A motion controller for a shunt drive antenna pedestal

Abstract

The application relates to a motion controller for a parallel driving antenna pedestal, comprising a motion data processing unit for performing operation processing on received motion control instructions, obtaining a target position of a sliding block arranged on the parallel driving antenna pedestal and a steering direction of a deceleration motor used for sliding block movement, acquiring motor pulse counts sent by the motion control unit within a preset time period, generating motor motion data based on the steering direction of the deceleration motor, the target position of the sliding block and the motor pulse counts, and determining a pose of a corresponding antenna panel based on the motor pulse counts; and the motion control unit is used for performing conversion processing on the motor motion data, obtaining a motor control signal to adjust the rotating speed of the deceleration motor, and sending a request motor stop signal to the motion data processing unit to shut down the deceleration motor when the numerical value of the motor pulse count is equal to a preset total pulse number. Based on the motion controller provided by the application, high-precision control of the parallel driving antenna pedestal can be realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of multi-axis motion controller, and particularly relates to a motion controller for a parallel driving type antenna pedestal. BACKGROUND

[0002] The parallel driving type antenna pedestal not only has typical advantages of parallel mechanism such as large bearing capacity and low rotational inertia, but also has unique advantages such as low power consumption, low mass, high flexibility and easy control, and has broad application prospects in devices such as shipborne antennas, weapon pedestals and solar panels. In order to realize precise control of the parallel driving type antenna pedestal, it is necessary to study the control method of the parallel mechanism.

[0003] At present, scientific and theoretical researches on the control method of the parallel mechanism have made certain progress. According to different control spaces, the parallel mechanism control can be divided into joint space control and operation space control. The joint space control refers to obtaining the expected positions of each driving joint of the parallel mechanism by using the inverse kinematics equation of the parallel mechanism, and then taking the obtained joint expected value as the input quantity for control. The operation space control is to directly take the position and posture of the operation end of the parallel mechanism as the input quantity for control, and then obtain the expected value required by each joint through the inverse kinematics equation in the control closed loop, and then control the robot movement. However, the operation amount of the inverse kinematics of the latter is several times larger, so the joint space control is currently more commonly used.

[0004] However, the dynamics model of the parallel mechanism is greatly increased compared with the serial mechanism, and the operation speed is slow when the joint space control dynamics model is executed, and it is difficult to meet the real-time operation standard. In short, the existing parallel mechanism is difficult to control the parallel driving type antenna pedestal in real time, and has the problem of low control precision. SUMMARY

[0005] In order to solve the above problems existing in the prior art, the application provides a motion controller for a parallel driving type antenna pedestal. The technical problems to be solved by the application are realized by the following technical scheme:

[0006] The application provides a motion controller for a parallel driving antenna pedestal, comprising: a motion data processing unit, configured to perform operation processing on a received motion control instruction containing an expected pose, to obtain a target position of a slider movable on the parallel driving antenna pedestal and a steering direction of a reduction motor used for driving the slider to move, wherein the slider is used for adjusting a pose of an antenna panel arranged on the parallel driving antenna pedestal; obtaining motor pulse counts sent by a motion control unit in a preset time period, generating motor motion data based on the steering direction of the reduction motor, the target position of the slider and the motor pulse counts, and determining a pose of the corresponding antenna panel based on the motor pulse counts; and the motion control unit, configured to perform conversion processing on the motor motion data to obtain a motor control signal to adjust a rotating speed of the reduction motor, and send a request motor stop signal to the motion data processing unit when a value of the motor pulse counts is equal to a preset total number of pulses, so that the motion data processing unit closes the reduction motor.

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

[0008] In view of the problem that the existing parallel mechanism is difficult to control the parallel driving antenna pedestal in real time and has low control precision, the application provides a motion controller for a parallel driving antenna pedestal, which realizes real-time control of the parallel driving antenna pedestal in a joint control manner of a motion data processing unit and a motion control unit. Specifically, the motion data processing unit obtains a motion control instruction, calculates a required arrival position of a slider by using the motion control instruction, converts the required arrival position of the slider into motor motion data, and then controls the reduction motor to work by using the motion control unit based on the motor motion data, so as to drive the slider to move. In the whole motion process, the motor pulse counts are obtained in real time, and the pose of the corresponding antenna panel is determined by calculating the motor pulse counts. Based on the motion controller provided by the application, the motor rotating speed can be monitored and adjusted in real time, the array surface pose of the parallel driving antenna pedestal can be adjusted in real time, the execution efficiency and execution speed are very high, and high-precision control of the parallel driving antenna pedestal can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a structure three-dimensional diagram of a two-degree-of-freedom parallel driving antenna pedestal provided by an embodiment of the application;

[0010] Figure 2 is a structure block diagram of a motion controller for a parallel driving antenna pedestal provided by an embodiment of the application;

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

[0012] Figure 4 is a mechanism diagram of a two-degree-of-freedom parallel driving antenna pedestal provided by an embodiment of the present application;

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

[0014] Reference signs:

[0015] 1, base; 2, slide rail; 3, speed 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, sliding block. DETAILED DESCRIPTION

[0016] The present application will be further described in conjunction with specific embodiments, but the embodiments of the present application are not limited thereto.

[0017] In the description of the present application, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0018] In one possible application scenario, the present application provides a motion controller for a parallel driving antenna pedestal, which is used to control a two-degree-of-freedom parallel driving antenna pedestal. Figure 1 is a three-dimensional structure diagram of a two-degree-of-freedom parallel driving antenna pedestal provided by an embodiment of the present application. As shown in Figure 1 The parallel driving antenna pedestal includes a base 1, and a support column 10 arranged at the center of the base 1, the support column 10 movably connecting an antenna panel 8; the periphery of the base 1 is provided with a slide rail 2, two sliding blocks 12 are movably arranged on the slide rail 2, the upper surface of each sliding block 12 is connected with a connecting rod 6, the connecting rod 6 is further movably connected with the antenna panel 8, and the lower surface of each sliding block 12 is connected with a speed reducer motor 3; wherein when one speed reducer motor 3 moves clockwise or counterclockwise, it drives one sliding block 12 to move along the first direction of the slide rail 2 or the opposite direction of the first direction of the slide rail 2, and then the sliding block 12 drives the connecting rod 6 connected with the sliding block 12 to rotate relative to the support column 10, so as to change the pitch angle and azimuth angle of the antenna panel 8.

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

[0020] It should be understood that the motion controller for the parallel driving antenna base provided by the present application is not limited to the parallel driving antenna base in the Figure 1 application, but can also be applied to other types of parallel driving antenna bases.

[0021] Now, the motion controller for the parallel driving antenna base provided by the present application will be described in detail in combination with the drawings. Figure 2 is a structural block diagram of the motion controller for the parallel driving antenna base provided by the embodiment of the present application. As shown in the Figure 2 motion controller includes: a motion data processing unit, configured to perform operation processing on a received motion control instruction containing an expected pose, to obtain a target position of a slide block arranged on the parallel driving antenna base and a steering direction of a reduction motor used for moving the slide block, wherein the slide block is used to adjust a pose of an antenna panel arranged on the parallel driving antenna base; obtain motor pulse counts sent by a motion control unit in a preset time period, generate motor motion data based on the steering direction of the reduction motor, the target position of the slide block and the motor pulse counts, and determine a pose of the corresponding antenna panel based on the motor pulse counts; and a motion control unit, configured to perform conversion processing on the motor motion data to obtain a motor control signal to adjust a rotating speed of the reduction motor, and send a request motor stop signal to the motion data processing unit when a value of the motor pulse counts is equal to a preset total number of pulses, so as to make the motion data processing unit close the reduction motor.

[0022] Here, the motion control instruction is sent by an external mobile terminal, and the mobile terminal can be a mobile phone, a server, etc.

[0023] Specifically, as shown in Figure 3As shown, the motion data processing unit comprises a Bluetooth module, a PID control module, a posture forward and inverse solution module, and a first motor control module. The Bluetooth module is configured to receive a motion control instruction. The posture forward and inverse solution module is configured to perform inverse operation on the motion control instruction to obtain a target position of the slider and a rotation direction of the reduction motor, and to perform operation on motor pulse count to determine a position of the slider and further determine a pose of the corresponding antenna panel. The PID control module is configured to calculate an i-1th motor speed using motor pulse count corresponding to an i-1th preset time period, generate an i-th motor speed using an error between the i-1th motor speed and a preset motor speed, and send the rotation 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, and the 1st motor speed is 0. The first motor control module is configured to generate a motor stop working instruction to turn off the reduction motor after receiving a request motor stop signal.

[0024] Here, the Bluetooth module adopts an HC05 Bluetooth serial module. The Bluetooth module is configured to realize data interaction between the mobile terminal and the motion data processing unit. Specifically, the Bluetooth module receives a motion control instruction sent by the mobile terminal, and sends data of the motion data processing unit (e.g., a target position of the slider, an actual position of the slider, an expected antenna array pose, and an actual antenna array pose) to the mobile terminal.

[0025] Here, the motion data processing unit is an ARM control chip, which has a chip main frequency of up to 666 MHz, greatly improving the overall speed of the system and providing a basis for the rapid implementation of various algorithms in the controller and the real-time response of the system.

[0026] Here, the first motor control module is connected with the reduction motor to control the opening or closing of the reduction motor. The motion control instruction sent to the motion data processing unit comprises a data header instruction representing a data starting point, a function instruction representing a data type, and target pitch angle data and target azimuth angle data constituting an expected pose. 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 further comprises a control instruction recognition module configured 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 posture forward and inverse solution module. In one possible implementation, the control instruction recognition module is a UART communication module.

[0028] Here, the attitude forward and inverse solution module comprises: a two-degree-of-freedom parallel driven antenna pedestal attitude inverse solution submodule and a two-degree-of-freedom parallel driven antenna pedestal attitude forward solution submodule. Through the two-degree-of-freedom parallel driven antenna pedestal 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 required by the slider 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 pedestal attitude forward solution submodule, the position of the slider is solved to obtain the pose of the corresponding antenna panel.

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

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

[0031]

[0032] , wherein R p is the equivalent rotation radius of the antenna array surface, R is the antenna pedestal track radius, d1 is half of the center distance of the hook joint 7, H0 is the column height, L is the length of the connecting rod, α = arcsin(dRp- 1 ),

[0033] (2) When the azimuth angle γ of the antenna array surface is not 0° and the pitch angle is , it is assumed that the azimuth angle of the slider D is θ1, and the azimuth angle of the slider A is θ2. According to the geometric symmetry of the mechanism, it can be obtained that:

[0034] Please continue to refer to Figure 4 , when solving the antenna array surface pose by the two-degree-of-freedom parallel driven antenna pedestal attitude forward solution submodule, the azimuth angle of the slider D is θ1, the azimuth angle of the slider A is θ2, and the relationship between the azimuth angles θ1 and θ2 of the slider and the azimuth angle γ and the pitch angle of the antenna array surface can be expressed as:

[0035]

[0036]

[0037] wherein, ε = 2d1Rsinθ.

[0038] Here, the PID control module comprises: a data processing submodule, configured to acquire motor pulse counts corresponding to the i-1th preset time period, and calculate the i-1th motor speed by using the motor pulse counts corresponding to the i-1th preset time period.

[0039] Exemplarily, a rotary incremental encoder is arranged on the speed reducer, and the resolution of the rotary incremental encoder can reach 0.2°. The rotary incremental encoder generates a fixed number (1854) of pulse signals corresponding to one rotation of the speed reducer. The data processing submodule acquires motor pulse counts fed back by the motion control unit every preset time period (for example, 10 ms) by using a timing interrupt function. The average speed of the speed reducer in the current time period is calculated according to the motor pulse counts fed back by the speed reducer in the preset time period. The number of rotations of the speed reducer is obtained by dividing the motor pulse counts corresponding to the i-1th preset time period by 1854. In addition, the speed reducer rotates one circle, and the slider moves 21.43° in the slide rail relative to the support column. That is, by acquiring the pulse counts of the motor, the moving angle of the slider can be determined, and the pitch angle and the azimuth angle of the current antenna panel can be obtained by using the two-degree-of-freedom parallel driven antenna pedestal forward solution submodule in the posture forward and inverse solution module, so that the pitch angle and the azimuth angle of the antenna panel are controlled to reach the target values.

[0040] It should be noted that after the posture forward and inverse solution module determines the rotation direction of the speed reducer, the rotation direction of the subsequent motor is no longer adjusted. That is, the rotation direction of the speed reducer in the motor motion data is a constant value.

[0041] By adopting the PID control module to perform closed-loop control on the speed of the speed reducer, the influence of the change of the load force on the speed of the speed reducer during the movement of the antenna array surface can be reduced, which is beneficial to further realize high-precision pointing control of the antenna array surface.

[0042] Here, the motion data processing unit further comprises: an interrupt module, configured to implement a Bluetooth serial port interrupt request of the Bluetooth module and an interrupt request of the data processing submodule; and the priority of the Bluetooth serial port interrupt request is higher than the priority of the interrupt request. Exemplarily, the mobile terminal sends a plurality of motion control instructions to the motion data processing unit, and each sending sends a Bluetooth serial port interrupt request to the motion data processing unit. After the motion data processing unit processes the Bluetooth serial port interrupt request, the interrupt request of the data processing submodule is received.

[0043] In a possible implementation, the motion data processing unit further comprises: a JTAG module, configured to burn various required algorithms and programs into the ARM control chip.

[0044] The structure of the motion control unit will be described in detail. In one possible implementation, the motion control unit is a programmable logic module FPGA. As shown in Figure 5 The motion control unit includes: a pulse counting module electrically connected with the rotary incremental encoder, configured to obtain a plurality of pulse signals fed back by the speed reducer motor in the i-1th preset time period, count the plurality of 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 configured to convert the steering of the speed reducer motor into a motor commutation signal, and convert the i motor speed into an i PWM pulse signal; the duty cycle of each PWM pulse signal is different; a second motor control module configured to control the steering of the speed reducer motor according to the motor commutation signal, and adjust the voltage applied to the terminals of the speed reducer motor by using the i PWM pulse signal, thereby adjusting the speed of the speed reducer motor; and a request instruction generation module configured to determine whether the motor pulse count corresponding to the i-1th preset time period is equal to a preset total number of pulses, send the motor pulse count corresponding to the i-1th preset time period to the motion data processing unit when the motor pulse count corresponding to the i-1th preset time period is less than the preset total number of pulses, and send a request motor stop signal 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. 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 speed reducer motor is turned on, the pulse counting module starts counting and sends the motor pulse count in the 1st preset time period to the request instruction generation module for determination. When it is determined that the motor pulse count corresponding to the 1st preset time period is less than the preset total number of pulses, the motor pulse count corresponding to the 1st preset time period is sent to the PID control module. The PID control module generates the 2nd motor speed based on the motor pulse count corresponding to the 1st preset time period and sends it to the data signal conversion module to be converted into the 2nd PWM pulse signal. The speed of the speed reducer motor is adjusted by using the 2nd PWM pulse signal, and the counting is performed in the 2nd preset time period to finally generate the 3rd PWM pulse signal. When the motor pulse count reaches the preset total number of pulses, the motor stops working.

[0047] Here, please refer to Figure 3 and Figure 5The motion data processing unit further comprises a first data interaction module; the motion control unit further comprises a second data interaction module; the first data interaction module and the second data interaction module interact data based on an AXI4 bus protocol. Exemplarily, the first data interaction module comprises an AXI4 host submodule and a first I / O control submodule, and the second data interaction module comprises an AXI4 slave submodule and a second I / O control submodule.

[0048] In view of the problems that the existing parallel mechanism is difficult to control the parallel driving antenna pedestal in real time and has low control precision, the application provides a motion controller for a parallel driving antenna pedestal, which adopts a joint control mode of a motion data processing unit and a motion control unit to realize real-time control of the parallel driving antenna pedestal. Specifically, the motion data processing unit obtains motion control instructions sent by a mobile terminal in real time by using a Bluetooth module, calculates a required arrival position of a slider by using the motion control instructions, converts the required arrival position of the slider into motor motion data, and then controls a reduction motor to work by using the motion control unit based on the motor motion data to drive the slider to move. In the whole motion process, the delay and quantity of motor pulse signals are obtained in real time to determine the actual position of the slider, and the actual pose of an antenna panel is determined, and then the motor speed is adjusted in real time by using a PID control module to make the array pose of the parallel driving antenna pedestal accurately adjusted to an expected pose. Based on the motion controller provided by the application, the motor speed can be monitored and adjusted in real time, the array pose of the parallel driving antenna pedestal can be adjusted in real time, and the motion controller has very high execution efficiency and execution speed, and can realize high-precision control of the parallel driving antenna pedestal.

[0049] The above is a further detailed description of the application in combination with specific preferred embodiments, and the specific implementation of the application cannot be limited to these descriptions. For ordinary skilled persons in the technical field to which the application belongs, some simple deductions or replacements can be made without departing from the concept of the application, and all of them should be regarded as falling within the protection scope of the application.

Claims

1. A motion controller for a parallel drive antenna base, characterized in that: include: a motion data processing unit configured to perform computational processing on a received motion control instruction containing an expected posture to obtain a target position of a slider disposed on a parallel-driven antenna mount and a rotational direction of a reduction motor used to drive the slider, wherein the slider is used to adjust the posture of an antenna panel disposed on the parallel-driven antenna mount; obtain a motor pulse count sent by a motion control unit within a preset time period, generate motor motion data based on the rotational direction 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 configured to convert and process the motor motion data to obtain a motor control signal to adjust the 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 to cause the motion data processing unit to turn off the reduction motor; The motion data processing unit includes: A Bluetooth module, configured to receive the motion control instruction; An attitude forward and inverse solution module is used to perform an 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 an operation on the motor pulse count to determine the position of the slider and the corresponding antenna panel posture; a PID control module, configured 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 rotation 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; A first motor control module is configured to generate a motor stop instruction after receiving the motor stop request signal to turn off the reduction motor; Wherein, 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; The solution process of the two-degree-of-freedom parallel-driven antenna base attitude inverse solution submodule is as follows: (1) Azimuth of the antenna array γ is equal to 0°, and the pitch angle is (0°≤ ≤90°), the azimuth angle of the slider A - , the azimuth angle of slider D is By solving the geometric model of the mechanism, it is determined that the azimuth angle of the slider A or the slider D satisfies the following formula: ； in, is the equivalent rotation radius of the antenna array, is the antenna orbit radius, is half the distance between the centers of the Hooke hinge, is the column height, is the length of the connecting rod, , ; (2) When the antenna array azimuth angle γ is not 0°, the pitch angle is (0°≤ ≤90°), the azimuth angle of the slider D is , the azimuth angle of the slider A is , according to the geometric symmetry relationship of the mechanism: ; The solution process of the two-degree-of-freedom parallel-driven antenna base attitude forward solution submodule is as follows: When solving the antenna array posture according to the two-degree-of-freedom parallel driven antenna base posture forward solution submodule, the azimuth angle of the slider D is , the azimuth angle of the slider A is , the azimuth angle of the slider and Azimuth angle to the antenna array γ and pitch angle The relationship between them is expressed as: ； ； ； in, .

2. The motion controller for the parallel-driven antenna mount according to claim 1, 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, configured to convert the direction of rotation of the reduction motor into a motor commutation signal, and to convert the i-th motor speed into an i-th PWM pulse signal; wherein each PWM pulse signal has a different duty cycle; a second motor control module, configured 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 using the i-th PWM pulse signal, thereby adjusting the speed of the reduction motor; A request instruction generation module 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. 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, the request motor stop signal is sent to the motion data processing unit.

3. The motion controller for the parallel-driven antenna mount according to claim 1, 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.

4. 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.

5. The motion controller for the parallel-driven antenna mount according to claim 1, characterized in that: The motion data processing unit includes: a control instruction recognition module for reading target pitch angle data and target azimuth angle data in the motion control instruction, and sending the target pitch angle data and the target azimuth angle data to the attitude forward and inverse solution module.

6. The motion controller for the parallel-driven antenna mount according to claim 2, 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.

7. The motion controller for the parallel-driven antenna mount according to claim 1, 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.

8. The motion controller for the parallel-driven antenna mount according to claim 3, 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.

9. The motion controller for the parallel-driven antenna mount according to claim 1, characterized in that: The parallel driven antenna base includes: a base, and a supporting column arranged at the center of the base, wherein the supporting column is movably connected to the antenna panel; The base is provided with a slide rail on the periphery, and two sliders are movably provided on the slide rail. The upper surface of each slider is connected to a connecting rod, and the connecting rod is also movably connected to the antenna panel. In addition, 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 of the first direction of the slide rail. Then, the slider drives the connecting rod connected to the slider to rotate relative to the support column to change the pitch angle and azimuth angle of the antenna panel.

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