Radar azimuth synchronous sending device and realization method of synchronous transmission

Abstract

The invention relates to the field of antenna vehicles, in particular to a radar azimuth synchronous sending device and a synchronous transmission implementation method. The radar azimuth synchronous transmitting device comprises a gear II, a shaft I, a gear III, an upper base, a gear IV, a shaft II, a gear V, a base, a gear VI, a shaft III, an encoder and a bearing. The second gear and the encoder are in multi-stage gear transmission. And deriving a gear transmission error calculation formula by using a mathematical statistical method according to a gear transmission error principle. When different azimuth precision requirements of different radar systems are met, the precision grade of each gear is reasonably selected, so that rapid design and rapid production of radar azimuth precision are realized. According to the invention, the problems of rapid design and rapid production of the radar azimuth synchronous sending device for various precisions are effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of antenna vehicles, and in particular to a radar azimuth synchronous transmission device and a method for realizing synchronous transmission. Background Art

[0002] The azimuth synchronous transmission device is a device in the radar servo control system that converts mechanical motion into electrical signals. It is used to obtain the azimuth information of the radar antenna in real time. It consists of a gear transmission mechanism and a position detection element. Due to the existence of gear transmission errors, the rotation of the output shaft of the gear transmission mechanism is sometimes ahead of and sometimes behind the rotation of the input shaft. The position detection element itself also has a range of accuracy, which leads to inaccurate radar antenna azimuth information output by the position detection element. There is a certain deviation from the actual azimuth information of the radar antenna. This deviation is the radar azimuth indication accuracy.

[0003] In actual use, due to the different requirements of different radar systems for azimuth accuracy, the azimuth synchronization generating device must be able to achieve rapid design and rapid production for different azimuth indication accuracies. The customized design model can no longer adapt to the new requirements. There is an urgent need for a radar azimuth synchronization sending device and a method for realizing synchronous transmission. Summary of the invention

[0004] In view of the shortcomings of the existing design, the present invention provides a radar azimuth synchronous transmission device and a transmission method. The radar azimuth synchronous transmission device comprises gear 2, shaft I, gear 3, upper base, gear 4, shaft II, gear 5, base, gear 6, shaft III, encoder and bearing. Gear 2 to the encoder adopts multi-stage gear transmission. According to the principle of gear transmission error, the gear transmission error calculation formula is derived by using mathematical statistics method. When facing different azimuth accuracy requirements of different radar systems, the accuracy level of each gear is reasonably selected to achieve rapid design and rapid production of radar azimuth accuracy. The present invention effectively solves the problem of rapid design and rapid production of radar azimuth synchronous transmission devices for multiple accuracies.

[0005] The technical solution of the present invention is: a radar azimuth synchronous sending device, comprising a base, a slewing bearing, a gear two, an axis I, a gear three, an upper base, a gear four, an axis II, a gear five, a base, a gear six, an axis III, and an encoder; the slewing bearing is installed on the base, and is characterized in that: the outer teeth of the slewing bearing are meshed with the gear two; the gear three and the gear two are on the same axis I, and the gear three is meshed with the gear four; the gear five and the gear four are on the same axis II, and the gear five is meshed with the gear six; the encoder and the gear six are on the same axis III, and the encoder outputs azimuth information; the gear two, the gear four and the gear six are double-piece anti-backlash gears, and the transmission ratio from the gear two to the gear six is ​​1.

[0006] According to the radar azimuth synchronous transmission device as described above, it is characterized in that: the upper base is installed with axis I; axis II, axis III, the upper base and the encoder housing are installed outside the base.

[0007] According to the radar azimuth synchronous transmission device as described above, it is characterized in that the base is an external physical interface.

[0008] According to the radar azimuth synchronous transmission device as described above, it is characterized in that it also includes bearings, and shaft I, shaft II and shaft III are installed and fixed using bearings.

[0009] The present invention also discloses a method for realizing synchronous transmission of radar azimuth, which adopts the above-mentioned synchronous transmission device of radar azimuth, and is characterized in that:

[0010] Step a: Evaluate the factors affecting the position accuracy:

[0011] The azimuth synchronization accuracy ε is related to the transmission error value ΔK, the encoder output accuracy ε1, and the error ε2 caused by data transmission and processing. Determine the value of the transmission error ΔK;

[0012] Step b: Determine the transmission error value ΔK of the transmission chain and the transmission error value of a single gear Evaluation method:

[0013] The transmission error of the transmission chain is

[0014] Among them, K is the total number of transmission shafts of the azimuth synchronization device, that is, the number of transmission stages, and K is 3; is the standard deviation of the j-th gear transmission error converted to the output shaft K; l jK is the transmission ratio from the jth gear to the output shaft K;

[0015] The transmission error of a single gear is

[0016] δ TΣ is the tangential comprehensive error; δ C is the clearance between the inner hole of the gear and the shaft; S is the radial runout; m n is the gear module, Z is the number of teeth;

[0017] Step c: Determine the number of teeth on each gear of the azimuth synchronous transmission device and calculate the transmission ratio i from the jth gear to the output shaft. jK .

[0018] Step d, optimizing the gear accuracy ratio scheme by optimizing different gear accuracy grades; comprising the following steps:

[0019] Step d1: Preliminary selection of the slewing bearing external gear accuracy grade:

[0020] Step d2, evaluating the influence of the accuracy of each gear of the device on the transmission error ΔK;

[0021] By gradually improving the accuracy, the accuracy grades of various gears are determined.

[0022] According to the above-mentioned method for realizing synchronous transmission of radar azimuth, the feature of the method is that the process of determining the accuracy levels of multiple gears is as follows:

[0023] Step d3, preliminary calculation of the azimuth accuracy; each gear has a 7th-level accuracy, and the azimuth accuracy obtained by the calculation system is used as configuration scheme 1;

[0024] Step d4: Based on the configuration scheme 1, the gear accuracy is improved to obtain an azimuth accuracy of 6';

[0025] Step d5: Based on configuration scheme 2, improve the gear accuracy to obtain an azimuth accuracy of 3'; this is configuration scheme 3.

[0026] The beneficial effects of the present invention are: it can be quickly adapted to radar systems with various azimuth accuracy requirements. Based on the gear transmission error principle, the gear transmission error calculation formula is derived using mathematical statistics methods. When faced with different azimuth accuracy requirements of different radar systems, the configuration schemes of various gear accuracy levels are reasonably selected to achieve rapid design and rapid production. This method can be extended to other gear transmission pairs with transmission accuracy requirements, and can also achieve good results. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a diagram of the composition of a radar azimuth synchronous sending device.

[0028] Figure 2 This is the second cross-sectional view of the gear.

[0029] Figure 3 This is the appearance drawing of axis I.

[0030] Figure 4 This is a three-section view of the gear.

[0031] Figure 5 Sectional view of the upper base

[0032] Figure 6 These are four cross-sectional views of the gear.

[0033] Figure 7 This is the appearance diagram of axis II.

[0034] Figure 8 This is the fifth sectional view of the gear.

[0035] Fig. 9 Section view of the base

[0036] Fig.10 This is the six-section view of the gear.

[0037] Fig.11 This is the appearance drawing of axis III.

[0038] Explanation of the reference numerals: base 1; slewing bearing 2; gear 2 3; shaft Ⅰ 4; gear 3 5; upper base 6; gear 4 7; shaft Ⅱ 8; gear 5 9; base 10; gear 6 11, shaft Ⅲ 12; encoder 13; bearing 14. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0040] like Figures 1 to 11 As shown, a radar azimuth synchronous transmission device of the present invention comprises a base 1, a slewing bearing 2, a gear 2 3, a shaft Ⅰ 4, a gear 3 5, an upper base 6, a gear 4 7, a shaft Ⅱ 8, a gear 5 9, a base 10, a gear 6 11, a shaft Ⅲ 12, an encoder 13 and a bearing 14. The slewing bearing 2 is mounted on the base 1, and the outer teeth of the slewing bearing 2 mesh with the gear 2 3; the gear 3 5 and the gear 2 3 are on the shaft Ⅰ 4, and the gear 3 5 meshes with the gear 4 7; the gear 5 9 and the gear 4 7 are on the shaft Ⅱ 8, and the gear 5 9 meshes with the gear 6 11; the encoder 13 and the gear 6 11 are on the shaft Ⅲ 12, and the encoder 13 outputs azimuth information.

[0041] like Figure 1 As shown, the upper base 6 is used to install shaft I4. Shaft II8, shaft III12, upper base 6 and encoder 13 are installed on the base 10 outside the housing, and encoder 13 outputs device information. Base 10 is the physical interface between the entire device and the outside, such as the encoder 13 terminal. Shaft I4, shaft II8 and shaft III12 are all installed and fixed using bearings 14, and the rotation function of the shaft itself is maintained. Gear II 3, gear IV 7 and gear VI 11 are double-piece anti-backlash gears to avoid transmission backlash, reduce transmission gaps, and improve transmission accuracy. The transmission ratio from gear II 3 to gear VI 11, that is, the total transmission ratio of the azimuth synchronization device, is 1, which can realize direct output of direct azimuth information.

[0042] The present invention adopts three-stage transmission as a whole. Gear 2 3 and gear 3 5 coaxial therewith increase the speed of rotation. After gear 4 7, gear 5 9 and gear 6 11 reduce the speed, the encoder 13 and gear 2 3 have the same speed, thereby avoiding lubrication and life problems caused by high-speed rotation. The three-stage transmission can make the structure compact and reduce the requirements for space size.

[0043] The present invention also discloses a method for realizing synchronous transmission of radar azimuth:

[0044] Step a, evaluate the factors affecting the azimuth accuracy; determine the value of the transmission error value ΔK:

[0045] The azimuth synchronization accuracy ε is related to the transmission error value ΔK, the encoder output accuracy ε1, and the error ε2 caused by data transmission and processing. The three are independent of each other, so Among them, ε1 and ε2 are generally fixed values. In this scheme, ε1 = 0.66' and ε2 = 0.33'. It can be seen from the above formula that the transmission error value ΔK has the greatest impact. For the 3' accuracy azimuth system, ΔK accounts for 97%; for the 6' and 9' accuracy azimuth systems, ΔK accounts for more than 99%. Therefore, by controlling the transmission error value ΔK, radar azimuth information output with different accuracies can be achieved.

[0046] Step b: Determine the transmission error value ΔK of the transmission chain and the transmission error value of a single gear Evaluation method:

[0047] The transmission error of the transmission chain is

[0048] Among them, K is the total number of transmission shafts of the azimuth synchronization device, that is, the number of transmission stages, which is 3 in this scheme; is the standard deviation of the j-th gear transmission error converted to the output shaft K; i jK is the transmission ratio of the jth gear to the output shaft K.

[0049] The transmission error of a single gear is

[0050] δ T∑ That is, the tangential comprehensive error; δ C That is, the clearance between the inner hole of the gear and the shaft; δ5 is the radial runout. T∑ Closely related to gear accuracy, δ C and δ S It is related to the matching accuracy of gears, shafts and bases. T∑ Take variables, the latter take constants, in order to organize production, control costs, and form series. n is the gear module, Z is the number of teeth, and the gear pitch circle diameter d = m n Z.

[0051] Step c: Determine the number of teeth of each gear of the azimuth synchronization transmitting device:

[0052] For radar systems, the slewing bearing modulus m n The number of teeth Z has been determined, and the external tooth accuracy can be slightly adjusted according to system requirements. Therefore, first determine the number of teeth of each gear of the azimuth synchronous transmission device, and calculate the transmission ratio l from the jth gear to the output shaft jK .

[0053] Gear Number Gear One Gear 2 Gear Three Gear Four Gear Five Gear Six Number of teeth Z 133 22 36 76 44 126 <![CDATA[Transmission ratio i jK > 1 133 / 22 133 / 22 126 / 44 126 / 44 1 <![CDATA[Module m n > 8 8 1 1 1 1 Pitch circle diameter d 1064 176 36 76 44 126

[0054] Step d: Optimize the gear accuracy ratio scheme by optimizing different gear accuracy grades:

[0055] By configuring the accuracy levels of the outer teeth of the slewing bearing 2 (i.e., gear one), gear two, gear three, gear four, gear five, and gear six (see the table below), an azimuth synchronous transmission device with azimuth accuracy of 3', 6', and 9' can be realized.

[0056]

[0057] When using the above formula, there are some tips you can use.

[0058] Step d1: Preliminary selection of the external gear accuracy grade of slewing bearing 2: The transmission ratio of the slewing bearing to the output shaft is 1. It can be seen that the slewing bearing accuracy has a greater impact on ΔK. However, the slewing bearing has a large diameter, and it is not easy to improve its accuracy level from an economical point of view. It can be seen that even if general accuracy (i.e., 7-level or 6-level accuracy) is selected, the transmission error is relatively small and has little effect on ΔK. Therefore, for azimuth synchronous transmission devices with 6′ and 9′ accuracy, the slewing bearing should use 7-level accuracy; for azimuth synchronous transmission devices with 3′ azimuth accuracy, the slewing bearing can use 6-level accuracy depending on the situation.

[0059] Step d2: Evaluate the influence of the accuracy of each gear on the transmission error ΔK. Gear 5 has a small diameter. It can be seen that its influence is relatively large; the transmission ratio of the output shaft of the six pairs of gears is 1, through It can be seen that the influence is large. The two are small in size and it is easy to improve their accuracy.

[0060] Step d3, preliminary calculation of the azimuth accuracy. Each gear has a 7th-grade accuracy, and the azimuth accuracy that the system can achieve is calculated. At this time, the azimuth accuracy satisfies 9', which is the first configuration scheme.

[0061] Step d4, based on the configuration scheme 1, improve the gear accuracy to obtain an azimuth accuracy of 6'. First, improve the accuracy of gear 5 9 and gear 6 11 to level 6, which is calculated to not meet the requirements; then improve the accuracy of gear 3 5 and gear 4 7 to level 6, and the azimuth accuracy meets 6', which is the configuration scheme 2.

[0062] Step d5, based on the configuration scheme 2, improve the gear accuracy to obtain an azimuth accuracy of 3'. First, improve the accuracy of gear 5 9 and gear 6 11 to level 5, and ΔK has a large gap from 3'; improve the accuracy of gear 3 5 and gear 4 7 to level 5, and ΔK still has a gap from 3'. Then improve the accuracy of gear 5 9 and gear 6 11 to level 4, and ΔK slightly exceeds 3'. Continue to improve the slewing bearing accuracy to level 6 to adapt to the overall accuracy. At this time, ΔK is within 3', and the final calculated azimuth accuracy meets 3', which is the configuration scheme 3.

[0063] The radar azimuth synchronous transmission device and synchronous transmission implementation method of the present invention can quickly adapt to a variety of azimuth accuracy outputs. According to the gear transmission error principle, the gear transmission error calculation formula is derived using mathematical statistics methods. When facing different azimuth accuracy requirements of different radar systems, the configuration scheme of gear accuracy levels at various levels is reasonably selected to achieve rapid design and rapid production. This principle can also be applied to other gear transmission pairs with transmission accuracy requirements, and can also achieve good results.

Claims

1. A radar azimuth synchronous transmission device, comprising a base, a slewing bearing, a gear 2, an axis I, a gear 3, an upper base, a gear 4, an axis II, a gear 5, a base, a gear 6, an axis III, and an encoder; the slewing bearing is installed on the base, characterized in that: The outer teeth of the slewing bearing mesh with gear two; gear three and gear two are on shaft I, and gear three and gear four are meshed; gear five and gear four are on shaft II, and gear five and gear six are meshed; the encoder and gear six are on shaft III, and the encoder outputs azimuth information; gear two, gear four and gear six are double-piece anti-backlash gears, and the transmission ratio from gear two to gear six is ​​1.

2. A radar azimuth synchronous transmission device according to claim 1, characterized in that: The upper base is installed with shaft I; shaft II, shaft III, the upper base and the encoder housing are installed on the base.

3. A radar azimuth synchronous transmission device according to claim 1, characterized in that: The base is the external physical interface.

4. A radar azimuth synchronous transmission device according to claim 1, characterized in that: It also includes bearings, and shafts I, II and III are installed and fixed using bearings.

5. A method for implementing radar azimuth synchronous transmission, using a radar azimuth synchronous transmission device according to any one of claims 1 to 4, characterized in that: Step a: Evaluate the factors affecting the position accuracy: The azimuth synchronization accuracy ε is related to the transmission error value ΔK, the encoder output accuracy ε1, and the error ε2 caused by data transmission and processing. Determine the value of the transmission error ΔK; Step b: Determine the transmission error value ΔK of the transmission chain and the transmission error value of a single gear Evaluation method: The transmission error of the transmission chain is Among them, K is the total number of transmission shafts of the azimuth synchronization device, that is, the number of transmission stages, and K is 3; is the standard deviation of the j-th gear transmission error converted to the output shaft K; i jK is the transmission ratio from the jth gear to the output shaft K; The transmission error of a single gear is δ T∑ is the tangential comprehensive error; δ C is the clearance between the inner hole of the gear and the shaft; S is the radial runout; m n is the gear module, Z is the number of teeth; Step c: Determine the number of teeth on each gear of the azimuth synchronous transmission device and calculate the transmission ratio i from the jth gear to the output shaft. jK ; Step d, optimizing the gear accuracy ratio scheme by optimizing different gear accuracy grades; comprising the following steps: Step d1: Preliminary selection of the slewing bearing external gear accuracy grade: Step d2, evaluating the influence of the accuracy of each gear of the device on the transmission error ΔK; By gradually improving the accuracy, the accuracy grades of various gears are determined.

6. The method for implementing radar azimuth synchronous transmission according to claim 1, characterized in that: The process of determining the accuracy grades of various gears is as follows: Step d3, preliminary calculation of the azimuth accuracy; each gear has a 7th-level accuracy, and the azimuth accuracy obtained by the calculation system is used as configuration scheme 1; Step d4: Based on the configuration scheme 1, the gear accuracy is improved to obtain an azimuth accuracy of 6'; Step d5: Based on configuration scheme 2, improve the gear accuracy to obtain an azimuth accuracy of 3'; this is configuration scheme 3.

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