Motion controller for parallel drive type antenna pedestal

Abstract

The invention relates to a motion controller for a parallel drive type antenna pedestal, and the controller comprises a motion data processing unit which is used for carrying out the operation processing of a received motion control instruction, and obtaining the target position of a sliding block disposed on the parallel drive type antenna pedestal and the rotation direction of a gear motor used for the movement of the sliding block. Obtaining a motor pulse count sent by a motion control unit in a preset time period, generating motor motion data based on the steering of the gear motor, the target position of the sliding block and the motor pulse count, and determining the pose of the corresponding antenna panel based on the motor pulse count; and the motion control unit is used for performing conversion processing on the motor motion data to obtain a motor control signal so as to adjust the rotating speed of the gear motor, and sending a motor stop requesting signal to the motion data processing unit so as to close the gear motor when the numerical value of the motor pulse count is equal to the preset pulse total number. Based on the motion controller provided by the invention, high-precision control of the parallel drive type antenna pedestal can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of multi-axis motion controllers, and in particular relates to a motion controller for a parallel-driven antenna seat. Background Art

[0002] The parallel-driven antenna mount not only has the typical advantages of parallel mechanisms such as large load-bearing capacity and low moment of inertia, but also has unique advantages such as low power consumption, low mass, high flexibility and easy control. It has broad application prospects in shipborne antennas, weapon mounts and solar panels. In order to achieve precise control of the parallel-driven antenna mount, it is very necessary to study the control method of the parallel mechanism.

[0003] At present, scientific and theoretical research on parallel mechanism control methods has made certain progress. According to different control spaces, parallel mechanism control can be divided into joint space control and operation space control. Joint space control refers to the use of the inverse kinematic equations of the parallel mechanism to obtain the expected position of each driving joint of the parallel mechanism, and then use the obtained joint expected value as the input of the control. Operation space control directly uses the operation end posture of the parallel mechanism as the input of the control, and then uses the inverse kinematic equations in the control closed loop to obtain the expected value required for each joint, and then controls the movement of the robot. However, the latter's kinematic inverse solution calculation amount is several times larger, so joint space control is currently more commonly used.

[0004] However, the dynamic model of the parallel mechanism is much more complex than that of the serial mechanism. When executing the joint space control dynamic model calculation, the calculation speed is slow and it is difficult to meet the real-time calculation standard. In short, the existing parallel mechanism is difficult to control the parallel drive antenna base in real time and has the problem of low control accuracy. Summary of the invention

[0005] In order to solve the above problems existing in the prior art, the present invention provides a motion controller for a parallel drive antenna base. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0006] The present invention provides a motion controller for a parallel-driven antenna seat, comprising: a motion data processing unit, for performing calculation processing on a received motion control instruction containing an expected posture, obtaining a target position of a movable slider on the parallel-driven antenna seat and a direction of rotation of a reduction motor for driving the slider to move, wherein the slider is used to adjust the posture of an antenna panel arranged on the parallel-driven antenna seat; obtaining a motor pulse count sent by a motion control unit within a preset time period, generating motor motion data based on the direction of rotation of the reduction motor, the target position of the slider and the motor pulse count, and determining the corresponding posture of the antenna panel based on the motor pulse count; the motion control unit, for converting the motor motion data, obtaining a motor control signal to adjust the rotation speed of the reduction motor, and, when the value of the motor pulse count is equal to the preset total number of pulses, sending a motor stop request signal to the motion data processing unit to enable the motion data processing unit to turn off the reduction motor.

[0007] Compared with the prior art, the present invention has the following beneficial effects:

[0008] In view of the fact that the existing parallel mechanism is difficult to control the parallel driven antenna seat in real time and has the problem of low control accuracy, the present invention proposes a motion controller for the parallel driven antenna seat, which uses a motion data processing unit and a motion control unit to jointly control and realize real-time control of the parallel driven antenna seat. Specifically, the motion data processing unit obtains the motion control instruction, and uses the motion control instruction to calculate the required arrival position of the slider, and converts the required arrival position of the slider into motor motion data. Then, based on the motor motion data, the motion control unit is used to control the reduction motor to drive the slider to move. In addition, during the entire movement process, the motor pulse count is obtained in real time, and the corresponding position of the antenna panel is determined by calculating the motor pulse count. Based on the motion controller provided by the present invention, the motor speed can be monitored and adjusted in real time, and the array position of the parallel driven antenna seat can be adjusted in real time. It has extremely high execution efficiency and execution speed, and can realize high-precision control of the parallel driven antenna seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a three-dimensional structural diagram of a two-degree-of-freedom parallel-driven antenna base provided by an embodiment of the present invention;

[0010] Figure 2 is a structural block diagram of a motion controller for a parallel-driven antenna base provided by an embodiment of the present invention;

[0011] Figure 3 is a structural schematic diagram of a motion data processing unit provided by an embodiment of the present invention;

[0012] Figure 4 It is a schematic diagram of the mechanism of a two-degree-of-freedom parallel-driven antenna base provided by an embodiment of the present invention;

[0013] Figure 5 It is a schematic diagram of the structure of a motion control unit provided by an embodiment of the present invention.

[0014] Reference numerals:

[0015] 1. Base; 2. Slide rail; 3. Reducer motor; 4. Motor connector; 5. Compound hinge; 6. Connecting rod; 7. Hook hinge; 8. Antenna panel; 9. Rotary pair; 10. Support column; 11. Slewing bearing; 12. Slider. DETAILED DESCRIPTION

[0016] The present invention is further described in detail below with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.

[0017] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0018] In a possible application scenario, the present invention provides a motion controller for a parallel-driven antenna base, which is used to control a parallel-driven antenna base with two degrees of freedom. Figure 1 3D diagram of the structure of the two-degree-of-freedom parallel-driven antenna base provided by the embodiment of the present invention. Figure 1 As shown, the parallel-driven antenna base includes: a base 1, and a supporting column 10 arranged at the center of the base 1, and the supporting column 10 is movably connected to the antenna panel 8; a slide rail 2 is arranged on the periphery of the base 1, and two sliders 12 are movably arranged on the slide rail 2, and the upper surface of each slider 12 is connected to a connecting rod 6, and the connecting rod 6 is also movably connected to the antenna panel 8, and the lower surface of each slider 12 is connected to a reduction motor 3; wherein, when a reduction motor 3 moves clockwise or counterclockwise, it drives a slider 12 to move along the first direction of the slide rail 2 or in the opposite direction to the first direction of the slide rail 2, and then, a slider 12 drives the connecting rod 6 connected to the slider 12 to rotate relative to the supporting column 10 to change the pitch angle and azimuth angle of the antenna panel 8.

[0019] Specifically, Figure 1As shown, the base 1 is cylindrical, the slide rail 2 is arranged on the upper outer part of the base 1, the slide rail 2 is provided with a gear ring thread, and the slider 12 is correspondingly provided with a thread, and the two realize relative rotation through the form of gear meshing; and the motor connector 4 is used to connect the reduction motor 3 and the slider 12. In addition, the slider 12 is connected to the connecting rod 6 through a composite hinge 5, and the connecting rod 6 is connected to the antenna array 8 through a Hooke hinge 7. In addition, the support column 10 and the antenna array 8 are connected through a slewing bearing 11, so that the two connecting rods 6 can push the antenna array 8 to rotate.

[0020] It should be understood that the motion controller for the parallel-driven antenna base provided by the present invention is not limited to Figure 1 The parallel-driven antenna mount in the embodiment can also be applied to other types of parallel-driven antenna mounts.

[0021] Now, in conjunction with the accompanying drawings, a motion controller for a parallel-driven antenna base proposed by the present invention is described in detail. Figure 2 1 is a block diagram of a motion controller for a parallel-driven antenna base provided by an embodiment of the present invention. Figure 2 As shown, the motion controller includes: a motion data processing unit, which is used to perform calculation processing on the received motion control instructions containing the expected posture, obtain the target position of the slider set on the parallel-driven antenna base and the direction of the reduction motor used to move the slider, wherein the slider is used to adjust the posture of the antenna panel set on the parallel-driven antenna base; obtain the motor pulse count sent by the motion control unit within a preset time period, generate motor motion data based on the direction of the reduction motor, the target position of the slider and the motor pulse count, and determine the corresponding antenna panel posture based on the motor pulse count; a motion control unit, which is used to convert the motor motion data, obtain the motor control signal to adjust the speed of the reduction motor, and, when the value of the motor pulse count is equal to the preset total number of pulses, send a motor stop request signal to the motion data processing unit to enable the motion data processing unit to turn off the reduction motor.

[0022] Here, the motion control instruction is sent by an external mobile terminal, which may be a mobile phone, a server, or the like.

[0023] Specifically, Figure 3As shown, the motion data processing unit includes: a Bluetooth module, a PID control module, a forward and inverse attitude solution module and a first motor control module. The Bluetooth module is used to receive motion control instructions; the forward and inverse attitude solution module is used to perform inverse operations on the motion control instructions to obtain the target position of the slider and the direction of the reduction motor, and to perform operations on the motor pulse count to determine the position of the slider, and then determine the posture of the corresponding antenna panel; the PID control module is used to use the motor pulse count corresponding to the i-1th preset time period to calculate the i-1th motor speed, and use the error between the i-1th motor speed and the preset motor speed to generate the i-th motor speed, and send the direction of the reduction motor and the i-th motor speed to the motion control unit, where i is a positive integer greater than 1; the first motor speed is 0; the first motor control module is used to generate a motor stop instruction after receiving a request motor stop signal to turn off the reduction motor.

[0024] Here, the Bluetooth module uses an HC05 Bluetooth serial port module. The Bluetooth module is used to realize data interaction between the mobile terminal and the motion data processing unit. Specifically, the Bluetooth module receives the motion control instructions sent by the mobile terminal and sends the data of the motion data processing unit (for example, the target position of the slider, the actual position of the slider, the expected antenna array posture, and the actual antenna array posture) to the mobile terminal.

[0025] Here, the motion data processing unit is an ARM control chip, and its main frequency can reach 666MHz, which can greatly improve the overall speed of the system and provide a basis for the rapid implementation of various algorithms inside the controller and the real-time response of the system.

[0026] Here, the first motor control module is connected to the reduction motor to control the reduction motor to turn on or off. The motion control instruction sent to the motion data processing unit includes: a data header instruction for representing the data starting point, a function instruction for representing the data type, and target pitch angle data and target azimuth angle data constituting the expected posture. The motion control instruction consists of twelve bytes, the data header instruction occupies the first two bytes, the function instruction occupies the third and fourth bytes, and the last eight bytes are the target pitch angle data and the target azimuth angle data.

[0027] Here, the motion control instruction sent by the mobile terminal reaches the motion data processing unit, and the motion control instruction needs to be interpreted. Specifically, the motion data processing unit also includes: a control instruction recognition module, which is used to read the target pitch angle data and target azimuth angle data in the motion control instruction, and send the target pitch angle data and target azimuth angle data to the attitude forward and inverse solution module. In a possible implementation, the control instruction recognition module is a UART communication module.

[0028] Here, the attitude forward and inverse solution module includes: a two-degree-of-freedom parallel-driven antenna base attitude inverse solution submodule and a two-degree-of-freedom parallel-driven antenna base attitude forward solution submodule. Through the two-degree-of-freedom parallel-driven antenna base attitude inverse solution submodule, the target pitch angle data and the target azimuth angle data in the motion control instruction are calculated to obtain the target position that the slider needs to reach. The target position of the slider refers to the angle that the slider needs to move relative to the supporting column. Through the two-degree-of-freedom parallel-driven antenna base attitude forward solution submodule, the position of the slider is solved to obtain the corresponding position of the antenna panel.

[0029] Figure 4 FIG. 1 is a schematic diagram of the mechanism of a two-degree-of-freedom parallel-driven antenna base provided by an embodiment of the present invention. Figure 4 As shown, slider A is connected to one side of the antenna array through connecting rod AP1, and slider D is connected to the other side of the antenna array through connecting rod DP2. The solution process of the two-degree-of-freedom parallel-driven antenna base attitude inverse solution submodule is as follows:

[0030] (1) The azimuth angle γ of the antenna array is equal to 0°, and the elevation angle is Due to the geometric symmetry of the mechanism, the azimuth angle of slider A is -θ, and the azimuth angle of slider D is θ. At this time, by solving the geometric model of the mechanism, it can be determined that the azimuth angle of slider A or slider D satisfies the following formula:

[0031]

[0032] Among them, R p is the equivalent rotation radius of the antenna array, R is the radius of the antenna base track, d1 is half of the center distance of the Hooke hinge 7, H0 is the height of the column, L is the length of the connecting rod, α = arcsin (dRp- 1 ),

[0033] (2) When the antenna array azimuth angle γ is not 0°, the elevation angle is When , let the azimuth angle of slider D be θ1, and the azimuth angle of slider A be θ2. According to the geometric symmetry relationship of the mechanism, we can get:

[0034] Please continue to see Figure 4 When solving the antenna array posture according to the two-degree-of-freedom parallel-driven antenna base attitude forward solution submodule, the azimuth angle of slider D is θ1, the azimuth angle of slider A is θ2, and the azimuth angles θ1 and θ2 of the sliders are related to the azimuth angle γ and pitch angle of the antenna array. The relationship between can be expressed as:

[0035]

[0036]

[0037] Where, ε=2d1Rsinθ.

[0038] Here, the PID control module includes: a data processing submodule, which is used to obtain the motor pulse count corresponding to the i-1th preset time period, and use the motor pulse count corresponding to the i-1th preset time period to calculate the i-1th motor speed.

[0039] Exemplarily, a rotary incremental encoder is provided on the reduction motor, and its resolution can reach 0.2°. For each rotation of the reduction motor, the corresponding rotary incremental encoder generates a fixed number (1854) of pulse signals. The data processing submodule uses a timing interrupt function to obtain the motor pulse count fed back by the motion control unit once every preset time period (e.g., 10ms). The average speed of the reduction motor in the current time period is calculated based on the motor pulse count fed back by the reduction motor in the preset time period. The number of rotations of the reduction motor can be obtained by dividing the motor pulse count corresponding to the i-1 preset time period by 1854. In addition, for each rotation of the reduction motor, the slider moves 21.43° in the slide rail relative to the support column. In other words, by obtaining the pulse count of the motor, the moving angle of the slider can be determined, and then the two-degree-of-freedom parallel drive antenna seat attitude forward solution submodule in the attitude forward and inverse solution module can be used to obtain the pitch angle and azimuth angle of the current antenna panel, thereby controlling the pitch angle and azimuth angle of the antenna panel to reach the target value.

[0040] It should be noted that after the attitude forward and inverse solution module determines the direction of the reduction motor, the direction of the subsequent motor will no longer be adjusted. That is, the direction of the reduction motor in the motor motion data is a fixed value.

[0041] By adopting the PID control module to perform closed-loop control on the speed of the reduction motor, the influence of the speed change caused by the change of the load force on the reduction motor during the movement of the antenna array can be reduced, which is conducive to further realizing high-precision pointing control of the antenna array.

[0042] Here, the motion data processing unit also includes: an interrupt module, which is used to implement the Bluetooth serial port interrupt request of the Bluetooth module and the interrupt request of the data processing submodule; wherein the priority of the Bluetooth serial port interrupt request is higher than the priority of the interrupt request. Exemplarily, the mobile terminal sends multiple motion control instructions to the motion data processing unit, and each time it sends a Bluetooth serial port interrupt request to the motion data processing unit, the motion data processing unit will receive the interrupt request of the data processing submodule only after processing the Bluetooth serial port interrupt request.

[0043] In a possible implementation, the motion data processing unit further includes: a JTAG module for burning various required algorithms and programs into the ARM control chip.

[0044] The structure of the motion control unit is now described in detail. In a possible implementation, the motion control unit is a programmable logic module FPGA. Figure 5 As shown, the motion control unit includes: a pulse counting module, which is electrically connected to the rotary incremental encoder, and is used to obtain multiple pulse signals fed back by the reduction motor in the i-1th preset time period, count the multiple pulse signals in the i-1th preset time period, and obtain the motor pulse count corresponding to the i-1th preset time period; a data signal conversion module, which is used to convert the direction of the reduction motor into a motor commutation signal, and convert the i-th motor speed into an i-th PWM pulse signal; the duty cycle of each PWM pulse signal is different; a second motor control module, which is used to control the direction of the reduction motor according to the motor commutation signal, and adjust the voltage applied to the terminals of the reduction motor using the i-th PWM pulse signal, thereby adjusting the speed of the reduction motor; a request instruction generation module, which is used to determine whether the motor pulse count corresponding to the i-1th preset time period is equal to the total number of preset pulses, and when the motor pulse count corresponding to the i-1th preset time period is less than the total number of preset pulses, the motor pulse count corresponding to the i-1th preset time period is sent to the motion data processing unit; when the motor pulse count corresponding to the i-1th preset time period is equal to the total number of preset pulses, a request motor stop signal is sent to the motion data processing unit. Here, the preset total number of pulses is obtained by calculating the target position of the slider and the starting position of the slider.

[0045] Here, the pulse counting module also determines the delay duration of the pulse signal to accurately determine the motor pulse count corresponding to the preset time period.

[0046] Here, after the reduction motor is turned on, the pulse counting module starts counting and sends the motor pulse count within the first preset time period to the request instruction generation module, which makes a judgment. When it is determined that the motor pulse count corresponding to the first preset time period is less than the total number of preset pulses, the motor pulse count corresponding to the first preset time period is sent to the PID control module. The PID control module generates the second motor speed based on the motor pulse count corresponding to the first preset time period, and sends it to the data signal conversion module for conversion into the second PWM pulse signal; the second PWM pulse signal is used to adjust the speed of the reduction motor, and counts within the second preset time period to finally generate the third PWM pulse signal, until the motor pulse count reaches the total number of preset pulses, the motor stops working.

[0047] Here, see Figure 3 and Figure 5, the motion data processing unit further includes: a first data interaction module; the motion control unit further includes: a second data interaction module; the first data interaction module and the second data interaction module perform data interaction based on the AXI4 bus protocol. Exemplarily, the first data interaction module includes an AXI4 host submodule and a first I / O control submodule, and the second data interaction module includes an AXI4 slave submodule and a second I / O control submodule.

[0048] In view of the fact that the existing parallel mechanism is difficult to control the parallel driven antenna seat in real time and has the problem of low control accuracy, the present invention proposes a motion controller for the parallel driven antenna seat, which adopts the joint control mode of the motion data processing unit and the motion control unit to realize the real-time control of the parallel driven antenna seat. Specifically, the motion data processing unit uses the Bluetooth module to obtain the motion control instruction sent by the mobile terminal in real time, and uses the motion control instruction to calculate the required arrival position of the slider, and converts the required arrival position of the slider into the motor motion data, and then based on the motor motion data, uses the motion control unit to control the reduction motor to drive the slider to move; in the whole motion process, the delay and number of the motor pulse signal are obtained in real time to determine the actual position of the slider, and then determine the actual posture of the antenna panel, and then adjust the motor speed in real time according to the PID control module, so that the array posture of the parallel driven antenna seat is accurately adjusted to the expected posture. Based on the motion controller provided by the present invention, the motor speed can be monitored and adjusted in real time, and the array posture of the parallel driven antenna seat can be adjusted in real time. It has extremely high execution efficiency and execution speed, and can realize high-precision control of the parallel driven antenna seat.

[0049] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A motion controller for a parallel-driven antenna base, characterized in that: include: A motion data processing unit, used to perform calculation processing on the received motion control instruction containing the expected posture, obtain the target position of the slider set on the parallel-driven antenna seat and the direction of rotation of the reduction motor used to drive the slider to move, wherein the slider is used to adjust the posture of the antenna panel set on the parallel-driven antenna seat; obtain the motor pulse count sent by the motion control unit within a preset time period, generate motor motion data based on the direction of rotation of the reduction motor, the target position of the slider and the motor pulse count, and determine the corresponding posture of the antenna panel based on the motor pulse count; The motion control unit is used to convert and process the motor motion data to obtain a motor control signal to adjust the rotational speed of the reduction motor, and, when the value of the motor pulse count is equal to a preset total number of pulses, send a motor stop request signal to the motion data processing unit so that the motion data processing unit turns off the reduction motor.

2. The motion controller for the parallel-driven antenna mount according to claim 1, characterized in that: The motion data processing unit comprises: A Bluetooth module, used for receiving the motion control instruction; The posture forward and inverse solution module is used to perform inverse operation on the motion control instruction to obtain the target position of the slider and the direction of the reduction motor, and to perform operation on the motor pulse count to determine the position of the slider, and then determine the posture of the corresponding antenna panel; A PID control module is used to calculate the i-1th motor speed using the motor pulse count corresponding to the i-1th preset time period, generate the i-th motor speed using the error between the i-1th motor speed and the preset motor speed, and send the direction of the reduction motor and the i-th motor speed to the motion control unit, where i is a positive integer greater than 1; the first motor speed is 0; The first motor control module is used to generate a motor stop instruction after receiving the motor stop request signal to turn off the reduction motor.

3. The motion controller for the parallel-driven antenna mount according to claim 2, characterized in that: The reduction motor is provided with a rotary incremental encoder, and each time the reduction motor rotates one circle, the corresponding rotary incremental encoder generates a fixed number of pulse signals; The motion control unit comprises: A pulse counting module, electrically connected to the rotary incremental encoder, for obtaining a plurality of pulse signals fed back by the reduction motor within the i-1th preset time period, counting the plurality of pulse signals within the i-1th preset time period, and obtaining a motor pulse count corresponding to the i-1th preset time period; A data signal conversion module, used for converting the direction of the reduction motor into a motor commutation signal, and converting the i-th motor speed into an i-th PWM pulse signal; the duty cycle of each PWM pulse signal is different; A second motor control module, used to control the direction of the reduction motor according to the motor commutation signal, and to adjust the voltage applied to the terminals of the reduction motor by using the i-th PWM pulse signal, thereby adjusting the speed of the reduction motor; A request instruction generating module is used to determine whether the motor pulse count corresponding to the i-1th preset time period is equal to the preset total number of pulses. When the motor pulse count corresponding to the i-1th preset time period is less than the preset total number of pulses, the motor pulse count corresponding to the i-1th preset time period is sent to the motion data processing unit; when the motor pulse count corresponding to the i-1th preset time period is equal to the preset total number of pulses, the request motor stop signal is sent to the motion data processing unit.

4. The motion controller for the parallel-driven antenna mount according to claim 2, characterized in that: The PID control module includes: a data processing submodule, which is used to obtain the motor pulse count corresponding to the i-1th preset time period, and use the motor pulse count corresponding to the i-1th preset time period to calculate the i-1th motor speed.

5. The motion controller for the parallel-driven antenna mount according to claim 1, characterized in that: The motion control instruction includes: a data header instruction for representing a data starting point, a function instruction for representing a data type, and target pitch angle data and target azimuth angle data constituting the expected posture.

6. The motion controller for the parallel-driven antenna mount according to claim 2, characterized in that: The motion data processing unit includes: a control instruction recognition module, which is used to read the target pitch angle data and the target azimuth angle data in the motion control instruction, and send the target pitch angle data and the target azimuth angle data to the attitude forward and inverse solution module.

7. The motion controller for the parallel-driven antenna mount according to claim 3, characterized in that: The motion data processing unit further includes: a first data interaction module; the motion control unit further includes: a second data interaction module; the first data interaction module and the second data interaction module perform data interaction based on the AXI4 bus protocol.

8. The motion controller for the parallel-driven antenna mount according to claim 2, characterized in that: The preset total number of pulses is obtained by calculating the target position of the slider and the starting position of the slider.

9. The motion controller for the parallel-driven antenna mount according to claim 4, characterized in that: The motion data processing unit further includes: an interrupt module, which is used to implement the Bluetooth serial port interrupt request of the Bluetooth module and the interrupt request of the data processing submodule; wherein the priority of the Bluetooth serial port interrupt request is higher than the priority of the interrupt request.

10. The motion controller for the parallel-driven antenna mount according to claim 1, characterized in that: The parallel-driven antenna base comprises: a base, and a supporting column arranged at the center of the base, wherein the supporting column is movably connected to the antenna panel; A slide rail is disposed on the periphery of the base, two sliders are movably disposed on the slide rail, the upper surface of each slider is connected to a connecting rod, the connecting rod is also movably connected to the antenna panel, and the lower surface of each slider is connected to a reduction motor; When the reduction motor moves clockwise or counterclockwise, it drives a slider to move along the first direction of the slide rail or in the opposite direction to the first direction of the slide rail. Then, the slider drives the connecting rod connected to the slider to rotate relative to the supporting column to change the pitch angle and azimuth angle of the antenna panel.

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