

[0064] Method 400 may include: step 430, selectively executing the position control mode of the QV band feed antenna assembly based on the result of the fault detection. As an example, the position control mode may include an open-loop position control mode and a closed-loop position control mode. By adopting a heterogeneous position detection method combining a Hall sensor and a rotary transformer, an open-loop position control mode and a closed-loop position control mode can be selectively adopted, and the multi-turn absolute position closed-loop feedback of the rotary transformer eliminates the risk of desynchronization of the traditional stepper motor, improves the continuous pointing tracking accuracy of the antenna (single-axis control accuracy ≤ 0.007°) and reliability, and at the same time, the Hall sensor and the rotary transformer are both ordinary aerospace-grade products, which also reduces the hardware cost.

[0065] In some embodiments, step 430 may further include: step 4302, in response to the result of the fault detection indicating that the rotary transformer is functioning normally, executing a closed-loop position control mode. As an example, after the absolute zero position of the antenna shaft is determined, if the rotary transformer is functioning normally, the motor controller may execute a closed-loop position control mode based on a feedback signal of the rotary transformer. In some embodiments, after entering the closed-loop position control mode (i.e., step 4302), the position memory function may also be implemented by implementing some additional steps, which will be referred to below. Figure 5 Describe these steps in detail.

[0066] In some embodiments, step 430 may further include: step 4304, in response to the result of the fault detection indicating that the rotary transformer is malfunctioning, executing an open-loop subdivision position control mode. As an example, the open-loop subdivision position control mode may be a conventional control method for a stepper motor.

[0067] Figure 5 A schematic diagram of a process 500 for implementing a position memory function according to an embodiment of the present invention is shown.

[0068] like Figure 5 As shown, when entering the closed-loop position control mode (i.e., executing Figure 4After step 4302 shown in the figure, process 500 may proceed to box 510, where the current absolute zero position and the single-turn absolute position of the motor currently detected by the rotary transformer are stored before power failure. Subsequently, process 500 may proceed to box 520, where, after the next task is powered on, it is determined whether the single-turn absolute position of the motor detected by the rotary transformer matches the stored single-turn absolute position of the motor. If so, process 500 may proceed to box 530, where, in response to the result of the determination indicating a match, the stored absolute zero position is used to restore the current position of the antenna shaft. If not, process 500 ends. By using the memory position to quickly restore the current position of the antenna shaft, the number of times the control component rotates when searching for the zero position is reduced, thereby improving the overall service life of the antenna system.

[0069] Figure 6 FIG. 6 is a flowchart of a process 600 for determining the absolute zero position of the antenna shaft based on the result of fault detection according to an embodiment of the present invention. It should be noted that the process 600 for determining the absolute zero position of the antenna shaft based on the result of fault detection corresponds to executing Figure 4 The operation process of step 420 of method 400.

[0070] like Figure 6 As shown, process 600 proceeds to box 630 based on the rotary transformer being detected as normal at box 610 and the Hall sensor being detected as normal at box 620. At box 630, the absolute zero position is determined based on the signal of the Hall sensor and the signal of the rotary transformer in the open-loop position control mode. As an example, when the rotary transformer and the Hall sensor function normally, the antenna can determine the one-to-one position relationship between the absolute position determined by the rotary transformer at the motor end and the rising edge or falling edge of the Hall sensor after calibration. Therefore, the rotary transformer and the Hall sensor can be jointly detected under non-contact hard limit conditions, and the absolute zero position can be quickly found, and the position closed-loop control is realized to eliminate the risk of stepping out of the step of the stepper motor. The antenna calibration process is as follows: after assembly, the main axis and the secondary axis of the antenna are returned to the ideal absolute zero position through the joint detection of the rotary transformer and the Hall sensor, and then photographed to determine the deviation between the main electric axis of the antenna and the theoretical zero position. The rotation angle deviation of the main axis and the secondary axis is calculated through inverse kinematics to correct the ideal absolute zero position value. Generally, after repeated corrections two or three times, the zero position pointing deviation of the electric axis will be within 0.02°.

[0071] Process 600 proceeds to box 640 based on the detection of the rotary transformer as normal at box 610 and the detection of the Hall sensor as abnormal at box 620. At box 640, in the open-loop position control mode, the absolute zero position is determined based on the signal of the rotary transformer by the occurrence of a collision with the hard limit at the antenna joint. For example, the signal based on the rotary transformer may involve the absolute position determined by the rotary transformer and the positional relationship between the absolute position and the hard limit. As an example, when the rotary transformer functions normally and the Hall sensor functions abnormally, the antenna can determine the positional relationship between the absolute position determined by the rotary transformer at the motor end and the hard limit of the antenna joint after calibration, and can also quickly find the absolute zero position in the case of contacting the hard limit. The software built-in state observer can detect the hard limit through collision detection by detecting the change in the phase voltage of the stepper motor or the change in the position of the rotary transformer, and then the motor decelerates and stops slowly, and the absolute position of the rotary transformer is recorded and the position compensation is added. At this time, the absolute position of the antenna shaft is confirmed, and the antenna enters the position closed-loop control mode. As another example, if a single-particle flip occurs in the resolver signal decoding circuit in the closed-loop control mode, the system will automatically determine and enter the open-loop position mode without interrupting the current antenna pointing task, thereby improving the robustness of the system.

[0072] Process 600 proceeds to box 650 based on the rotary transformer being detected as abnormal at box 610 and the Hall sensor being detected as normal at box 620. At box 650, the absolute zero position is determined based on the pulse width counts at the rising and falling edges of the Hall sensor. Specifically, the pulse width count may refer to the position count after the step angle of the stepper motor in the motor controller is finely subdivided. As an example, when the Hall sensor functions normally and the rotary transformer functions abnormally, under open-loop position control, the rising and falling edge signals of the Hall sensor are detected, and the number of pulse subdivisions accumulated by the stepper motor at the rising and falling edges is recorded to determine the absolute position of the antenna shaft. Specifically, under the micro-subdivision control of the stepper motor, the subdivision angle after the motor step angle is subdivided by 4 / 32 / 64 / 128 / 256, etc. corresponds one to one with the pulse width count. When the motor controller 130 captures the rising edge of the Hall signal, it will accumulate and count the subdivided micro-step angles of the motor 200 until the falling edge of the Hall signal is triggered to end the counting, and the motor 200 stops rotating. Based on the count, the current relative position of the motor 200 to the middle of the Hall signal can be determined. In addition, the middle position of the Hall signal has been calibrated as the absolute position through photography. Therefore, the absolute position of the motor 200 and the antenna shaft can be determined through the double edges of the Hall signal (i.e., the rising edge and the falling edge).

[0073] Process 600 proceeds to box 660 based on the rotary transformer being detected as abnormal at box 610 and the Hall sensor being detected as normal at box 620. At box 660, the absolute zero position is determined based on the hard limit collision control strategy. As an example, when both the Hall sensor and the rotary transformer function abnormally, the antenna can be calibrated to determine whether the antenna shaft is rotated to the hard limit by means of a timer delay or a state observer, and the position at this time is used as the initial position of the absolute position.

[0074] Figure 7 A flow chart of a process 700 for controlling a QV band feed antenna assembly of an internet communication satellite according to another embodiment of the present invention is shown.

[0075] Process 700 may begin with performing fault detection on the rotary transformer at block 610 and performing fault detection on the Hall sensor at block 620. Subsequently, process 700 may respectively perform four different zeroing modes based on the four results of the fault detection to determine the absolute zero position of the antenna shaft. After the absolute zero position is determined, process 700 enters the position tracking mode.

[0076] Specifically, when the process 700 is detected as normal at box 610 and the Hall sensor is detected as normal at box 620, it proceeds to box 630. At box 630, the absolute zero position is determined based on the signal of the Hall sensor and the signal of the rotary transformer in the open-loop position control mode. As an example, when the rotary transformer and the Hall sensor function normally, the antenna can determine the one-to-one position relationship between the absolute position determined by the rotary transformer at the motor end and the rising edge or falling edge of the Hall sensor after calibration. Therefore, the rotary transformer and the Hall sensor can be jointly detected under non-contact hard limit conditions, and the absolute zero position can be quickly found, and the position closed-loop control is realized to eliminate the risk of stepping out of the step of the stepper motor. The antenna calibration process is as follows: after assembly, the main axis and the secondary axis of the antenna are returned to the ideal absolute zero position through the joint detection of the rotary transformer and the Hall sensor, and then the deviation between the main electric axis of the antenna and the theoretical zero position is determined by photographing, and then the rotation angle deviation of the main axis and the secondary axis is calculated by inverse kinematics to correct the ideal absolute zero position value; generally, after repeated corrections two or three times, the zero position pointing deviation of the electric axis will be within 0.02°. After the absolute zero position is determined at box 630, process 700 proceeds to box 4302, and the closed-loop position control mode is executed at box 4302.

[0077] Process 700 proceeds to box 640 based on the rotary transformer being detected as normal at box 610 and the Hall sensor being detected as abnormal at box 620. At box 640, in the open-loop position control mode, the absolute zero position is determined based on the signal of the rotary transformer by the occurrence of a collision with the hard limit at the antenna joint. For example, the signal based on the rotary transformer may involve the absolute position determined by the rotary transformer and the positional relationship between the absolute position and the hard limit. As an example, when the rotary transformer functions normally and the Hall sensor functions abnormally, the antenna can determine the positional relationship between the absolute position determined by the rotary transformer at the motor end and the hard limit at the antenna joint after calibration, and can also quickly find the absolute zero position in the case of contacting the hard limit. The software built-in state observer can detect the hard limit through collision detection by detecting the change in the phase voltage of the stepper motor or the change in the position of the rotary transformer, and then the motor decelerates and stops slowly, and the absolute position of the rotary transformer is recorded and the position compensation is added. At this time, the absolute position of the antenna shaft is confirmed, and the antenna enters the position closed-loop control mode. As another example, if a single-particle upset occurs in the resolver signal decoding circuit in the closed-loop control mode, the system will automatically determine and enter the open-loop position mode without interrupting the current antenna pointing task, thereby improving the robustness of the system. After determining the absolute zero position at box 640, process 700 proceeds to box 4302, where the closed-loop position control mode is executed. After entering the closed-loop position control mode, process 700 can implement reference Figure 5 The described position memory function (block 500) is not described in detail here for the sake of brevity.

[0078] Process 700 proceeds to box 650 based on the rotary transformer being detected as abnormal at box 610 and the Hall sensor being detected as normal at box 620. At box 650, the absolute zero position is determined based on the pulse width counts at the rising and falling edges of the Hall sensor. Specifically, the pulse width count may refer to the position count after the step angle of the stepper motor in the motor controller 130 is finely subdivided. As an example, when the Hall sensor functions normally and the rotary transformer functions abnormally, under open-loop position control, the rising and falling edge signals of the Hall sensor are detected, and the number of pulse subdivisions accumulated by the stepper motor at the rising and falling edges is recorded to determine the absolute position of the antenna shaft. Specifically, under the fine-segmentation control of the stepper motor, the subdivision angle after the motor step angle is subdivided by 4 / 32 / 64 / 128 / 256, etc. corresponds one to one with the pulse width count. When the motor controller 130 captures the rising edge of the Hall signal, it will accumulate and count the subdivided micro-step angles of the motor 200 until the falling edge of the Hall signal is triggered to end the counting, and the motor 200 stops rotating. Based on the count, the current relative position of the motor 200 to the middle of the Hall signal can be determined. In addition, the middle position of the Hall signal has been calibrated as the absolute position through photography. Therefore, the absolute position of the motor 200 and the antenna shaft can be determined through the double edges of the Hall signal (i.e., the rising edge and the falling edge).

[0079] After the absolute zero position is determined at block 650, process 700 proceeds to block 4304 where an open loop fine-grained position control mode is performed.

[0080] Process 700 proceeds to box 660 based on the rotary transformer being detected as abnormal at box 610 and the Hall sensor being detected as normal at box 620. At box 660, the absolute zero position is determined based on the hard limit collision control strategy. As an example, when the Hall sensor and the rotary transformer are both abnormal, the antenna can be calibrated to determine whether the antenna shaft is turned to the hard limit by means of timer delay or state observer, and the position at this time is used as the initial position of the absolute position. After the absolute zero position is determined at box 660, process 700 proceeds to box 4304, and the open-loop subdivision position control mode is executed at box 4304.

[0081] Figure 8 A schematic diagram of a QV band feed antenna system 800 according to an embodiment is shown.

[0082] like Figure 8As shown, the system 800 may include a QV band feed antenna assembly 810, the QV band feed antenna assembly 810 may include a QV antenna 811, an antenna joint 812, and a connecting portion 813 connecting the QV antenna 811 and the antenna joint 812, and the antenna joint 812 may include an antenna shaft. The system 800 may include a motor assembly 820. The motor assembly 820 may include a motor 822 and a harmonic reducer 821, and the harmonic reducer 821 is coupled between the QV band feed antenna assembly 810 and the motor 822. As an example, the output shaft of the motor 822 is coupled to the harmonic reducer 821. The system 800 may include a Hall sensor 830 and a rotary transformer 840. The Hall sensor 830 may be disposed at the connection between the antenna joint 812 and the connecting portion 813. By disposing the Hall sensor 830 at the connection between the antenna joint 812 and the connecting portion 813, the hidden danger caused by the slippage generated at the connection between the output shaft of the harmonic reducer 821 and the expansion sleeve of the antenna joint 813 can be eliminated. That is to say, since the Hall sensor 830 is arranged at the connection between the antenna joint 812 and the connecting part 813, even if the output shaft of the harmonic reducer 821 and the expansion sleeve connection of the antenna joint 812 slip, the absolute zero position calibrated by the Hall sensor 830 can still be corrected by relying on the signal of the Hall sensor 830. The rotary transformer 840 is arranged at one end of the motor 822. As an alternative, the rotary transformer 822 can be a single-turn absolute position sensor installed at one end of the motor 822 to detect the single-turn absolute position of the motor 822. The system 800 may include a motor controller 850, which may be communicatively coupled to the Hall sensor 830 and the rotary transformer 840. Specifically, the motor controller 850 may receive a Hall switch signal from the Hall sensor 830 and a rotary transformer signal from the rotary transformer 840. By adopting a heterogeneous position detection method combining the Hall sensor 830 and the rotary transformer 840, it is possible to selectively adopt an open-loop position control mode and a closed-loop position control mode. The multi-turn absolute position closed-loop feedback of the rotary transformer 822 eliminates the risk of losing steps of the traditional stepper motor and improves the continuous pointing tracking accuracy of the antenna (single-axis control accuracy ≤ 0.007°) and reliability. At the same time, the Hall sensor 830 and the rotary transformer 822 are both ordinary aerospace-grade products, which also reduces hardware costs.

[0083] In some embodiments, the motor 822 may include a stepper motor. In some embodiments, the motor controller 850 may include a stepper motor controller. As an example, the stepper motor controller 850 can indirectly determine the position of the antenna shaft by the absolute position of a single turn of the stepper motor 822 detected by the rotary transformer 840 and by accumulating the position of multiple turns. In some embodiments, the Hall sensor may include a Hall switch sensor.

[0084] In some embodiments, the system 800 may further include a connector 860. The connector 860 may be respectively connected to the output shaft of the harmonic reducer 821 and the antenna shaft of the QV band feed antenna assembly 810. As an example, the connector 860 may include a coupling or a shrink sleeve.

[0085] In some embodiments, the motor controller 850 may include a signal processing module 851, which may include a resolver signal decoding circuit 851a and a Hall signal conditioning circuit 851b. As an example, the resolver signal decoding circuit 851 may be configured to perform hardware decoding and software decoding, wherein the hardware decoding and the software decoding are mutually backed up. In this way, the resolver signal decoding circuit 851a includes two functions, hardware decoding and software decoding. Since the soft and hard decoding are mutually backed up, the reliability of position decoding is improved, wherein the hardware decoding is the main one and the software decoding is the auxiliary one, thereby improving the accuracy of the position of the resolver 840 and reducing the bit error rate. In addition, by making the Hall signal conditioning circuit 851b and the resolver signal decoding circuit 851a cooperate with each other and be redundant to each other, the absolute zero position can be normally determined when one of the two circuits fails or not, thereby improving the reliability of position detection and the robustness of the system.

[0086] In some embodiments, the rotary transformer 840 and the Hall sensor 310 can be communicatively coupled to the rotary transformer signal decoding circuit 851a and the Hall signal conditioning circuit 851b, respectively. As an example, the rotary transformer signal decoding circuit 851a can receive a feedback signal from the rotary transformer 840. The Hall signal conditioning circuit 851b can receive a Hall switch signal from the Hall sensor 830 (e.g., a Hall switch sensor).

[0087] In some embodiments, the motor controller 850 may include a main processing module 852 and a backup processing module 853. The main processing module 852 and the backup processing module 853 may be connected in parallel between the signal processing module 851 and the motor assembly 820.

[0088] In some embodiments, the main processing module 852 may include a main digital signal processor (DSP) 8521, a main level conversion chip 8523 and a main driving module 8522, the control signal (e.g., pulse width modulation (PWM)) signal output terminal and the enable signal output terminal of the main DSP 8521 may be connected to the main level conversion chip 8523, and the main level conversion chip 8523 may be connected to the main driving module 8522; and the standby processing module 853 may include a standby DSP 8531, a standby level conversion chip 8533 and a standby driving module 8532, the control signal output terminal and the enable signal output terminal of the standby DSP 8531 may be connected to the standby level conversion chip 8533, and the standby level conversion chip 8533 may be connected to the standby driving module 8532. Additionally, the main processing module 852 and the standby processing module 853 may also include relays.

[0089] In some embodiments, the control signal output terminal and the enable signal output terminal of the main DSP 8521 can also be connected to the standby level conversion chip 8533. In some embodiments, the control signal output terminal and the enable signal output terminal of the standby DSP 8531 can also be further connected to the main level conversion chip 8523. In this way, the main DSP 8521 and the standby DSP 8531 as well as the main driving module 8522 and the standby driving module 8532 are cross-backed up, thereby improving the reliability of the hardware system.

[0090] like Figure 8 As shown, when the system 800 operates normally, the resolver 840 can provide the resolver signal as a feedback signal to the resolver signal decoding circuit 851a. The Hall sensor 830 can provide the Hall switch signal to the Hall signal conditioning circuit 851b. The resolver signal decoding circuit 851a can decode the resolver signal into a digital signal carrying position information, and then transmit the digital signal to the main DSP 8521 and the standby DSP 8531 at the same time. The main DSP 8521 processes the digital signal carrying position information into a control signal. At the same time, the main DSP 8521 can convert the control signal into a control signal suitable for the main drive module 8522 by enabling the main level conversion chip 8523. Then the main drive module 8522 outputs a control signal to control the opening or closing of the relay. When the relay is closed, the motor is driven by the power signal. Optionally, the main DSP 8521 can convert the control signal into a control signal suitable for the standby drive module 8532 by enabling the standby level conversion chip 8533, and then the standby drive module 8532 outputs a control signal to control the opening or closing of the relay. When the relay is closed, the motor is driven by the power signal.

[0091] The Hall signal conditioning circuit 851b can process the Hall switch signal into a high-low level switch signal, and transmit the high-low level switch signal to the main DSP 8521 and the standby DSP 8531 at the same time. The main DSP 8521 processes the high-low level switch signal carrying the position information into a control signal, and the main DSP 8521 can convert the control signal into a control signal suitable for the main drive module 8522 by enabling the main level conversion chip 8523, and then the main drive module 8522 outputs the control signal to control the disconnection or closing of the relay, and when the relay is closed, the motor is driven by the power signal. Optionally, the main DSP 8521 can convert the control signal into a control signal suitable for the standby drive module 8532 by enabling the standby level conversion chip 8533, and then the standby drive module 8532 outputs the control signal to control the disconnection or closing of the relay, and when the relay is closed, the motor is driven by the power signal.

[0092] In this way, by dividing the main DSP 8521, the standby DSP 8531 and the main drive module 8522, the standby drive module 8532 into two main and standby parts, the main DSP 8521, the standby DSP 8531 are cold backups, and the main drive module 8522, the standby drive module 8532 are usually used as cold backups. In special circumstances, such as encountering abnormal conditions such as motor shaft system or antenna shaft system blocking and jamming, they can be powered on and turned into working state, and the main DSP 8521, the standby DSP 8531 sends an enable signal to control the motor pulse signal to act on the main drive module 8522, the standby drive module 8532, and instantly improve the output torque of the motor and its components to break free from the blocking or jamming. At the same time, the main DSP 8521, the standby DSP 8531 and the main drive module 8522, the standby drive module 8532 are cross-backed up, which also improves the reliability of the hardware system, and does not affect the antenna performance when a single point failure occurs.

[0093] Fig. 9 A schematic diagram of a control process 900 for a motor of a QV band feeding antenna according to an embodiment of the present invention is shown.

[0094] like Fig. 9 As shown, the electrode 200 adopts current loop vector control and voltage subdivision control strategy.

[0095] First, the reference position signal Pref, the reference velocity signal Vref, and the reference acceleration signal Aref are transmitted to the coordinate transformation and trajectory generator 920 via the communication interface 910. The coordinate transformation and trajectory generator 920 performs coordinate transformation on the reference position signal Pref, the reference velocity signal Vref, and the reference acceleration signal Aref to obtain the transformed reference position. The rotary signal decoding circuit 970 and the Hall signal conditioning circuit 960 are respectively coupled to the rotary transformer 120 and the Hall sensor 110 in communication. As an example, the Hall signal conditioning circuit 960 is mainly used to provide a trigger signal, which is divided into a rising edge and a falling edge, and is mainly used to determine the absolute position of the antenna joint. In some embodiments, the rotary signal decoding circuit 970 can be configured to perform hardware decoding and software decoding, wherein the hardware decoding and the software decoding are backed up by each other. In this way, the rotary signal decoding circuit 970 includes two functions, hardware decoding and software decoding, and the soft and hard decoding are backed up by each other to improve the reliability of position decoding, wherein the hardware decoding is the main and the software decoding is the auxiliary, thereby improving the accuracy of the rotary transformer position and reducing the bit error rate. In addition, by making the Hall signal conditioning circuit 960 and the resolver signal decoding circuit 970 cooperate with each other and provide redundancy, the absolute zero position can be determined normally when one of the two circuits fails or not, thereby improving the reliability of position detection and the robustness of the system. The feedback signal from the resolver 120 is decoded by the resolver signal decoding circuit 970 to obtain the actual position, and then position compensation 930 is performed. The Hall signal conditioning circuit 960 receives the Hall signal from the Hall sensor 110, and determines the absolute zero position through the position detection module 950, and then selects the position tracking mode through the open-closed loop control mode selector 940.

[0096] By adopting current loop vector control and voltage subdivision control strategy in motor 200, the rotation control of motor 200 is stable. By adopting two control modes of position open loop and closed loop, current loop vector control is used under position closed loop control, and the rotary transformer 120 accumulates multiple turns of absolute position real-time feedback, which abandons the traditional subdivision control. The position control accuracy is completely guaranteed by the accuracy of the rotary transformer 120; the traditional voltage subdivision control strategy is used under position open loop control, which gives priority to ensuring that motor 200 does not lose step. The two control modes are switched autonomously according to position detection without the intervention of ground personnel.

[0097] The preferred embodiments of the present invention are described in detail above. However, it should be understood that the present invention can be implemented in various ways and variations without departing from its broad spirit and scope. A person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A control component for a QV band feed antenna assembly of an Internet communication satellite, the satellite comprising the QV band feed antenna assembly and a motor for driving the QV band feed antenna assembly to move, the QV band feed antenna assembly comprising a QV antenna, an antenna joint, and a connecting portion connecting the QV antenna and the antenna joint, the antenna joint comprising an antenna shaft, and the control component comprising: A Hall sensor, disposed at the connection between the antenna joint and the connecting portion, for detecting the absolute position of the antenna shaft; A rotary transformer, arranged at one end of the motor, for detecting a single-turn absolute position of the motor; a motor controller communicatively coupled to the Hall sensor and the resolver to control movement of the motor, the motor controller being configured to: Performing fault detection on the Hall sensor and the rotary transformer respectively; determining an absolute zero position of the antenna shaft based on a result of the fault detection; and Based on the result of the fault detection, a position control mode of the QV band feeding antenna assembly is selectively executed.

2. The control assembly of claim 1, wherein: The motor controller is configured to: In response to the result of the fault detection indicating that the resolver is functioning normally, a closed-loop position control mode is executed.

3. The control assembly of claim 2, wherein: The motor controller is configured to: In response to the result of the fault detection indicating that the Hall sensor functions normally, determining the absolute zero position based on the signal of the Hall sensor and the signal of the rotary transformer in an open-loop position control mode; or In response to the result of the fault detection indicating that the Hall sensor is malfunctioning, in the open-loop position control mode, the absolute zero position is determined based on the signal of the rotary transformer by the occurrence of a collision with a hard limit at the antenna joint.

4. The control assembly of claim 2, wherein: The motor controller is also configured to: The current absolute zero position and the single-turn absolute position of the motor currently detected by the rotary transformer are stored before power is turned off.

5. The control assembly of claim 4, wherein: The motor controller is also configured to: After the next task is powered on, determining whether the single-turn absolute position of the motor detected by the rotary transformer matches the stored single-turn absolute position of the motor; and In response to the result of the determination indicating a match, the stored absolute zero position is used to restore the current position of the antenna rotation axis.

6. The control assembly of claim 1, wherein: The motor controller is configured to: In response to the result of the fault detection indicating that the resolver is malfunctioning, an open-loop subdivision position control mode is executed.

7. A control assembly as claimed in claim 6, wherein: The motor controller is configured to: In response to the result of the fault detection indicating that the Hall sensor is functioning properly, determining the absolute zero position based on pulse width counts at rising and falling edges of the Hall sensor; or In response to the result of the fault detection indicating that the Hall sensor is malfunctioning, the absolute zero position is determined based on a hard limit collision control strategy.

8. The control assembly of claim 1, wherein: The motor controller includes: a resolver signal decoding circuit and a Hall signal conditioning circuit, which are communicatively coupled to the resolver and the Hall sensor respectively.

9. The control assembly of claim 8, wherein: The resolver signal decoding circuit is configured to perform hardware decoding and software decoding, wherein the hardware decoding and the software decoding back up each other.

10. A QV band feed antenna system, comprising: QV band feed antenna assembly; A motor, used for driving the QV band feed antenna assembly to move; A harmonic reducer coupled between the QV frequency band feed antenna assembly and the motor; as well as The control assembly of any one of claims 1-9, wherein the control assembly is coupled to the motor.

11. The system of claim 10, further comprising: The connector is respectively connected to the output shaft of the harmonic reducer and the antenna shaft of the QV frequency band feeding antenna assembly.

12. A method for controlling a QV band feed antenna assembly of an Internet communication satellite, the satellite comprising the QV band feed antenna assembly, a motor for driving the QV band feed antenna assembly to move, a Hall sensor and a rotary transformer, the QV band feed antenna assembly comprising a QV antenna, an antenna joint, and a connecting portion connecting the QV antenna and the antenna joint, the Hall sensor being arranged at the connection between the antenna joint and the connecting portion for detecting the absolute position of the antenna shaft, the rotary transformer being arranged at one end of the motor for detecting the single-turn absolute position of the motor, the method comprising: Performing fault detection on the Hall sensor and the rotary transformer respectively; determining an absolute zero position of the antenna shaft based on a result of the fault detection; as well as Based on the result of the fault detection, a position control mode of the QV band feeding antenna assembly is selectively executed.

13. The method of claim 12, wherein: Based on the result of the fault detection, selectively executing the position control mode of the QV band feed antenna assembly includes: In response to the result of the fault detection indicating that the resolver is functioning normally, a closed-loop position control mode is executed.

14. The method of claim 13, wherein: Determining the absolute zero position of the antenna shaft based on the result of the fault detection includes: In response to the result of the fault detection indicating that the Hall sensor functions normally, determining the absolute zero position based on the signal of the Hall sensor and the signal of the resolver in an open-loop position control mode; or In response to the result of the fault detection indicating that the Hall sensor is malfunctioning, in the open-loop position control mode, the absolute zero position is determined based on the signal of the rotary transformer by the occurrence of a collision with a hard limit at the antenna joint.

15. The method of claim 13, further comprising: The current absolute zero position and the single-turn absolute position of the motor currently detected by the rotary transformer are stored before power is turned off.

16. The method of claim 15, further comprising: After the next task is powered on, determining whether the single-turn absolute position of the motor detected by the rotary transformer matches the stored single-turn absolute position of the motor; and In response to the result of the determination indicating a match, the stored absolute zero position is used to restore the current position of the antenna rotation axis.

17. The method of claim 12, wherein: Based on the result of the fault detection, selectively executing the position control mode of the QV band feed antenna assembly includes: In response to the result of the fault detection indicating that the resolver is malfunctioning, an open-loop subdivision position control mode is executed.

18. The method of claim 17, wherein: Determining the absolute zero position of the antenna shaft based on the result of the fault detection includes: In response to the result of the fault detection indicating that the Hall sensor is functioning properly, determining the absolute zero position based on pulse width counts accumulated at rising and falling edges of the Hall sensor; or In response to the result of the fault detection indicating that the Hall sensor is malfunctioning, the absolute zero position is determined based on a hard limit collision control strategy.

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