Lightweight scattering communication-in-motion servo control device

Abstract

The invention relates to a lightweight scattering communication-in-motion servo control device, which belongs to the technical field of antenna control, and comprises a main control unit and an inertial navigation module, the inertial navigation module is externally connected with a Beidou antenna or a GPS (Global Positioning System) and uploads longitude and latitude, course angle and attitude information to the main control unit, and the main control unit controls the antenna seat frame according to the instruction of the upper computer and performs servo control on the antenna seat frame based on the instruction of the upper computer. And analyzing the rotating shaft, the rotating angle and the motor operation configuration parameters of the current motor, executing a rotating instruction on the motor according to the current value of the inertial navigation module, and keeping the stable tracking of the antenna in the communication-in-moving mode. According to the invention, the antenna is always aligned with the scatter communication direction under the complex condition of carrier movement, and the communication direction is continuously tracked, so that the stability of signals is ensured.

Description

Technical Field

[0001] The present invention belongs to the field of antenna control technology, and involves motor drive, pulse control, servo control, and attitude maintenance, and is particularly suitable for antenna surface control of various mobile communications. Background Art

[0002] The scenarios in modern communication systems are very complex. With the rapid development of modern mobile communication systems, communication during driving and on the move has become very important. In traditional scattering communication systems, scattering communication based on traditional antenna alignment mechanisms can only be used in application environments such as "stationary communication", and does not support the use of scattering transmission methods in mobile environments, which greatly affects the application and efficiency of scattering communication. At the same time, in complex driving conditions, the carrier will face complex operations such as roll, pitch, and steering of the carrier. The original azimuth and pitch rotation cannot meet the precise operation of the antenna, and it is not easy to track and align the communication direction under the carrier state to complete the reception and transmission of communication signals. Summary of the invention

[0003] In view of this, the purpose of the present invention is to avoid the shortcomings of the above-mentioned background technology and provide a lightweight scattering communication in motion servo control system, which can keep the antenna aligned with the scattering communication direction under complex conditions of carrier movement and continuously track the communication direction to ensure signal stability.

[0004] The present invention adopts the following technical solutions to achieve the above technical effects:

[0005] A lightweight scattering in-motion servo control device, comprising a main control unit and an inertial navigation module;

[0006] The main control unit receives and responds to the host computer's instructions, and performs servo control on the antenna mount based on the host computer's instructions: the inertial navigation module is externally connected to the Beidou antenna or GPS, and uploads the latitude and longitude, heading angle and attitude information to the main control unit.

[0007] The main control unit parses the current motor's rotation axis, rotation angle and motor operation configuration parameters according to the host computer instructions, and executes the motor rotation instruction according to the current value of the inertial navigation module to maintain stable tracking of the antenna in the moving communication mode.

[0008] Furthermore, the main control unit reads the target angle value sent by the host computer and obtains the current memory angle value; by comparing the target angle value and the current memory angle value, the motor to be driven in the current rotation instruction and its rotation direction are determined, and the pulse amount of the current motor rotation is calculated.

[0009] Furthermore, the specific process of the main control unit receiving and responding to the host computer's instructions is as follows: the main control unit forwards the information uploaded by the inertial navigation module to the host computer, the host computer establishes a scattering communication link, and exchanges information with the opposite device based on the uploaded longitude, latitude and heading angle information. The host computer calculates the azimuth and pitch angle in the geodetic coordinate system and sends them to the main control unit.

[0010] Furthermore, during the scattering communication process, the stable tracking is achieved as follows:

[0011] The antenna performs a reset and zeroing operation to find the vertical zero direction of the pitch and the direction of the antenna perpendicular to the double Beidou line, and assigns the current Beidou heading angle information to the current servo system.

[0012] The main control unit transparently transmits Beidou / GPS information to the host computer. The host computer interacts with the other end to calculate the true north communication angle during scattering communication and sends it to the main control unit. The main control unit calculates the difference between the target angle and the current memory angle value, calculates the rotation direction and the pulse value required for rotation, and drives the motor to rotate accordingly.

[0013] When entering the moving communication mode, the main control unit continuously receives the new true north communication angle sent by the host computer, and at the same time receives the heading angle and attitude information reported by the inertial navigation unit, converts the angle in the geodetic coordinate system sent by the host computer into the angle in the antenna coordinate system, controls the motor to rotate to the corresponding angle, and continuously refreshes the inertial navigation attitude information to achieve real-time antenna surface attitude maintenance.

[0014] Furthermore, during the tracking process of the antenna, the motor is driven to rotate rapidly according to the determined rotation direction, and the current value of the trigger sensor on the structural member is read in real time to determine whether the limit operation is reached.

[0015] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0016] This solution uses the main control unit to send positive and negative pulse signals to the motor driver to drive the motor to rotate at the angle corresponding to the pulse. At the same time, the Beidou antenna is connected to the inertial navigation module to upload information such as longitude, latitude, heading angle, etc. to the main control module. The main control module calculates the difference between the target angle and the current angle, converts it into a pulse control signal to control the rotation of the motor. This allows the scattering antenna to complete real-time communication direction tracking in a dynamic environment.

[0017] Communication in motion is available: Traditional servo control uses a one-to-one correspondence between the servo motor and the control program and the host computer control program, and most of them have poor real-time tracking performance. In scattering communication, when there are strict requirements on the beam angle, it is not easy to use a changing and bumpy carrier environment. The present invention provides a universal antenna for scattering communication in motion, which can always align the antenna with the direction of scattering communication under constantly changing environmental conditions, and continuously track the communication direction to ensure the stability of the communication signal, and can meet the composite movement of the antenna and the carrier when the carrier faces composite movements such as roll, pitch and turn.

[0018] Strong versatility: Due to the servo control method of the present invention, the accuracy requirements for the motor, reducer, and inertial navigation unit are not so high, and one or more accuracy levels can be lowered; at the same time, the trigger sensor used in the present invention is an in-place sensor, that is, a return to zero switch, which has low cost and high versatility. Through real-time conversion and detection between pulses and angles, the motor rotation can be more accurately controlled through program operations such as filtering algorithms and PID control. Even in an open-loop servo control device, a high accuracy can be achieved, which can meet the beam angle maintenance requirements of scattering communication, sacrificing some program complexity in exchange for a lower system requirement for hardware accuracy, thereby enhancing versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention discloses a working flow chart of a lightweight scattering moving communication servo control device.

[0020] Figure 2 The invention discloses a control system connection block diagram of a lightweight scattering in-motion servo control device. DETAILED DESCRIPTION

[0021] Below, the present invention is further described in conjunction with the accompanying drawings.

[0022] In order to facilitate the technical personnel in this field to understand the technical solution of this patent, and at the same time, to make the technical purpose, technical solution and beneficial effects of this patent clearer and to fully support the scope of protection of the claims, the technical solution of this patent is further and more detailed in the form of specific cases.

[0023] "A lightweight scattering in-motion servo control device" is characterized by comprising the following steps:

[0024] (1) Receive and respond to host computer instructions, and perform servo control based on the host computer instructions.

[0025] (2) The servo control main control unit analyzes the current motor's rotation axis, rotation angle, and motor operation configuration parameters according to the host computer's instructions.

[0026] (3) The servo motor rotates and can read the trigger sensor at a specific installation position on the structure, marking the absolute angle value.

[0027] (4) Execute rotation instructions on the motor according to the current value of the inertial navigation module, and maintain the antenna surface attitude in the moving communication mode.

[0028] In the “a lightweight scattering moving communication servo control device”:

[0029] Step (1) mainly includes the following contents: agreement on serial port parameters of the communication serial port protocol, agreement on character format, distribution of host computer instructions and response of the main control unit after receiving the instructions.

[0030] Step (2) mainly includes the following contents: reading the target angle value sent by the host computer, obtaining the current memory angle value, comparing it with the target angle value, determining the motor to be driven and its rotation direction in the current rotation instruction, and calculating the pulse quantity of the current motor rotation.

[0031] Step (3) mainly includes the following contents: During the antenna resetting process and other movement processes, the motor is driven to rotate rapidly according to the determined rotation direction, and the current value of the trigger sensor on the structural part is read in real time to determine whether the limit operation has been reached.

[0032] Step (4) mainly includes the following contents: the main control unit reads the system attitude information sent by the inertial navigation module through data interaction to maintain the attitude of the servo communication surface and correct the communication surface deviation caused by driving bumps during dynamic communication.

[0033] The "a kind of lightweight scattering mobile communication servo control device" includes five parts: a driving motor, a reducer, a trigger sensor, an inertial navigation unit, a main control unit and a control program; further, the driving motor in the "a kind of lightweight scattering mobile communication servo control device" includes but is not limited to a pulse control position mode servo motor, a stepper motor, a driving motor with a brake, and a driving motor without a brake; further, the trigger sensor in the "a kind of lightweight scattering mobile communication servo control device" includes but is not limited to a photoelectric sensor and a magnetic sensor; further, the inertial navigation unit in the "a kind of lightweight scattering mobile communication servo control device" includes but is not limited to a fiber optic inertial navigation and a MEMS inertial navigation; further, the main control unit and the control program in the "a kind of lightweight scattering mobile communication servo control device" include but are not limited to a motor driving circuit, an external signal reading circuit, a single-chip controller unit circuit, and a single-chip control program. The main control unit continuously collects data heading angles and the longitude and latitude of the station's location through Beidou / GPS and inertial navigation, and calculates the antenna pitch angle and azimuth angle in the antenna coordinate system.

[0034] The main functions of the "lightweight scattering in-motion communication servo control device" are to control initial homing, turn to a specified true north angle, and stable tracking. The initial homing includes using the sensor mark installed on the structural member to rotate in an absolute angle to reach the specified position after the rotation direction reaches the specified position. In the overall servo device, the inertial navigation module, the Beidou dual antenna, the antenna surface orientation after the initial homing, and the forward direction must have a fixed relationship. The heading angle of the current carrier is measured according to the Beidou / GPS and inertial navigation combination, and then the direction angle of the current antenna surface is automatically determined. The turning to the specified true north position includes the host unit establishing a scattering communication link when communicating with the dual-end scattering communication device, and will exchange information with the opposite device according to the Beidou / GPS longitude and latitude, heading angle and other information transmitted by the servo system. The host computer calculates the azimuth and pitch angle in the geodetic coordinate system and sends it to the servo main control unit. The main control unit performs angle conversion between the geodetic coordinate system and the antenna coordinate system, obtains the accurate angle of the communication angle in the antenna system, and sends instructions to the motor driver to adjust the antenna surface. The stable tracking includes the main control unit continuously collecting the data reported by the inertial navigation and performing calculations to obtain the theoretically accurate communication direction angle of the antenna, and issuing instructions to the motor driver to adjust the antenna surface. At the same time, the host computer continuously calculates the scattered communication direction angle and transmits these data to the servo main control unit, and the main control unit continuously rotates to the new specified true north angle.

[0035] Figure 1 The figure shows the working flow chart of "a lightweight scattering moving servo control device". It is an open-loop control system, in which filtering algorithms, PID control and other methods are added to control the accuracy of rotation.

[0036] like Figure 2 As shown, the inertial navigation module and Beidou / GPS antenna in the servo control device are placed under the antenna turntable and do not rotate with the turntable. The Beidou antenna is directly connected to the inertial navigation, and the positioning and orientation information is uploaded by the inertial navigation to the servo main control unit for processing, and transparently transmitted to the host unit. After the host system interacts with the other end using the positioning and orientation information, it sends the communication direction angle and other information to the servo main control unit. The azimuth sensor is fixed on the structure and has a fixed installation position. It can be used to mark the absolute position of the structure in azimuth. The pitch sensor is fixed on the structure and fixed to the neutral position of the pitch rotation axis. It can be used to mark the absolute zero position of the pitch on the structure. The pitch motor and driver, and the azimuth motor and driver rotate with the turntable.

[0037] The pitch angle range of the pitch mechanism in the present invention is -30° to +30°, and the angle is 0° to 360° for the mechanism rotation.

[0038] A lightweight scattering in-motion servo control device, characterized by (including the following steps):

[0039] (1) Receive and respond to the host computer's instructions, and perform servo control based on the host computer's instructions. In this step, the control program in the main control unit first responds to the host computer, and then parses the drive elements in the current round of instructions from the command frame according to the communication protocol. At the same time, the host computer has the function of automatically querying the servo unit status, and the status of the servo control device will be displayed in real time on the host computer interface.

[0040] (2) The servo main control unit control program analyzes the current motor rotation direction and target angle value according to the host computer command. In this step, the main control unit compares the memory angle value after returning to zero with the target angle value to determine the rotation direction, rotation angle and corresponding pulse value of the motor to be driven in this round of instructions. Prepare for the next step of driving the motor. At the same time, PID control is introduced to modulate the proportional, integral and differential parameters to adjust the output of the system pulse value, so as to reduce the errors of the system and the motor itself and improve the servo control accuracy and response speed.

[0041] (3) Drive the motor to rotate and accelerate or decelerate according to the current number of rotation pulses. In order to achieve more accurate rotation accuracy, the process of sending double pulse signals to control the motor rotation also includes the acceleration and deceleration process. When approaching the target angle value, the motor rotation speed is reduced, starting quickly and stopping slowly, so as to reduce the rotation error value of the motor at the target end position.

[0042] (4) The mobile communication servo control program in the present invention is implemented in the main control unit, and does not require operating system or other software support. The program uses the heading, attitude information and position information provided by inertial navigation, Beidou / GPS, and combines the true north communication direction angle data output by the host computer. After the coordinate system conversion, the azimuth, pitch angle, roll angle and polarization angle in the antenna coordinate system are calculated, and the motor is controlled to execute to the corresponding angle. Repeat the above steps to display the precise alignment of the scattered communication direction angle.

[0043] (5) After the current round of instructions is completed, wait for the next instruction from the host computer or wait for the update of the inertial navigation information in the tracking mode. In this step, the control program in the main controller is in a static state, waiting for the update of new instructions and new status.

[0044] The working example of the "lightweight scattering moving communication servo control device" described in the present invention is described as follows:

[0045] Working goal: To achieve the antenna surface attitude maintenance and communication angle tracking in the process of scattering communication. The working steps of responding to the host computer command are as follows:

[0046] ① The antenna performs reset and zeroing operation to find the vertical zero direction of the pitch and the direction of the antenna perpendicular to the double Beidou line, and assigns the current Beidou heading angle information to the current servo system.

[0047] ②The main control unit transmits Beidou / GPS information to the host computer, which interacts with the other end to calculate the true north communication angle during scattering communication and sends it to the servo main control unit. The main control unit calculates the difference between the target angle and the current angle, calculates the rotation direction and the pulse value required for rotation, and drives the motor to rotate accordingly.

[0048] ③ Enter the dynamic communication mode to achieve the functions of stable tracking of communication angle and antenna surface attitude maintenance. The main control unit continuously receives the new true north communication angle sent by the host computer, and at the same time receives the heading angle and attitude information reported by the inertial navigation, converts the angle in the geodetic coordinate system sent by the host computer into the angle in the antenna coordinate system, controls the motor to turn to the corresponding angle, and repeatedly refreshes the inertial navigation attitude information to achieve real-time antenna surface attitude maintenance.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lightweight scattering in-motion servo control device, characterized in that: Including main control unit and inertial navigation module; The main control unit receives and responds to the host computer's instructions, and performs servo control on the antenna mount based on the host computer's instructions: the inertial navigation module is externally connected to the Beidou antenna or GPS, and uploads the latitude and longitude, heading angle and attitude information to the main control unit. The main control unit parses the current motor's rotation axis, rotation angle and motor operation configuration parameters according to the host computer instructions, and executes the motor rotation instruction according to the current value of the inertial navigation module to maintain stable tracking of the antenna in the moving communication mode.

2. A lightweight scattering in-motion servo control device according to claim 1, characterized in that: The main control unit reads the target angle value sent by the host computer and obtains the current memory angle value; by comparing the target angle value and the current memory angle value, it determines the motor to be driven in the current rotation instruction and its rotation direction, and calculates the pulse amount of the current motor rotation.

3. A lightweight scattering in-motion servo control device according to claim 1, characterized in that: The specific process of the main control unit receiving and responding to the host computer's instructions: the main control unit forwards the information uploaded by the inertial navigation module to the host computer, the host computer establishes a scattering communication link, and exchanges information with the opposite device based on the uploaded longitude, latitude and heading information. The host computer calculates the azimuth and pitch angle in the geodetic coordinate system and sends them to the main control unit.

4. A lightweight scattering in-motion servo control device according to claim 1, characterized in that: In the process of scattering communication, the implementation process of stable tracking is as follows: The antenna performs a reset and zeroing operation to find the vertical zero direction of the pitch and the direction of the antenna perpendicular to the double Beidou line, and assigns the current Beidou heading angle information to the current servo system. The main control unit transparently transmits Beidou / GPS information to the host computer. The host computer interacts with the other end to calculate the true north communication angle during scattering communication and sends it to the main control unit. The main control unit calculates the difference between the target angle and the current memory angle value, calculates the rotation direction and the pulse value required for rotation, and drives the motor to rotate accordingly. When entering the moving communication mode, the main control unit continuously receives the new true north communication angle sent by the host computer, and at the same time receives the heading angle and attitude information reported by the inertial navigation unit, converts the angle in the geodetic coordinate system sent by the host computer into the angle in the antenna coordinate system, controls the motor to rotate to the corresponding angle, and continuously refreshes the inertial navigation attitude information to achieve real-time antenna surface attitude maintenance.

5. A lightweight scattering in-motion servo control device according to claim 4, characterized in that: During the antenna tracking process, the motor is driven to rotate rapidly according to the determined rotation direction, and the current value of the trigger sensor on the structural member is read in real time to determine whether the limit operation has been reached.

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