Lifting system and control method of T-type twin-tower antenna of RBN-DGNSS station

Abstract

The present application relates to a lifting system and a control method for a T-shaped twin-tower antenna of an RBN-DGNSS station; the lifting system comprises a main controller, a driving device, a fixed pulley and a traction rope arranged on the top of the antenna tower; the driving device is connected to the antenna through a traction rope, the traction rope is wound around the fixed pulley, and the driving device comprises a main driver and a sub-driver; the main controller controls the working parameters of the driving device, tows the antenna through the main driver and adjusts the horizontality of the antenna through the sub-driver; this technical solution realizes the automatic lifting of the antenna, ensures the stability of the antenna lifting process, improves the efficiency of antenna maintenance, improves the safety and convenience of maintenance, and reduces maintenance costs.

Description

Technical Field

[0001] The present application relates to the technical field of differential global satellite positioning systems, and in particular to a lifting system and a control method thereof for a T-shaped twin-tower antenna of an RBN-DGNSS station. Background Art

[0002] The Differential Global Positioning Satellite System (RBN-DGNSS) is the main positioning and navigation system at sea and a coastal radio beacon. It provides users with all-weather, high-precision navigation assistance and other services to ensure the safety of ships at sea. The shore differential station (RBN-DGNSS station for short) is an important infrastructure for the effective operation of the RBN-DGNSS system. It is equipped with the antenna system of the core components. Therefore, the operation and maintenance of the differential station is crucial to ensure the normal and efficient operation of the RBN-DGNSS system.

[0003] The antenna system of the RBN-DGNSS station is an important device for the entire differential station signal reception and signal transmission, such as Figure 1 As shown, Figure 1 This is a schematic diagram of the antenna system of an example RBN-DGNSS station. The antenna system is a T-shaped twin-tower antenna, which is an inverted T-shaped antenna lifted by two iron tower cranes about 60 meters apart. The antenna height is about 40 meters and the weight is generally more than 200kg. Since the RBN-DGNSS station is located on the seaside or on an island, it is subject to erosion by sea breeze all year round, and the antenna system is prone to rust. Therefore, daily maintenance of the T-shaped twin-tower antenna of the antenna system is very important.

[0004] When maintaining the T-type twin-tower antenna, it must be raised and lowered. Before lowering the T-type twin-tower antenna, professionals climb to the top of the tower to mark the original position of the T-type twin-tower antenna, so that the T-type twin-tower antenna can be restored to its original position after being raised again, ensuring that the parameters of the T-type twin-tower antenna remain unchanged and do not affect the operation of the transceiver system. At present, during the antenna lifting operation, the T-type twin-tower antenna is mainly lifted and lowered by rotating winches on both sides of the tower, which has poor safety, low positioning accuracy, and low overall maintenance efficiency. Summary of the invention

[0005] In order to solve one of the above-mentioned defects, the present application provides a lifting system and a control method of a T-shaped twin-tower antenna of an RBN-DGNSS station.

[0006] A lifting system for a T-shaped double-tower antenna of an RBN-DGNSS station, comprising: a main controller, a driving device, a fixed pulley and a traction rope arranged on the top of the antenna tower;

[0007] The driving device is connected to the antenna via a traction rope, and the traction rope is wound around a fixed pulley; the driving device comprises: a main drive arranged at the bottom of the antenna tower and a secondary drive arranged at the top of the antenna tower;

[0008] The driving device comprises an A-end driving device provided at antenna tower A and a B-end driving device provided at antenna tower B;

[0009] The A-end driving device and the B-end driving device are respectively connected to traction ropes, and the traction ropes are passed around fixed pulleys and are respectively connected to fixed tripods at the A-end and B-end of the antenna;

[0010] The main controller is configured to control the working parameters of the A-end driving device and the B-end driving device respectively, to lift and lower the A-end and B-end of the antenna through the main driver, and to adjust the horizontality of the A-end and B-end of the antenna through the auxiliary driver.

[0011] In one embodiment, the A-end driving device comprises: an A-end main driver and an A-end auxiliary driver; the B-end driving device comprises: a B-end main driver and a B-end auxiliary driver;

[0012] The fixed pulley includes: an A-end main pulley corresponding to the A-end main drive, an A-end secondary pulley corresponding to the A-end secondary drive, a B-end main pulley corresponding to the B-end main drive, and a B-end secondary pulley corresponding to the B-end secondary drive;

[0013] The A-end main driver is connected to the center of the fixed tripod at the A-end of the antenna through a first main traction rope; the B-end main driver is connected to the center of the fixed tripod at the B-end of the antenna through a second main traction rope;

[0014] The A-end auxiliary driver is connected to the bottom angle position of the fixed tripod at the A-end of the antenna through the A-end horizontal fixing rope;

[0015] The B-end auxiliary driver is connected to the bottom corner position of the fixed tripod at the B-end of the antenna through the B-end horizontal fixing rope;

[0016] The main controller controls the working parameters of the A-end main driver, the A-end sub-driver, the B-end main driver and the B-end sub-driver respectively; wherein the first main traction rope and the second main traction rope are used to bear the weight of the A-end and the B-end of the antenna respectively, the A-end horizontal fixing rope is used to adjust the horizontality of the A-end of the antenna; the B-end horizontal fixing rope is used to adjust the horizontality of the B-end of the antenna.

[0017] In one embodiment, the A-end sub-driver comprises: an A-end first sub-driver and an A-end second sub-driver; the B-end sub-driver comprises: a B-end first sub-driver and a B-end second sub-driver;

[0018] The horizontal fixing rope at the A end includes: a first horizontal fixing rope at the A end and a second horizontal fixing rope at the A end; the horizontal fixing rope at the B end includes: a first horizontal fixing rope at the B end and a second horizontal fixing rope at the B end;

[0019] The fixed pulleys include: a first fixed pulley wound around a first main traction rope, a second fixed pulley wound around a second main traction rope, a third fixed pulley wound around a first horizontal fixed rope at end A, a fourth fixed pulley wound around a second horizontal fixed rope at end A, a fifth fixed pulley wound around a first horizontal fixed rope at end B, and a sixth fixed pulley wound around a second horizontal fixed rope at end B;

[0020] The A-end main driver is connected to the center position of the fixed tripod at the A-end of the antenna through the first main traction rope; the B-end main driver is connected to the center position of the fixed tripod at the B-end of the antenna through the second main traction rope; the A-end first sub-driver is connected to a bottom corner position of the fixed tripod at the A-end of the antenna through the A-end first horizontal fixing rope; the A-end second sub-driver is connected to another bottom corner position of the fixed tripod at the A-end of the antenna through the A-end second horizontal fixing rope;

[0021] The first sub-driver at the B end is connected to a bottom corner position of the fixed tripod at the B end of the antenna through a first horizontal fixing rope at the B end; the second sub-driver at the B end is connected to another bottom corner position of the fixed tripod at the B end of the antenna through a second horizontal fixing rope at the B end;

[0022] The main controller is respectively connected to the A-end main driver, the A-end first sub-driver, the A-end second sub-driver, the B-end main driver, the B-end first sub-driver, and the B-end second sub-driver, and controls their working parameters.

[0023] In one embodiment, the driving device includes: a motor and a frequency converter;

[0024] The main driver comprises: a main frequency converter and a main motor;

[0025] The main controller operates the main frequency converter by outputting a frequency signal to control the start, stop and stepless speed regulation of the main motor;

[0026] The auxiliary driver comprises: an auxiliary frequency converter and an auxiliary motor;

[0027] The main controller performs frequency conversion and speed regulation on the auxiliary motor by controlling the working power frequency of the auxiliary inverter.

[0028] In one embodiment, the rotating wheel of the motor of the driving device is connected to an encoder for measuring the motor rotation angle and outputting the number of pulses;

[0029] The main controller is configured to calculate the movement length of the traction rope according to the pulse number, and the calculation formula is as follows:

[0030] L=N×M

[0031] M=2πr / k

[0032] Where L is the moving length of the traction rope, N is the number of pulses, r is the radius of the motor wheel, M is the length corresponding to 1 pulse, and k is the number of encoder lines.

[0033] In one embodiment, the lifting system of the T-type twin-tower antenna of the RBN-DGNSS station further includes:

[0034] A deceleration switch and a positioning switch are sequentially arranged at the end of the traction rope, and a switch detector is arranged at the top of the antenna tower and on both sides of the traction rope;

[0035] The deceleration switch and the positioning switch move with the traction rope; the switch detector is used to sense the proximity switch signals of the deceleration switch and the positioning switch and send them to the main controller;

[0036] The main controller is configured to control the motor to slowly decelerate when a proximity switch signal of a deceleration switch is detected, and to control the main motor to stop when a proximity switch signal of a positioning switch is detected.

[0037] In one embodiment, the lifting system of the T-type twin-tower antenna of the RBN-DGNSS station further includes:

[0038] A positioning switch is provided on the end of the traction rope, and a switch detector is provided on the top of the antenna tower and on both sides of the traction rope;

[0039] The positioning switch moves with the traction rope; the switch detector is used to sense the proximity switch signal of the positioning switch and send it to the main controller;

[0040] The main controller is configured to control the motor to slowly decelerate when the calculated movement length of the traction rope reaches the deceleration position, and to control the main motor to stop when a proximity switch signal of the positioning switch is detected.

[0041] In one embodiment, the main controller is configured to calculate the movement length L of the first main traction rope respectively. 1a and the movement length L of the second main traction rope 1b ; During the antenna lifting process, the cumulative error Δl between the moving length of the first main traction rope and the second main traction rope is calculated in real time. 1a -L 1b |, when the cumulative error Δl is greater than the set threshold l0, if L 1a >L 1b , control the main inverter of the A-end drive device to reduce the speed of its main motor. If L 1a <L1b , controlling the main inverter of the B-end drive device to reduce the speed of its main motor.

[0042] In one embodiment, the lifting system of the T-type dual-tower antenna of the RBN-DGNSS station further includes: an industrial computer connected to the main controller; wherein the industrial computer is respectively connected to a first camera arranged on the A tower and a second camera arranged on the B tower;

[0043] The first camera is used to capture the lifting state of the antenna A end and the state of the antenna A end returning to the fixed position; the industrial computer is configured to obtain a first real-time image of the antenna A end returning to the fixed position through the first camera, match the first real-time image with the first original image of the antenna A end in the original state, and determine whether the antenna A end has returned to the fixed position according to the matching result;

[0044] The second camera is used to capture the lifting and lowering state of the antenna B end and the state in which the antenna B end returns to a fixed position; the industrial computer is configured to obtain a second real-time image of the antenna B end returning to a fixed position through the second camera, match the second real-time image with a second original image of the antenna B end in its original state, and determine whether the antenna B end has returned to the fixed position based on the matching result.

[0045] In one embodiment, a plurality of sensors are distributed on the fixed tripods at the A end and the B end of the antenna, for detecting the real-time motion change parameters of the A end and the B end of the antenna during the lifting process, and sending them to the main controller;

[0046] The main controller monitors the real-time balance of the antenna during the lifting and lowering process according to the real-time motion change parameters, and issues early warning and makes adjustments when an abnormality occurs.

[0047] In one embodiment, the industrial computer simulates the spatial three-dimensional model of the antenna using the real-time motion change parameters based on a simulation program, and presents a virtual change picture of the antenna during the lifting process in real time through the spatial three-dimensional model, and outputs the spatial positioning parameters to the main controller in real time;

[0048] The main controller adjusts the working parameters of the A-end driving device and the B-end driving device according to the spatial positioning parameters.

[0049] A control method for a lifting system of a T-type twin-tower antenna of an RBN-DGNSS station is applied to the lifting system of the T-type twin-tower antenna of the RBN-DGNSS station. During the descent of the antenna, the control method comprises:

[0050] Start the auxiliary drive for traction;

[0051] After the set time has passed, the main drive is started for traction;

[0052] The antenna is controlled to descend continuously by a driving device;

[0053] Determine whether the main drive or the auxiliary drive fails, and if so, control the drive device to shut down;

[0054] Determine whether the cumulative error of the movement length between the first main traction rope and the second main traction rope is greater than a set threshold, and if so, adjust the speed of the main motor of the driving device so that the cumulative error is less than the set threshold;

[0055] Determine whether the antenna has reached the set deceleration height, and if so, control the antenna to start deceleration and descent through the driving device;

[0056] Determine whether the set stop height has been reached, and if so, control the drive device to stop.

[0057] In one embodiment, during the antenna descent process, it also includes: judging the cumulative error of the movement length between the first main traction rope and the second main traction rope, when the cumulative error is greater than a set threshold, adjusting the main inverter of the driving device to adjust the speed of the main motor according to the size relationship of the movement length between the first main traction rope and the second main traction rope.

[0058] A control method for a lifting system of a T-shaped twin-tower antenna of an RBN-DGNSS station is applied to the lifting system of the T-shaped twin-tower antenna of the RBN-DGNSS station. During the lifting process of the antenna, the control method includes:

[0059] Start the main drive for towing;

[0060] After the set time has passed, the auxiliary drive is started for traction;

[0061] The antenna is controlled by a driving device to continuously ascend;

[0062] Determine whether the main drive or the auxiliary drive fails, and if so, control the drive device to shut down;

[0063] Determine whether the cumulative error of the movement length between the first main traction rope and the second main traction rope is greater than a set threshold, and if so, adjust the speed of the main motor of the driving device so that the cumulative error is less than the set threshold;

[0064] Determine whether the antenna has reached the set deceleration height. If so, control the antenna to start deceleration and slow rise through the driving device;

[0065] Determine whether the traction rope of the auxiliary drive has reached the fixed position, and if so, control the auxiliary drive to stop;

[0066] Determine whether the traction rope of the main drive has reached a fixed position. If so, control the main drive to stop.

[0067] In one embodiment, during the antenna rising process, it also includes: judging the cumulative error of the movement length between the first main traction rope and the second main traction rope, when the cumulative error is greater than a set threshold, adjusting the main inverter of the driving device according to the size relationship of the movement length between the first main traction rope and the second main traction rope to adjust the speed of the main motor.

[0068] According to the technical solution of the above embodiment, the lifting system includes a main controller, a driving device, a fixed pulley and a traction rope arranged on the top of the antenna tower; the driving device is connected to the antenna through a traction rope, and the traction rope is wound around the fixed pulley, and the driving device includes a main driver and a sub-driver; the main controller controls the working parameters of the driving device, pulls the antenna through the main driver, and adjusts the horizontality of the antenna through the sub-driver; this technical solution realizes the automatic lifting of the antenna, ensures the smoothness of the antenna lifting process, improves the efficiency of antenna maintenance, improves the safety and convenience of maintenance, and reduces maintenance costs.

[0069] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0071] Figure 1 This is a real picture of an example of a T-type twin-tower antenna at a RBN-DGNSS station;

[0072] Figure 2 This is an external schematic diagram of a T-type twin-tower antenna of an RBN-DGNSS station;

[0073] Figure 3 This is another example of the external schematic diagram of the T-type twin-tower antenna of the RBN-DGNSS station;

[0074] Figure 4 is a schematic diagram of an exemplary drive device structure;

[0075] Figure 5 This is a schematic diagram of an example driver structure;

[0076] Figure 6 is a schematic diagram of the electrical structure of an exemplary lifting system;

[0077] Figure 7 This is an example PID control flow chart;

[0078] Figure 8 This is a schematic diagram of an example of the layout of a traction rope and a travel switch;

[0079] Fig. 9 is another example of a traction rope and travel switch layout diagram;

[0080] Fig.10 is a flow chart of a control method for a lifting system of a T-type twin-tower antenna of an RBN-DGNSS station according to an embodiment;

[0081] Fig.11 It is a flow chart of a control method of a lifting system of a T-type twin-tower antenna of an RBN-DGNSS station according to another embodiment. DETAILED DESCRIPTION

[0082] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0083] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, but does not exclude the presence or addition of one or more other features, integers, steps, operations.

[0084] refer to Figure 1 As shown, Figure 1 This is a real-life picture of a T-type twin-tower antenna of an RBN-DGNSS station. At present, when the conventional T-type twin-tower antenna of an RBN-DGNSS station is maintained, a professional first climbs to the top of the tower and marks the original fixed position of the antenna before the antenna is lowered, so that the antenna can be restored to its original position after it is raised again, ensuring that the antenna system parameters remain unchanged and does not affect the operation of the transceiver system. At the same time, the professional also needs to manually loosen the metal hook used to adjust the level of the antenna and tie a rope to ensure that the hook for adjusting the level of the antenna can be restored and fixed after the antenna is raised. During the antenna lifting and lowering process, professional tower climbers are required to operate at the top of the tower in coordination with the personnel at the bottom of the tower. The whole process is time-consuming and labor-intensive, and there are great safety risks for personnel to work at heights for a long time.

[0085] During the antenna lifting operation, multiple people are required to cooperate. A group of at least three people are required for each side of the turntable. At the same time, the winches on both sides of the tower are turned to make the antenna rise and fall smoothly. The entire lifting process consumes a lot of human resources. During the antenna lifting process, it is easy to slip when the winch is turned, causing the antenna to fall rapidly, damaging the antenna and posing a safety risk. When the antenna is raised to the top, it is difficult to ensure that the turntables at both ends of the antenna are in step with each other. Therefore, when the antenna reaches the top, the positioning is inaccurate. The balance of the antenna is achieved by fine-tuning a single turntable, which relies on professionals to make original marks on the top of the tower in advance. During the fine-tuning process, multiple attempts are required to adjust the balance, which is time-consuming and has low positioning accuracy.

[0086] Since antenna system maintenance is difficult, risky and unsafe, each maintenance operation costs a lot. In special circumstances, such as after a typhoon has landed, routine maintenance is more frequent, which is not conducive to reducing maintenance costs and is not easy to operate from the perspective of maintenance convenience.

[0087] In order to solve the problem of conventional RBN-DGNSS station T-type twin tower antenna during maintenance, this application designs an automatic lifting system. Figure 2 and Figure 3 As shown, Figure 2 This is an example of the external schematic diagram of the T-type twin-tower antenna of the RBN-DGNSS station. Figure 2 Shown is a top view. Figure 3 This is another example of the external schematic diagram of the T-type twin-tower antenna of the RBN-DGNSS station. Figure 3 It is a side view, which includes: a main controller 01, a driving device 02, a fixed pulley 03 and a traction rope 04 arranged on the top of the antenna tower; the driving device 02 is connected to the antenna 05 through the traction rope 04, and the traction rope 04 is wound around the fixed pulley 03. The driving device 02 can be driven by a motor. The automatic lifting system of the T-type twin-tower antenna of the RBN-DGNSS station includes a field equipment part and a control system part.

[0088] The on-site equipment part includes two antenna towers AB, namely Tower A and Tower B. The antenna 05 is connected through a fixed tripod 51. The driving device 02 includes an A-end driving device 02A arranged on Tower A and a B-end driving device 02B arranged on Tower B. The A-end driving device 02A and the B-end driving device 02B are respectively connected to a traction rope 04, which is connected to a fixed tripod 51A at the A end and a fixed tripod 52B at the B end of the antenna 05 respectively through the traction rope 04 passing around a fixed pulley 03. In one embodiment, the driving device includes a main driver 21 arranged at the bottom of the antenna tower and an auxiliary driver 22 arranged at the top of the antenna tower. The main driver 201 is driven by the main motor, and the auxiliary driver 22 is driven by the auxiliary motor, wherein the main driver 21 provides the main traction force for lifting and lowering the antenna 05, and the auxiliary driver 22 is mainly used to adjust the horizontality of the antenna 05; the main driver 21 is installed at the bottom of the antenna tower, and the antenna 05 is lifted and lowered by the traction rope 04 passing around the fixed pulley 03; the auxiliary driver 22 is installed at the top of the antenna tower, and is horizontally fixed by the traction rope 04 passing around the fixed pulley 03.

[0089] Exemplarily, the control system part can be set in the control room to constitute the integrated control end of the automatic lifting system. The main controller 01 of the control system part can adopt PLC (Programmable Logic Controller). The main controller 01 is configured to control the working parameters of the A-end drive device 02A and the B-end drive device 02B respectively, and to pull the A-end and B-end of the antenna 05 to rise and fall through the main driver 21 and to adjust the horizontality of the A-end and B-end of the antenna 05 through the auxiliary driver 22; Exemplarily, the main controller 01 can apply a closed-loop PID (proportional-integral-derivative control) intelligent control algorithm to realize automatic control. During the PID control process, a control deviation is formed according to a given value and an actual output value, and the deviation is linearly combined according to proportion, integration and differentiation to form a control quantity output by the drive device, so as to control the lifting process of the antenna 05, thereby achieving the purpose of automatically lifting the antenna.

[0090] For example, the automatic lifting system of the above-mentioned embodiment utilizes on-site equipment such as a main controller, a driving device, a fixed pulley and a traction rope, and designs a driving device including a main driver and a sub-driver. The driving device is connected to the antenna through a traction rope, and the traction rope is wound around the fixed pulley. The main controller 01 controls the working parameters of the driving device based on the PID control algorithm. The antenna is pulled by the main driver and the horizontality of the antenna is adjusted by the sub-driver, thereby improving the efficiency of antenna maintenance, improving the safety and convenience of maintenance, and reducing maintenance costs.

[0091] In one embodiment, Figure 4As shown, Figure 4 This is a schematic diagram of the structure of an exemplary driving device. As shown in the figure, the driving device may include multiple drivers, namely, a main driver and a sub-driver. Specifically, for the A end and the B end of the antenna 05, the A end driving device includes: an A end main driver and an A end sub-driver. The B end driving device includes: a B end main driver and a B end sub-driver. The A end main driver is connected to the center position of the fixed tripod at the A end of the antenna through the first main traction rope. The B end main driver is connected to the center position of the fixed tripod at the B end of the antenna through the second main traction rope. The A end sub-driver is connected to the bottom angle position of the fixed tripod at the A end of the antenna through the A end horizontal fixing rope. The B end sub-driver is connected to the bottom angle position of the fixed tripod at the B end of the antenna through the B end horizontal fixing rope. Correspondingly, the fixed pulley includes: an A end main pulley corresponding to the A end main driver, an A end sub-pulley corresponding to the A end sub-driver, a B end main pulley corresponding to the B end main driver, and a B end sub-pulley corresponding to the B end sub-driver.

[0092] The main controller 01 controls the working parameters of the A-end main driver, the A-end sub-driver, the B-end main driver and the B-end sub-driver respectively; the first main traction rope and the second main traction rope are used to bear the weight of the A-end and B-end of the antenna respectively, the A-end horizontal fixing rope is used to adjust the horizontality of the A-end of the antenna; the B-end horizontal fixing rope is used to adjust the horizontality of the B-end of the antenna.

[0093] As in the technical solution of the above embodiment, the traction rope of the main driver is the main force point of the antenna, bearing the weight of the entire antenna. The horizontal balance rope is mainly used for horizontal fixing of the antenna after it is lifted to the top. Through the main driver and auxiliary driver at the A end and the B end, the antenna can be kept horizontally stable during the lifting process, thereby avoiding affecting the antenna parameters.

[0094] In one embodiment, in order to realize the balance control of the antenna during the lifting process, as shown in FIG. Figure 4As shown, the driving device includes a main driver, a first sub-driver and a second sub-driver; specifically to the A end and the B end of the antenna 05, the A end sub-driver may include: the A end first sub-driver and the A end second sub-driver; the B end sub-driver includes: the B end first sub-driver and the B end second sub-driver; the A end horizontal fixed rope includes: the A end first horizontal fixed rope and the A end second horizontal fixed rope; the B end horizontal fixed rope includes: the B end first horizontal fixed rope and the B end second horizontal fixed rope; the fixed pulley includes a first fixed pulley wound around the first main traction rope, that is, the A end main pulley, a second fixed pulley wound around the second main traction rope, that is, the B end main pulley, a third fixed pulley wound around the A end first horizontal fixed rope, a fourth fixed pulley wound around the A end second horizontal fixed rope, that is, two A end sub-pulleys corresponding to the two A end sub-drivers; a fifth fixed pulley wound around the B end first horizontal fixed rope and a sixth fixed pulley wound around the B end second horizontal fixed rope, that is, two B end sub-pulleys corresponding to the two B end sub-drivers.

[0095] The main driver at end A is connected to the center position of the fixed tripod at end A of the antenna through the first main traction rope; the main driver at end B is connected to the center position of the fixed tripod at end B of the antenna through the second main traction rope; the first sub-driver at end A is connected to a bottom angle position of the fixed tripod at end A of the antenna through the first horizontal fixing rope at end A; the second sub-driver at end A is connected to another bottom angle position of the fixed tripod at end A of the antenna through the second horizontal fixing rope at end A; the first sub-driver at end B is connected to a bottom angle position of the fixed tripod at end B of the antenna through the first horizontal fixing rope at end B; the second sub-driver at end B is connected to another bottom angle position of the fixed tripod at end B of the antenna through the second horizontal fixing rope at end B.

[0096] The main controller 01 is respectively connected to the A-end main driver, the A-end first sub-driver, the A-end second sub-driver, the B-end main driver, the B-end first sub-driver, and the B-end second sub-driver, and controls their working parameters.

[0097] As in the scheme of the above embodiment, the sub-driver adopts the first sub-driver and the second sub-driver, which are connected to the bottom angle position of the fixed tripod through a horizontal fixing rope. During the lifting process, each sub-driver moves synchronously, thereby maintaining the antenna in a highly stable state by applying horizontal pulling force on the antenna, ensuring that the antenna is not affected.

[0098] In one embodiment, considering that the antenna system is a sensitive device in the RBN-DGNSS station, it is necessary to achieve smoothness and stability during the entire lifting process to avoid shaking, so as not to damage the antenna vibrator. During the lifting process of the antenna, the winch is replaced by automatic lifting. Combined with the application background of this solution, it is necessary to achieve smooth lifting of an antenna with a length of 60 meters and a lifting height of 40 meters. Therefore, it is necessary to select a suitable power source for the driving device.

[0099] This embodiment can use a variety of power sources. For example, a winch can be used. It has a low cost and the power size can be selected according to the load size. It is suitable for uniform speed operation. The accuracy of variable frequency speed regulation is relatively insufficient. It is easy to jitter during the antenna lifting and motor start and stop process, which has an adverse effect on the antenna and the motor. For example, a traction machine can also be used to achieve precise variable frequency speed regulation. The cost is relatively high and the relative movement of the counterweight is used for lifting. For example, a vertical lifting system in which a three-phase asynchronous motor can be used to achieve speed regulation through a frequency converter can also be used.

[0100] In order to better adapt to application scenarios, technical requirements and cost control needs, it is preferred that Figure 5 As shown, Figure 5 is an exemplary schematic diagram of a driver structure. In this embodiment, each driver of the driving device may include a motor and a frequency converter; correspondingly, the main driver includes a main frequency converter and a main motor, and the auxiliary driver includes an auxiliary frequency converter and an auxiliary motor; wherein the motor is connected to a rotating wheel, and the rotating wheel is wound around a traction rope 04, such as Figure 6 As shown, Figure 6 This is an example of an electrical structure diagram of a lifting system. The first sub-driver includes a first sub-inverter and a first sub-motor, and the second sub-driver includes a second sub-inverter and a second sub-motor. The A-end drive device includes: a main motor and a main inverter connected thereto, a first sub-inverter and a first sub-inverter connected thereto, and a second sub-inverter and a second sub-inverter connected thereto. Correspondingly, the internal structure of the B-end drive device is also the same, and includes: a main motor and a main inverter connected thereto, a first sub-inverter and a first sub-inverter connected thereto, and a second sub-inverter and a second sub-inverter connected thereto. Each inverter is connected to the main controller via the RS485 protocol. During control, the main controller 01 operates the main inverter by outputting a frequency signal to control the start, stop, and stepless speed regulation of the main motor. The main controller 01 performs variable frequency speed regulation on the sub-motor by controlling the working power supply frequency of each sub-inverter.

[0101] Specifically, a winch is selected as the power source of the main drive, and a frequency converter is installed on the winch equipment. In the main drive, based on the use of the winch, the main controller 01 operates the main frequency converter by outputting a frequency signal to control the start, stop and stepless speed regulation of the main motor; for example, the frequency converter action is controlled by the controller outputting a frequency signal to achieve the start, stop and stepless speed regulation of the winch equipment; the winch is suitable for high-lift and high-load application scenarios, and in order to achieve high-precision positioning and stepless speed regulation, the motor can be soft-started by the frequency converter, avoiding excessive current at the moment of motor starting and causing impact on the motor; at the same time, the frequency converter is used to achieve smooth starting and smooth acceleration and deceleration of the motor, avoiding sudden acceleration or deceleration causing antenna jitter.

[0102] In addition, since the auxiliary driver is used to adjust the horizontality of the antenna so that the antenna is horizontally balanced, it does not need to bear the weight of the antenna and mainly plays the role of balancing and auxiliary fixation. Preferably, the auxiliary motor can select a conventional variable frequency speed regulating stepper motor.

[0103] The technical solution of the above embodiment takes into account multiple factors such as application scenarios, technical characteristics and equipment costs, and selects a set of optimized combined power sources, which can improve the stability of the automatic lifting system and optimize equipment costs.

[0104] In one embodiment, it is necessary to maintain the stability of the antenna when raising and lowering it to prevent the wind from tilting the antenna, thereby affecting the parameters of the antenna system; in particular, the antenna must be accurately positioned during the raising process, and in particular, it needs to return to the initial position after each maintenance. The initial position is an adjusted position, and the antenna system parameters are set according to the initial position. If the antenna cannot be restored to the initial position after each maintenance, the parameters of the antenna system will change, thereby affecting the transmission efficiency of the transmitter.

[0105] Specifically, closed-loop control is implemented based on the PID control algorithm. However, in order to achieve the smooth rise and fall of the A and B ends of the antenna, the antenna movement must be accurately positioned during the descent and ascent operations of the antenna. Although the positioning accuracy of the antenna can be slightly lower during the descent process, only the predetermined stroke needs to be determined, but precise positioning is required during the raising of the antenna.

[0106] Based on this, in order to realize the precise positioning function of the antenna automatic lifting system, an encoder can be connected to the wheel of the motor of the driving device. The linear motion relies on friction to drive the motor wheel to rotate. The rotation of the wheel drives the encoder to measure the angle. The encoder measures the motor angle and outputs the number of pulses, which are sent to the main controller 01 in real time. The main controller 01 calculates the movement length of the traction rope according to the number of pulses. The calculation formula is as follows:

[0107] L=N×M

[0108] M=2πr / k

[0109] Where L is the moving length of the traction rope, N is the number of pulses, r is the radius of the motor wheel, M is the length corresponding to 1 pulse, and k is the number of encoder lines.

[0110] Specifically, Figure 7 As shown, Figure 7This is an example PID control flow chart. Since the height of the antenna lifting is fixed, when the total stroke is determined, the PID control algorithm of the main controller is applied to calculate the movement length of the traction rope to obtain the traction rope stroke, and continuously calculate the relationship between the current traction rope stroke and the total stroke to form feedback data, drive the motor to move, and finally achieve stroke positioning.

[0111] As in the technical solution of the above-mentioned embodiment, the linear movement of the traction rope during the lifting and lowering of the antenna is calculated by the encoder, the rotation of the motor wheel drives the encoder to measure the rotation angle, and then the number of pulses returned by the encoder is calculated to finally calculate the movement length of the traction rope, thereby accurately positioning the lifting and lowering process of the antenna.

[0112] In one embodiment, considering that the moving length of the traction rope is calculated in real time by the antenna automatic lifting system, although the two ends of the antenna AB can be accurately positioned during the entire formation process, since the height of the antenna tower is generally tens of meters, the travel of the two ends AB needs to be balanced and controlled during the lifting process.

[0113] Accordingly, the main controller of this embodiment is configured to calculate the movement length L of the first main traction rope respectively. 1a and the movement length L of the second main traction rope 1b ; During the antenna lifting process, the cumulative error Δl between the moving length of the first main traction rope and the second main traction rope is calculated in real time. 1a -L 1b |, when the cumulative error Δl is greater than the set threshold l0, if L 1a >L 1b , control the main inverter of the A-end drive device to reduce the speed of its main motor. If L 1a <L 1b , controlling the main inverter of the B-end drive device to reduce the speed of its main motor.

[0114] Specifically, the movement length L of the first main traction rope can be calculated continuously every second according to a set time interval, for example 1a and the movement length L of the second main traction rope 1b , combined with the calculation of the cumulative error Δl and the use of the threshold l0 for judgment, when the travel difference between the two ends of the antenna AB is large, the main motor of the driving device is controlled to slow down, thereby ensuring that the two ends of the antenna AB remain stable within each set time interval in the entire travel, avoiding the instability of the two ends of the antenna AB.

[0115] In one embodiment, a laser sensor may be used to measure the antenna height to locate the antenna. For example, the distance of the antenna is calculated by measuring the time required for the laser to travel back and forth to the antenna. The mathematical formula may be as follows:

[0116] H=C×T / 2

[0117] Wherein, H is the calculated height, T is the time measured for the laser to travel to and from the target, and C is the speed of light. In this embodiment, when a laser sensor is used to measure the antenna height, the accuracy is higher. However, since the antenna components are small and there is shaking in the position during the lifting process, higher alignment requirements are required during measurement.

[0118] In one embodiment, considering that when the motor wheel is rotating, the traction rope may be rewound or other situations may cause the movement length of the wheel to be inconsistent during one rotation, cumulative deviations may occur when calculating the traction rope travel through encoder pulses, resulting in positioning errors.

[0119] Accordingly, in order to further improve the accuracy of the antenna's travel calculation and terminal positioning during the lifting process, and ensure the stability of the antenna during the lifting process, the lifting system of the T-shaped twin-tower antenna of the RBN-DGNSS station of this application can also use proximity switch signals to achieve precise positioning; a travel switch is set at the end of the traction rope for precise terminal positioning.

[0120] In one of the schemes, a deceleration switch and a positioning switch are provided at the end of the traction rope in sequence, and a switch detector is provided on the top of the antenna tower. The switch detectors are located on both sides of the traction rope. The deceleration switch and the positioning switch move with the traction rope. The switch detector can sense the proximity switch signals of the deceleration switch and the positioning switch and send them to the main controller 01; in use, the main controller 01 controls the motor to slowly decelerate when the proximity switch signal triggered by the deceleration switch is detected based on the received proximity switch signal, and controls the main motor to stop when the proximity switch signal triggered by the positioning switch is detected.

[0121] refer to Figure 8 As shown, Figure 8 It is a schematic diagram of an example of the layout of a traction rope and a travel switch; as shown in the figure, by using a travel switch, two travel switches are installed at the end of the traction rope 04, including a deceleration switch 41 and a positioning switch 42, and a switch detector 43 is installed on the top of the tower. When the switch detector 43 senses the proximity switch signal of the deceleration switch 41, the control drive device 02 is slowly decelerated. When the proximity switch signal of the positioning switch 42 is sensed, it indicates that the antenna 05 has reached the destination position, and the control drive device 02 is stopped at this time.

[0122] As in the technical solution of the above embodiment, the proximity switch signal can be used to accurately locate the end stroke of the antenna during the process of raising it to the top, so that the antenna can rise slowly and smoothly to reach the destination position.

[0123] In another scheme, considering that the traction rope of the antenna needs to bypass the fixed pulley, and the fixed tripod of the antenna is close to the fixed pulley, two travel switches cannot be installed within this distance; therefore, a positioning switch is set at the end of the traction rope, and a switch detector is set on the top of the antenna tower. The switch detectors are located on both sides of the traction rope. The positioning switch moves with the traction rope, and the switch detector can sense the proximity switch signal of the positioning switch and send it to the main controller 01; in use, the main controller 01 uses the pulse number calculation scheme of the encoder to calculate the movement length of the traction rope, so as to determine the deceleration position, and then according to the received proximity switch signal, when the proximity switch signal triggered by the positioning switch is detected, the main motor is controlled to stop.

[0124] Specifically, refer to Fig. 9 As shown, Fig. 9 This is another example of a traction rope and travel switch layout diagram; the antenna height travel is calculated using the encoder pulse number. When the antenna height reaches a predetermined value, the main controller 01 outputs a frequency signal to the inverter drive motor to slowly decelerate. When the travel switch triggers the switch detector to generate a proximity switch signal, it is detected that the traction rope has reached the destination position. The main controller 01 controls the drive device's motor to stop rotating. At this time, the antenna's destination position is the antenna's initial position, thereby achieving high-precision positioning.

[0125] As in the technical solution of the above-mentioned embodiment, the dual-mode positioning method of the encoder pulse number calculation scheme or the proximity switch signal scheme is adopted, which not only realizes the stroke calculation during the antenna lifting process, but also realizes the terminal precise positioning function, so that the antenna can be accurately restored to the initial position of the tower top, ensuring that the antenna parameters remain unchanged and the functions are stable.

[0126] In one embodiment, in order to achieve real-time monitoring of the antenna posture during the antenna lifting and lowering process, early warning and adjustment can be made in time when an abnormality occurs.

[0127] Accordingly, a plurality of sensors are distributed on the fixed tripods at the A and B ends of the antenna, such as acceleration sensors, for detecting the real-time motion change parameters of the A and B ends of the antenna during the lifting process and sending them to the main controller; the main controller monitors the real-time balance of the antenna during the lifting process according to the real-time motion change parameters, and outputs the spatial positioning parameters to the main controller 01 in real time; the main controller 01 adjusts the working parameters of the A-end drive device and the B-end drive device according to the spatial positioning parameters, and issues early warnings and adjustments when abnormalities occur.

[0128] For example, four consistent acceleration sensors 06 may be arranged at four corner positions of the fixed tripod of the antenna, such as Figures 2 to 6As shown, during the antenna lifting process, these acceleration sensors 06 will output electrical signals. At this time, the main controller can use the electrical signals V1, V2, V3, and V4 output by the four acceleration sensors 06; by calculating the difference ΔV between the four electrical signals V1, V2, V3, and V4 ij , when any ΔV ij When it is greater than the set threshold ΔV0, it means that the motion accelerations of the four corners of the antenna are quite different. Usually, this is due to a sudden acceleration at a certain position, so that the imbalance state of the current antenna can be detected quickly and in real time. If the wind is strong, a timely warning can be given for the abnormal situation, thereby triggering subsequent horizontal adjustment.

[0129] As in the technical solution of the above-mentioned embodiment, the real-time balance state of the antenna is measured by the electrical signals output by sensors at multiple positions. Since the sensors are the same, if the output electrical signals are the same (or close) in a stable state, when there is imbalance during movement, there will be large differences between the electrical signals. Therefore, compared with the conventional method of calculating the real-time speed of the antenna or calculating the stroke, the above-mentioned technical solution only needs to simply calculate the pairwise difference of the electrical signals to realize whether the antenna is balanced at each position during the lifting process. The technical solution has a simple algorithm, low equipment cost, can control a higher accuracy, and ensures response speed. As a technical solution for triggering horizontal adjustment, it has great advantages.

[0130] In one embodiment, the lifting system of the T-shaped twin-tower antenna of the RBN-DGNSS station of the present application can be designed as two parts: an on-site operation box and a remote control terminal. The remote control terminal includes an industrial computer connected to the main controller 01; wherein the industrial computer is respectively connected to a first camera arranged on tower A and a second camera arranged on tower B; the first camera is used to shoot the lifting state of the antenna A end and the state of the antenna A end returning to a fixed position; the second camera is used to shoot the lifting state of the antenna B end and the state of the antenna B end returning to a fixed position.

[0131] In this embodiment, the first camera and the second camera can be used for daily status monitoring, and can also be used to determine whether to restore the antenna to its original position when raising or lowering the antenna, using the real-time images captured by the camera.

[0132] Accordingly, the industrial computer obtains the first real-time image of the antenna A end restored to the fixed position through the first camera, matches the first real-time image with the first original image of the antenna A end in the original state and at the fixed position, the first original image can be pre-photographed and saved, and then judges whether the antenna A end is restored to the fixed position according to the matching; for example, matching is performed according to the similarity of the two images, and when the similarity is greater than a set threshold, such as 90%, it can be judged that the antenna A end is restored to the fixed position. Similarly, the industrial computer obtains the second real-time image of the antenna B end restored to the fixed position through the second camera, matches the second real-time image with the second original image of the antenna B end in the original state and at the fixed position, the second original image can be pre-photographed and saved, and then judges whether the antenna B end is restored to the fixed position according to the matching; for example, matching is performed according to the similarity of the two images, and when the similarity is greater than a set threshold, such as 90%, it can be judged that the antenna B end is restored to the fixed position. The above technical solution can be used to judge whether the antenna is restored to the fixed position, which can realize automatic judgment with high accuracy, and the threshold can be configured according to needs, so as to have a wider range of applicable scenarios.

[0133] In this embodiment, the on-site operation box can perform on-site debugging operations and emergency parking, and the industrial computer can be placed in the machine room. In order to be able to see the on-site situation more intuitively in the control room, cameras are also installed on the tops of the A and B towers. The on-site video can also be displayed in real time on the human-machine interface, which is convenient for operators to assist in judging the real-time situation of the antenna lifting. The operator can understand the dynamic and static characteristics and performance indicators of the system in real time through the human-machine interface of the industrial computer; for example, the human-machine interface design uses Kingview configuration software, which can realize rapid secondary development and develop a friendly human-machine interface according to the needs of the automatic lifting system; the functions of the industrial computer mainly include: receiving the detection parameters and operating status data of the on-site equipment, transmitting various control instructions to the main controller 01, modifying the system parameter values, storing data, etc. The operator can see the real-time status of the antenna lifting on the human-machine interface, including the size of the motor speed, the frequency of the inverter output, the real-time height of the antenna lifting, the start and stop signals of the motor, and the equipment fault information.

[0134] In one embodiment, in order to realize real-time display of the status of the antenna on the human-machine interface, for example, combined with the initial position data of the antenna, the movement length of the traction rope calculated during the antenna lifting process, the sensor output electrical signal, and the stop position of the antenna lifting and lowering, the industrial computer can use a simulation program to simulate the spatial three-dimensional model of the antenna, and present the virtual change screen of the antenna during the lifting and lowering process in real time through the spatial three-dimensional model.

[0135] As in the above-mentioned embodiment, the simulation application based on virtual reality technology enables the operator to intuitively remotely monitor the real-time changes in the antenna lifting process on the industrial computer, and can perform a visual display, thereby providing an important reference for the operator to monitor the lifting process.

[0136] Based on the technical solutions of the above embodiments, during the descent process, the main controller controls the main motor and the auxiliary motor at both ends of AB to run synchronously, and the antenna descends smoothly. The sensor can be used to detect the balance state of both ends of the antenna AB in real time, monitor the jitter abnormalities at both ends of AB, and the main controller adjusts the auxiliary inverters at both ends of AB and the speed of the auxiliary motors at both ends of AB, so as to maintain the horizontality during the descent process; at the same time, by calculating the movement length of the traction rope, the descent height stroke at both ends of AB can be calculated in real time. When descending to the deceleration height, the main motor and the auxiliary motor at both ends of AB are controlled to decelerate. When descending to the target height, the main motor and the auxiliary motor at both ends of AB are controlled to stop synchronously, thereby completing the descent process control. During the ascent, the main controller controls the main motor and the auxiliary motor at both ends of AB to run synchronously, and the antenna rises smoothly. The sensor can be used to detect the balance state of both ends of the antenna AB in real time, monitor the jitter abnormalities at both ends of AB, and the main controller adjusts the auxiliary inverters at both ends of AB and the speed of the auxiliary motors at both ends of AB, so as to maintain the horizontality during the ascent. At the same time, by calculating the movement length of the traction rope, the ascent height stroke at both ends of AB can be calculated in real time. When rising to the deceleration height, the main motor and the auxiliary motor at both ends of AB are controlled to decelerate. At the same time, the proximity switch signal is used at both ends of AB to accurately locate whether the antenna has risen to the target height, that is, it returns to the initial position, and the main motor and the auxiliary motor at both ends of AB are controlled to stop synchronously, thereby completing the ascent process control.

[0137] An embodiment of a control method for a lifting system of a T-type twin-tower antenna of an RBN-DGNSS station is described below. The control method for a lifting system of a T-type twin-tower antenna of an RBN-DGNSS station of the present application is applied to the lifting system of the T-type twin-tower antenna of the RBN-DGNSS station.

[0138] In the automatic lifting system of the present application, multiple main motors and auxiliary motors can be used. During the lifting process, the motors need to coordinate with each other and start in order to ensure the normal lifting of the antenna without overload and entanglement between the motor and the cable. For example, the present application can achieve coordinated control between motors by designing a PLC software program. At the same time, in order to prevent the situation in which one of the motors fails during the lifting process while the other motors continue to work, causing the antenna to be unbalanced, an emergency shutdown mechanism can also be set through the PLC software program. When any motor fails, all motors are promptly controlled to stop working and the automatic lifting process is stopped.

[0139] Based on the technical solutions of the above embodiments, the automatic lifting system of the present application can maintain stable operation and decelerated operation at both ends AB during the process of lifting the antenna, and can provide timely warnings when an unbalanced state occurs. When the original position is finally restored, it is determined by real-time images whether it has been restored to a fixed position; thereby, the functions of automatic lifting, monitoring and restoration of the original position of the antenna during maintenance can be realized.

[0140] like Fig.10 As shown, Fig.10 The present invention is a flow chart of a control method of a lifting system of a T-type twin-tower antenna of an RBN-DGNSS station according to an embodiment, which is used to control the antenna descent process. The control method includes:

[0141] s11, start the auxiliary drive for traction;

[0142] s12, start the main drive for traction after the set time;

[0143] s13, controlling the antenna to descend continuously through the driving device;

[0144] s14, determine whether the main drive or the auxiliary drive fails, if so, jump to s19; otherwise, execute s15;

[0145] s15, judging whether the cumulative error of the moving length between the first main traction rope and the second main traction rope is greater than a set threshold value, and if so, adjusting the rotation speed of the main motor so that the cumulative error is less than the set threshold value; specifically, when the cumulative error is greater than the set threshold value, adjusting the main frequency converter of the driving device to adjust the rotation speed of the main motor according to the magnitude relationship of the moving length between the first main traction rope and the second main traction rope;

[0146] s16, determine whether the antenna has reached the set deceleration height, if so, execute s17, otherwise return to execute s13;

[0147] s17, controlling the antenna to decelerate and descend by the driving device;

[0148] s18, determine whether the set stop height has been reached, if so, execute s19, otherwise return to s17;

[0149] s19, controls the drive device to stop.

[0150] Specifically, when the antenna at the top of the tower needs to be lowered to the ground for inspection, the antenna automatic lifting system is started, the auxiliary motor on the top of the tower is started for 3 seconds to loosen the horizontal fixing rope of the auxiliary motor, and then the main motor is started. The main motor and the auxiliary motor slowly lower the antenna at the set speed, and the main controller calculates the number of encoder pulses of the main motor in real time to obtain the real-time height of the antenna, and determines whether it has reached the predetermined height. After reaching the predetermined height, the main motor and the auxiliary motor begin to slowly decelerate until the antenna reaches the set height, then the main motor and the auxiliary motor are controlled to stop rotating, and the antenna descends to the destination position. At this time, the antenna can be inspected.

[0151] As in the technical solution of the above-mentioned embodiment, when the antenna is descending, the auxiliary motor is started first for 3 seconds, and the horizontal fixing rope of the antenna level can be loosened first. Since the horizontal fixing rope does not need to bear the weight of the antenna, the main weight of the antenna is borne by the main traction rope. This can avoid the situation where the main motor is started first or the main motor and the auxiliary motor are started at the same time, resulting in the signal synchronization error between the motors or the travel error of the traction rope causing the main traction rope to be loosened but the horizontal fixing rope not to be loosened. This can avoid the risk of most of the weight of the antenna being transferred to the horizontal fixing rope, causing the horizontal fixing rope to be entangled and damaging the auxiliary motor.

[0152] like Fig.11 As shown, Fig.11 This is a flow chart of a control method for a lifting system of a T-type twin-tower antenna of an RBN-DGNSS station according to another embodiment, which is used to control the antenna lifting process. The control method includes:

[0153] s21, start the main drive for traction;

[0154] s22, after the set time has passed, the auxiliary drive is started for traction;

[0155] s23, controlling the antenna to continuously ascend through the driving device;

[0156] s24, determine whether the main drive or the auxiliary drive fails, if so, control the drive device to stop, otherwise execute s25;

[0157] s25, judging whether the cumulative error of the moving length between the first main traction rope and the second main traction rope is greater than a set threshold value, and if so, adjusting the rotation speed of the main motor so that the cumulative error is less than the set threshold value; specifically, when the cumulative error is greater than the set threshold value, adjusting the main frequency converter of the driving device to adjust the rotation speed of the main motor according to the magnitude relationship of the moving length between the first main traction rope and the second main traction rope;

[0158] s26, determine whether the antenna has reached the set deceleration height, if so, execute s27; otherwise return to s23;

[0159] s27, controls the antenna to start slowing down and ascending through the driving device, and jumps to execute s28 and s29;

[0160] s28, judging whether the traction rope of the auxiliary drive has reached the fixed position, if so, controlling the auxiliary drive to stop;

[0161] s29, determines whether the traction rope of the main drive has reached the fixed position. If so, controls the main drive to stop.

[0162] Specifically, after the antenna is repaired and needs to be raised back to the top of the tower, the main motor is started for 3 seconds and then the auxiliary motor is started. After the main motor and auxiliary motor are started, the antenna rises slowly. When the antenna rises to a predetermined height, the main motor and auxiliary motor slow down and continue to rise. During the ascent, the travel switch at the end of the main traction rope will first trigger the approach signal. When it is detected that the antenna has reached the destination position, the main motor is controlled to stop rotating, and the antenna reaches its initial position.

[0163] As in the technical solution of the above-mentioned embodiment, the main motor is started for 3 seconds first. After the main motor stops, the auxiliary motor continues to rotate. When the travel switch at the end of the horizontal fixing rope triggers the proximity switch signal, the auxiliary motor is controlled to stop rotating. At this time, the antenna returns to its original horizontal height, which can avoid the situation where most of the weight of the antenna is transferred to the horizontal fixing rope, causing the horizontal fixing rope to be entangled and damaging the auxiliary motor.

[0164] Combining the technical solutions of the above embodiments, this application designs a system that can realize automatic lifting of the T-type twin-tower antenna of the RBN-DGNSS station, controls the antenna lifting process based on the PID control algorithm, and applies frequency conversion control to the large twin-tower antenna of the differential station to achieve precise control; by adding a frequency converter and an encoder, the winch can achieve stepless speed regulation and control, thereby solving the problem of shaking during the antenna lifting process; a travel switch is installed at the end of the traction rope, and further combined with the travel calculation of the encoder, the height calculation and the precise positioning of the end during the antenna lifting process are realized. This technical solution improves the efficiency of antenna maintenance, improves the safety and convenience of maintenance, and reduces maintenance costs.

[0165] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A lifting system for a T-type twin-tower antenna of a RBN-DGNSS station, characterized in that: include: Main controller, drive unit, fixed pulley and traction rope located on the top of the antenna tower; The driving device is connected to the antenna via a traction rope, and the traction rope is wound around a fixed pulley; the driving device comprises: a main drive arranged at the bottom of the antenna tower and a secondary drive arranged at the top of the antenna tower; The driving device comprises an A-end driving device provided at antenna tower A and a B-end driving device provided at antenna tower B; The A-end driving device and the B-end driving device are respectively connected to traction ropes, and the traction ropes are passed around fixed pulleys and are respectively connected to fixed tripods at the A-end and B-end of the antenna; The main controller is configured to control the working parameters of the A-end driving device and the B-end driving device respectively, to lift and lower the A-end and B-end of the antenna through the main driver, and to adjust the horizontality of the A-end and B-end of the antenna through the auxiliary driver.

2. The lifting system of the T-type twin-tower antenna of the RBN-DGNSS station according to claim 1 is characterized in that: The A-end driving device comprises: an A-end main driver and an A-end auxiliary driver; the B-end driving device comprises: a B-end main driver and a B-end auxiliary driver; The fixed pulley includes: an A-end main pulley corresponding to the A-end main drive, an A-end secondary pulley corresponding to the A-end secondary drive, a B-end main pulley corresponding to the B-end main drive, and a B-end secondary pulley corresponding to the B-end secondary drive; The A-end main driver is connected to the center of the fixed tripod at the A-end of the antenna through a first main traction rope; the B-end main driver is connected to the center of the fixed tripod at the B-end of the antenna through a second main traction rope; The A-end auxiliary driver is connected to the bottom angle position of the fixed tripod at the A-end of the antenna through the A-end horizontal fixing rope; The B-end auxiliary driver is connected to the bottom corner position of the fixed tripod at the B-end of the antenna through the B-end horizontal fixing rope; The main controller controls the working parameters of the A-end main driver, the A-end sub-driver, the B-end main driver and the B-end sub-driver respectively; wherein the first main traction rope and the second main traction rope are used to bear the weight of the A-end and the B-end of the antenna respectively, the A-end horizontal fixing rope is used to adjust the horizontality of the A-end of the antenna; the B-end horizontal fixing rope is used to adjust the horizontality of the B-end of the antenna.

3. The lifting system of the T-type twin-tower antenna of the RBN-DGNSS station according to claim 2 is characterized in that: The A-end sub-driver comprises: a first A-end sub-driver and a second A-end sub-driver; the B-end sub-driver comprises: a first B-end sub-driver and a second B-end sub-driver; The horizontal fixing rope at the A end includes: a first horizontal fixing rope at the A end and a second horizontal fixing rope at the A end; the horizontal fixing rope at the B end includes: a first horizontal fixing rope at the B end and a second horizontal fixing rope at the B end; The fixed pulleys include: a first fixed pulley wound around a first main traction rope, a second fixed pulley wound around a second main traction rope, a third fixed pulley wound around a first horizontal fixed rope at end A, a fourth fixed pulley wound around a second horizontal fixed rope at end A, a fifth fixed pulley wound around a first horizontal fixed rope at end B, and a sixth fixed pulley wound around a second horizontal fixed rope at end B; The A-end main driver is connected to the center position of the fixed tripod at the A-end of the antenna through the first main traction rope; the B-end main driver is connected to the center position of the fixed tripod at the B-end of the antenna through the second main traction rope; the A-end first sub-driver is connected to a bottom corner position of the fixed tripod at the A-end of the antenna through the A-end first horizontal fixing rope; the A-end second sub-driver is connected to another bottom corner position of the fixed tripod at the A-end of the antenna through the A-end second horizontal fixing rope; The first sub-driver at the B end is connected to a bottom corner position of the fixed tripod at the B end of the antenna through a first horizontal fixing rope at the B end; the second sub-driver at the B end is connected to another bottom corner position of the fixed tripod at the B end of the antenna through a second horizontal fixing rope at the B end; The main controller is respectively connected to the A-end main driver, the A-end first sub-driver, the A-end second sub-driver, the B-end main driver, the B-end first sub-driver, and the B-end second sub-driver, and controls their working parameters.

4. The lifting system of the T-type twin-tower antenna of the RBN-DGNSS station according to any one of claims 1 to 3, characterized in that: The driving device comprises: a motor and a frequency converter; The main driver comprises: a main frequency converter and a main motor; The main controller operates the main frequency converter by outputting a frequency signal to control the start, stop and stepless speed regulation of the main motor; The auxiliary driver comprises: an auxiliary frequency converter and an auxiliary motor; The main controller performs frequency conversion and speed regulation on the auxiliary motor by controlling the working power frequency of the auxiliary inverter.

5. The lifting system of the T-type twin-tower antenna of the RBN-DGNSS station according to claim 4, characterized in that: The rotating wheel of the motor of the driving device is connected to an encoder for measuring the motor rotation angle and outputting the number of pulses; The main controller is configured to calculate the movement length of the traction rope according to the pulse number, and the calculation formula is as follows: L=N×M M=2πr / k Where L is the moving length of the traction rope, N is the number of pulses, r is the radius of the motor wheel, M is the length corresponding to 1 pulse, and k is the number of encoder lines.

6. The lifting system of the T-type twin-tower antenna of the RBN-DGNSS station according to claim 5, characterized in that: The lifting system also includes: A deceleration switch and a positioning switch are sequentially arranged at the end of the traction rope, and a switch detector is arranged at the top of the antenna tower and on both sides of the traction rope; The deceleration switch and the positioning switch move with the traction rope; the switch detector is used to sense the proximity switch signals of the deceleration switch and the positioning switch and send them to the main controller; The main controller is configured to control the motor to slow down when a proximity switch signal of the deceleration switch is detected, and to control the main motor to stop when a proximity switch signal of the positioning switch is detected; or The lifting system further comprises: A positioning switch is provided on the end of the traction rope, and a switch detector is provided on the top of the antenna tower and on both sides of the traction rope; The positioning switch moves with the traction rope; the switch detector is used to sense the proximity switch signal of the positioning switch and send it to the main controller; The main controller is configured to control the motor to slowly decelerate when the calculated movement length of the traction rope reaches the deceleration position, and to control the main motor to stop when a proximity switch signal of the positioning switch is detected.

7. The lifting system of the T-type twin-tower antenna of the RBN-DGNSS station according to claim 6, characterized in that: The main controller is configured to calculate the movement length L of the first main traction rope respectively 1a and the movement length L of the second main traction rope 1b ; During the antenna lifting process, the cumulative error Δl between the moving length of the first main traction rope and the second main traction rope is calculated in real time. 1a -L 1v |, when the cumulative error Δl is greater than the set threshold l0, if L 1a >L 1b , control the main inverter of the A-end drive device to reduce the speed of its main motor. If L 1a <L 1b , controlling the main inverter of the B-end drive device to reduce the speed of its main motor.

8. The lifting system of the T-type twin-tower antenna of the RBN-DGNSS station according to claim 6, characterized in that: A plurality of acceleration sensors are distributed on the fixed tripods at the A end and the B end of the antenna, and are used to detect the real-time motion change parameters of the A end and the B end of the antenna during the lifting process, and send them to the main controller; The main controller monitors the real-time balance of the antenna during the lifting and lowering process according to the real-time motion change parameters, and issues early warning and makes adjustments when an abnormality occurs.

9. The lifting system of the T-type twin-tower antenna of the RBN-DGNSS station according to claim 1, characterized in that: Also includes: An industrial computer connected to the main controller; wherein the industrial computer is respectively connected to a first camera located on tower A and a second camera located on tower B; The first camera is used to capture the lifting state of the antenna A end and the state of the antenna A end returning to the fixed position; the industrial computer is configured to obtain a first real-time image of the antenna A end returning to the fixed position through the first camera, match the first real-time image with the first original image of the antenna A end in the original state, and determine whether the antenna A end has returned to the fixed position according to the matching result; The second camera is used to capture the lifting and lowering state of the antenna B end and the state in which the antenna B end returns to a fixed position; the industrial computer is configured to obtain a second real-time image of the antenna B end returning to a fixed position through the second camera, match the second real-time image with a second original image of the antenna B end in its original state, and determine whether the antenna B end has returned to the fixed position based on the matching result.

10. A control method for a lifting system of a T-type twin-tower antenna of a RBN-DGNSS station, applied to the lifting system of a T-type twin-tower antenna of a RBN-DGNSS station according to any one of claims 1 to 8, characterized in that: During the antenna descent process, the control method includes: Start the auxiliary drive for traction; After the set time has passed, the main drive is started for traction; The antenna is controlled to descend continuously by a driving device; Determine whether the main drive or the auxiliary drive fails, and if so, control the drive device to shut down; Determine whether the cumulative error of the movement length between the first main traction rope and the second main traction rope is greater than a set threshold, and if so, adjust the speed of the main motor of the driving device so that the cumulative error is less than the set threshold; Determine whether the antenna has reached the set deceleration height, and if so, control the antenna to start deceleration and descent through the driving device; Determine whether the set stop height has been reached, and if so, control the drive device to stop; or During the antenna ascending process, the control method includes: Start the main drive for towing; After the set time has passed, the auxiliary drive is started for traction; The antenna is controlled by a driving device to continuously ascend; Determine whether the main drive or the auxiliary drive fails, and if so, control the drive device to shut down; Determine whether the cumulative error of the movement length between the first main traction rope and the second main traction rope is greater than a set threshold, and if so, adjust the speed of the main motor of the driving device so that the cumulative error is less than the set threshold; Determine whether the antenna has reached the set deceleration height. If so, control the antenna to start deceleration and slow rise through the driving device; Determine whether the traction rope of the auxiliary drive has reached the fixed position, and if so, control the auxiliary drive to stop; Determine whether the traction rope of the main drive has reached a fixed position. If so, control the main drive to stop.

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