Hydraulic control system for an antenna array

Abstract

The application discloses a kind of hydraulic control systems for antenna array surface, comprising: main control box, first hydraulic node, second hydraulic node, first hydraulic cylinder, second hydraulic cylinder and antenna angle sensor;First hydraulic node and second hydraulic node are connected by detachable hydraulic pipeline, and second hydraulic node is connected with first hydraulic cylinder and second hydraulic cylinder by hydraulic pipeline respectively;Antenna angle sensor is used to obtain the real-time pitch angle of antenna, and first hydraulic node, second hydraulic node, antenna angle sensor are communicated with main control box;Antenna angle sensor is used to obtain the real-time angle of antenna array surface;Main control box is used to control first hydraulic node and second hydraulic node to realize the synchronous lifting or lowering of first hydraulic cylinder and second hydraulic cylinder according to antenna array surface command angle and antenna array surface real-time angle.The structure of the present application is reasonable, which reduces the cost and solves the problem of poor synchronization performance of structural hard synchronization.

Description

Technical Field

[0001] This invention relates to the field of hydraulic equipment for antenna arrays, and more particularly to a hydraulic control system for antenna arrays. Background Technology

[0002] The antenna hydraulic control system uses a hydraulic system to adjust the antenna array to a specified angle.

[0003] In traditional antenna hydraulic control systems, the main control box is directly connected to the hydraulic valves and sensors for pressure, oil level, and oil temperature of the hydraulic system via signal lines. This makes the wiring complex, especially for large antenna hydraulic control systems, where there are many hydraulic valves and sensors, and the distance between the hydraulic valves and sensors and the main control box is large, making the wiring problem prominent.

[0004] Furthermore, radar antennas typically rotate continuously with the turntable, causing the hydraulic cylinders responsible for lifting the antennas to rotate as well. To prevent hydraulic oil from flowing through the rotating joints, traditional antenna hydraulic control systems incorporate a hydraulic pump station that rotates with the hydraulic cylinders. Radar mounting systems often also include hydraulic mechanisms such as support legs, which do not rotate with the turntable and also require their own hydraulic pump station. This results in the entire hydraulic system containing two hydraulic pump stations, increasing system cost and size.

[0005] Meanwhile, traditional antenna hydraulic control systems employ a structural hard synchronization method for hydraulic synchronization, which places high demands on antenna stiffness. However, with technological advancements, antenna arrays are becoming increasingly thinner and larger, resulting in weakened antenna stiffness. Traditional structural hard synchronization methods then fall short, potentially causing array distortion and significant economic losses. Summary of the Invention

[0006] To address the technical problems existing in the background art, the present invention proposes a hydraulic control system for antenna arrays.

[0007] The present invention proposes a hydraulic control system for an antenna array, comprising: a main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder, and an antenna angle sensor;

[0008] The first hydraulic node and the second hydraulic node are connected by a detachable hydraulic pipeline, and the second hydraulic node is connected to the first hydraulic cylinder and the second hydraulic cylinder respectively by a hydraulic pipeline.

[0009] The antenna angle sensor is used to obtain the real-time pitch angle of the antenna. The first hydraulic node, the second hydraulic node, the antenna angle sensor and the main control box are connected in communication.

[0010] Antenna angle sensors are used to obtain the real-time angle of the antenna array.

[0011] The main control box is used to control the first hydraulic node and the second hydraulic node to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder according to the command angle and the real-time angle of the antenna array.

[0012] Preferably, when the antenna command angle is greater than the current antenna angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate in order to achieve synchronous lifting of the first hydraulic cylinder and the second hydraulic cylinder;

[0013] When the commanded angle of the antenna is less than the current angle of the antenna, the main control box controls the first hydraulic node and the second hydraulic node to work together to achieve synchronous retraction of the first hydraulic cylinder and the second hydraulic cylinder.

[0014] When the antenna command angle is equal to the current antenna angle, the main control box controls the first hydraulic node and the second hydraulic node to work together to achieve synchronous stopping of the first hydraulic cylinder and the second hydraulic cylinder.

[0015] Preferably, the first hydraulic node includes: a first control board, a hydraulic cylinder, a hydraulic pump, an unlocking solenoid valve, and a high-pressure solenoid valve;

[0016] The hydraulic oil tank is connected to the inlet of the hydraulic pump, and the outlet of the hydraulic pump is connected to the unlocking solenoid valve and the high-pressure solenoid valve respectively. The unlocking solenoid valve and the high-pressure solenoid valve are respectively connected to the first control board, and the first control board is connected to the main control box.

[0017] The second hydraulic node includes a second control board, a first multi-way valve, and a second multi-way valve; the first multi-way valve is connected to the unlocking solenoid valve via a detachable hydraulic line, and the first multi-way valve is connected to the first hydraulic cylinder via a hydraulic line; the second multi-way valve is connected to the high-pressure solenoid valve via a detachable hydraulic line, and the second multi-way valve is connected to the second hydraulic cylinder via a hydraulic line; the first multi-way valve and the second multi-way valve are respectively connected to the second control board, and the second control board is connected to the first control board.

[0018] Preferably, during the process of synchronously lifting or lowering the first hydraulic cylinder and the second hydraulic cylinder, the main control box unlocks the solenoid valve and the high-pressure solenoid valve through the first control board, and at the same time starts the first multi-way valve and the second multi-way valve through the second control board.

[0019] While the main control box reads the real-time angle of the antenna array, it also obtains the length information of the first and second hydraulic cylinders in real time through the second control board.

[0020] Based on the length information of the first hydraulic cylinder and the second hydraulic cylinder, the opening direction of the first multi-way valve and the second multi-way valve is obtained. At the same time, based on the command angle and real-time angle of the antenna array, the target opening degree of the first multi-way valve is obtained. Based on the length information of the first hydraulic cylinder and the second hydraulic cylinder and the target opening degree of the first multi-way valve, the real-time opening degree of the second multi-way valve is calculated.

[0021] The real-time opening of the first multi-way valve is adjusted according to the target opening of the first multi-way valve, and the real-time opening of the second multi-way valve is adjusted according to the real-time opening of the second multi-way valve.

[0022] After the real-time opening of the first multi-way valve and the real-time opening of the second multi-way valve are adjusted, determine whether to raise or lower to the preset position.

[0023] If so, the first control board locks the solenoid valve and the high-pressure solenoid valve, while the second control board closes the first multi-way valve and the second multi-way valve.

[0024] If not, repeat the above steps until the position is raised or lowered to the preset position.

[0025] Preferably, the real-time opening adjustment process of the first multi-way valve includes a uniform acceleration stage, a first uniform speed stage, a deceleration stage, and a second uniform speed stage set sequentially.

[0026] When the real-time opening of the first multi-way valve is accelerated to the preset maximum opening, it enters the first uniform speed stage; wherein, the real-time opening of the first multi-way valve in the first uniform speed stage is the preset maximum opening.

[0027] When the difference between the real-time angle of the antenna array and the commanded angle of the antenna array is less than the preset angle, the deceleration phase begins.

[0028] When the real-time opening of the first multi-way valve decreases to the preset minimum opening, it enters the second uniform speed stage; wherein, the real-time opening of the first multi-way valve in the second uniform speed stage is the preset minimum opening.

[0029] Preferably, during the acceleration phase, K = K0 + K step ×i acc K <K max ;

[0030] In the first uniform velocity phase, K = K max , K≥K max ;

[0031] During the deceleration phase, K = K1 - K step ×i acc K>K0;

[0032] During the second uniform velocity stage, K = K0, K ≤ K0;

[0033] In the formula, K is the real-time opening degree of the first multi-way valve, K0 is the preset minimum opening degree, K1 is the target opening degree of the first multi-way valve when the difference between the real-time angle of the antenna array and the commanded angle of the antenna array equals the preset angle, and K... max K is the preset maximum opening. step For each step change of the first multi-way valve, i acc To speed up the number of calculation steps.

[0034] Preferably, the real-time opening degree of the second multi-way valve = (length of the first hydraulic cylinder - length of the second hydraulic cylinder) × proportional coefficient + real-time opening degree of the first multi-way valve.

[0035] Preferably, the first hydraulic node further includes a cylinder unlocking pressure sensor, a working pressure sensor, an oil temperature sensor, and an oil level sensor. The oil temperature sensor is used to obtain the oil temperature of the hydraulic oil tank, the oil level sensor is used to obtain the oil level of the hydraulic cylinder, the working pressure sensor is used to obtain the working pressure, and the cylinder unlocking pressure sensor is used to obtain the unlocking pressure. The cylinder unlocking pressure sensor, the working pressure sensor, the oil temperature sensor, and the oil level sensor are respectively connected to the first control board for communication.

[0036] The proposed hydraulic control system for antenna arrays in this invention features a rationally designed, distributed layout. Based on different functions, the entire antenna hydraulic control system is divided into a main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder, and an antenna angle sensor. The main control box is communicatively interconnected with the first and second hydraulic nodes, which are interconnected via hydraulic pipelines. These hydraulic pipelines supply the hydraulic medium, and each hydraulic node is located near the object being hydraulically controlled. Furthermore, the detachable hydraulic pipeline connection between the first and second hydraulic nodes in this embodiment allows for antenna array adjustment using only a single hydraulic pump, thus reducing costs.

[0037] Furthermore, this invention uses a main control box to control the first hydraulic node and the second hydraulic node to coordinate and achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder according to the command angle and real-time angle of the antenna array, thus solving the problem of poor synchronization performance of hard synchronization structures. Attached Figure Description

[0038] Figure 1 This is a block diagram of a hydraulic control system for an antenna array according to one embodiment of the present invention.

[0039] Figure 2 This is a block diagram of the first hydraulic node in one embodiment of the present invention.

[0040] Figure 3 This is a block diagram of the second hydraulic node in one embodiment of the present invention. Detailed Implementation

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0042] Reference Figure 1-3 The present invention proposes a hydraulic control system for an antenna array, comprising: a main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder, and an antenna angle sensor;

[0043] The first hydraulic node and the second hydraulic node are connected by a detachable hydraulic pipeline, and the second hydraulic node is connected to the first hydraulic cylinder and the second hydraulic cylinder respectively by a hydraulic pipeline.

[0044] The antenna angle sensor is used to obtain the real-time pitch angle of the antenna. The first hydraulic node, the second hydraulic node, the antenna angle sensor and the main control box are connected in communication.

[0045] Antenna angle sensors are used to obtain the real-time angle of the antenna array.

[0046] The main control box is used to control the first hydraulic node and the second hydraulic node to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder according to the command angle and the real-time angle of the antenna array.

[0047] This invention features a rationally designed structure with a distributed layout. The entire antenna hydraulic control system is divided into a main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder, and an antenna angle sensor, based on their functions. The main control box is communicatively interconnected with the first and second hydraulic nodes, which are also interconnected via hydraulic pipelines. These hydraulic pipelines supply the hydraulic medium, and each hydraulic node is located near the object being controlled. Furthermore, the detachable hydraulic pipeline connection between the first and second hydraulic nodes in this embodiment allows for antenna array adjustment using only a single hydraulic pump, thus reducing costs.

[0048] Furthermore, this invention uses a main control box to control the first hydraulic node and the second hydraulic node to coordinate and achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder according to the command angle and real-time angle of the antenna array, thus solving the problem of poor synchronization performance of hard synchronization structures.

[0049] It should be noted that in this embodiment, the first and second hydraulic cylinders are full-stroke mechanical self-locking hydraulic cylinders, and they also have built-in absolute displacement sensors.

[0050] When the commanded angle of the antenna is greater than the current angle of the antenna, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous lifting of the first hydraulic cylinder and the second hydraulic cylinder.

[0051] When the commanded angle of the antenna is less than the current angle of the antenna, the main control box controls the first hydraulic node and the second hydraulic node to work together to achieve synchronous retraction of the first hydraulic cylinder and the second hydraulic cylinder.

[0052] When the antenna command angle is equal to the current antenna angle, the main control box controls the first hydraulic node and the second hydraulic node to work together to achieve synchronous stopping of the first hydraulic cylinder and the second hydraulic cylinder.

[0053] In order to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder, in this embodiment, the first hydraulic node includes: a first control board, a hydraulic cylinder, a hydraulic pump, an unlocking solenoid valve, and a high-pressure solenoid valve.

[0054] The hydraulic oil tank is connected to the inlet of the hydraulic pump, and the outlet of the hydraulic pump is connected to the unlocking solenoid valve and the high-pressure solenoid valve respectively. The unlocking solenoid valve and the high-pressure solenoid valve are respectively connected to the first control board, and the first control board is connected to the main control box.

[0055] The second hydraulic node includes a second control board, a first multi-way valve, and a second multi-way valve; the first multi-way valve is connected to the unlocking solenoid valve via a detachable hydraulic line, and the first multi-way valve is connected to the first hydraulic cylinder via a hydraulic line; the second multi-way valve is connected to the high-pressure solenoid valve via a detachable hydraulic line, and the second multi-way valve is connected to the second hydraulic cylinder via a hydraulic line; the first multi-way valve and the second multi-way valve are respectively connected to the second control board, and the second control board is connected to the first control board.

[0056] To address the issue of dual hydraulic pump stations, this embodiment designs only one hydraulic pump, integrated into the first hydraulic node. The first and second hydraulic nodes are connected via detachable hydraulic lines. When the antenna array needs adjustment, the first and second hydraulic nodes are connected; once the antenna array is in place, the first and second hydraulic nodes are disconnected.

[0057] Specifically, quick connectors are provided on the hydraulic lines between the first hydraulic node and the second hydraulic node to facilitate disassembly and assembly.

[0058] In this embodiment, the first hydraulic node further includes a cylinder unlocking pressure sensor, a working pressure sensor, an oil temperature sensor, and an oil level sensor. The oil temperature sensor is used to obtain the oil temperature of the hydraulic oil tank, the oil level sensor is used to obtain the oil level of the hydraulic cylinder, the working pressure sensor is used to obtain the working pressure, and the cylinder unlocking pressure sensor is used to obtain the unlocking pressure. The cylinder unlocking pressure sensor, the working pressure sensor, the oil temperature sensor, and the oil level sensor are all communicatively connected to the first control board.

[0059] To address the issue of poor synchronization performance in hard synchronization structures, in this embodiment, during the process of synchronous lifting or lowering of the first and second hydraulic cylinders, the main control box first unlocks the solenoid valve and the high-pressure solenoid valve through the first control board, and simultaneously activates the first and second multi-way valves through the second control board.

[0060] Next, while the main control box reads the real-time angle of the antenna array, it also obtains the length information of the first and second hydraulic cylinders in real time through the second control board.

[0061] Based on the length information of the first hydraulic cylinder and the second hydraulic cylinder, the opening direction of the first multi-way valve and the second multi-way valve is obtained. At the same time, based on the command angle and real-time angle of the antenna array, the target opening degree of the first multi-way valve is obtained. Based on the length information of the first hydraulic cylinder and the second hydraulic cylinder and the target opening degree of the first multi-way valve, the real-time opening degree of the second multi-way valve is calculated.

[0062] The real-time opening of the first multi-way valve is adjusted according to the target opening of the first multi-way valve, and the real-time opening of the second multi-way valve is adjusted according to the real-time opening of the second multi-way valve.

[0063] After the real-time opening of the first multi-way valve and the real-time opening of the second multi-way valve are adjusted, determine whether to raise or lower to the preset position.

[0064] If so, the first control board locks the solenoid valve and the high-pressure solenoid valve, while the second control board closes the first multi-way valve and the second multi-way valve.

[0065] If not, repeat the above steps until the position is raised or lowered to the preset position.

[0066] To ensure stability during the lifting or lowering process, in this embodiment, the real-time opening adjustment process of the first multi-way valve includes a uniform acceleration stage, a first uniform speed stage, a deceleration stage, and a second uniform speed stage set sequentially.

[0067] When the real-time opening of the first multi-way valve is accelerated to the preset maximum opening, it enters the first uniform speed stage; wherein, the real-time opening of the first multi-way valve in the first uniform speed stage is the preset maximum opening.

[0068] When the difference between the real-time angle of the antenna array and the commanded angle of the antenna array is less than the preset angle, the deceleration phase begins.

[0069] When the real-time opening of the first multi-way valve decreases to the preset minimum opening, it enters the second uniform speed stage; wherein, the real-time opening of the first multi-way valve in the second uniform speed stage is the preset minimum opening.

[0070] Specifically, during the acceleration phase, K = K0 + K step ×i acc K <K max ;

[0071] In the first uniform velocity phase, K = K max , K≥K max ;

[0072] During the deceleration phase, K = K1 - K step ×i acc K>K0;

[0073] During the second uniform velocity stage, K = K0, K ≤ K0;

[0074] In the formula, K is the real-time opening degree of the first multi-way valve, K0 is the preset minimum opening degree, K1 is the real-time opening degree of the first multi-way valve when the difference between the real-time angle of the antenna array and the commanded angle of the antenna array equals the preset angle, and K... max K is the preset maximum opening. step For each step change of the first multi-way valve, i acc To speed up the number of calculation steps.

[0075] Among them, K0, K max and K step Specific values ​​should be set according to the actual situation of the project.

[0076] In this embodiment, the real-time opening degree of the second multi-way valve = (length of the first hydraulic cylinder - length of the second hydraulic cylinder) × proportional coefficient + real-time opening degree of the first multi-way valve.

[0077] In this embodiment, the main control box is connected to the first hydraulic node via an RS485 bus, and the first hydraulic node and the second hydraulic node are connected via an RS485 bus.

[0078] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A hydraulic control system for an antenna array, characterized in that, include: Main control box, first hydraulic node, second hydraulic node, first hydraulic cylinder, second hydraulic cylinder and antenna angle sensor; The first hydraulic node includes: a first control board, a hydraulic cylinder, a hydraulic pump, an unlocking solenoid valve, and a high-pressure solenoid valve; The hydraulic oil tank is connected to the inlet of the hydraulic pump, and the outlet of the hydraulic pump is connected to the unlocking solenoid valve and the high-pressure solenoid valve respectively. The unlocking solenoid valve and the high-pressure solenoid valve are respectively connected to the first control board, and the first control board is connected to the main control box. The second hydraulic node includes a second control board, a first multi-way valve, and a second multi-way valve. The first multi-way valve is connected to the unlocking solenoid valve via a detachable hydraulic line, and is also connected to the first hydraulic cylinder via a hydraulic line. The second multi-way valve is connected to the high-pressure solenoid valve via a detachable hydraulic line, so as to connect the first and second hydraulic nodes when adjusting the antenna array, and disconnect the first and second hydraulic nodes after the antenna array is adjusted to the correct position. The second multi-way valve is also connected to the second hydraulic cylinder via a hydraulic line. The first and second multi-way valves are respectively communicatively connected to the second control board, and the second control board is communicatively connected to the first control board. The antenna angle sensor is connected to the main control box for communication. The antenna angle sensor is used to obtain the real-time angle of the antenna array. The main control box is used to control the first hydraulic node and the second hydraulic node to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder according to the command angle of the antenna array and the real-time angle of the antenna array.

2. The hydraulic control system for antenna arrays according to claim 1, characterized in that, When the commanded angle of the antenna is greater than the current angle of the antenna, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous lifting of the first hydraulic cylinder and the second hydraulic cylinder; When the commanded angle of the antenna is less than the current angle of the antenna, the main control box controls the first hydraulic node and the second hydraulic node to work together to achieve synchronous retraction of the first hydraulic cylinder and the second hydraulic cylinder. When the antenna command angle is equal to the current antenna angle, the main control box controls the first hydraulic node and the second hydraulic node to work together to achieve synchronous stopping of the first hydraulic cylinder and the second hydraulic cylinder.

3. The hydraulic control system for antenna arrays according to claim 1, characterized in that, During the process of synchronously lifting or lowering the first hydraulic cylinder and the second hydraulic cylinder, the main control box unlocks the solenoid valve and the high-pressure solenoid valve through the first control board, and at the same time starts the first multi-way valve and the second multi-way valve through the second control board. While the main control box reads the real-time angle of the antenna array, it also obtains the length information of the first and second hydraulic cylinders in real time through the second control board. Based on the length information of the first hydraulic cylinder and the second hydraulic cylinder, the opening direction of the first multi-way valve and the second multi-way valve is obtained. At the same time, based on the command angle and real-time angle of the antenna array, the target opening degree of the first multi-way valve is obtained. Based on the length information of the first hydraulic cylinder and the second hydraulic cylinder and the target opening degree of the first multi-way valve, the real-time opening degree of the second multi-way valve is calculated. The real-time opening of the first multi-way valve is adjusted according to the target opening of the first multi-way valve, and the real-time opening of the second multi-way valve is adjusted according to the real-time opening of the second multi-way valve. After the real-time opening of the first multi-way valve and the real-time opening of the second multi-way valve are adjusted, determine whether to raise or lower to the preset position. If so, the first control board locks the solenoid valve and the high-pressure solenoid valve, while the second control board closes the first multi-way valve and the second multi-way valve. If not, repeat the above steps until the position is raised or lowered to the preset position.

4. The hydraulic control system for antenna arrays according to claim 3, characterized in that, The real-time opening adjustment process of the first multi-way valve includes a uniform acceleration stage, a first uniform speed stage, a deceleration stage, and a second uniform speed stage set sequentially. When the real-time opening of the first multi-way valve is accelerated to the preset maximum opening, it enters the first uniform speed stage; wherein, the real-time opening of the first multi-way valve in the first uniform speed stage is the preset maximum opening. When the difference between the real-time angle of the antenna array and the commanded angle of the antenna array is less than the preset angle, the deceleration phase begins. When the real-time opening of the first multi-way valve decreases to the preset minimum opening, it enters the second uniform speed stage; wherein, the real-time opening of the first multi-way valve in the second uniform speed stage is the preset minimum opening.

5. The hydraulic control system for antenna arrays according to claim 4, characterized in that, During the acceleration phase, K = K0 + K step ×i acc K <K max ; In the first uniform velocity phase, K=K max , K≥K max ; During the deceleration phase, K = K1 - K step ×i acc K>K0; During the second uniform velocity stage, K=K0, K≤K0; In the formula, K is the real-time opening degree of the first multi-way valve, K0 is the preset minimum opening degree, K1 is the real-time opening degree of the first multi-way valve when the difference between the real-time angle of the antenna array and the commanded angle of the antenna array equals the preset angle, and K... max K is the preset maximum opening. step For each step change of the first multi-way valve, i acc To speed up the number of calculation steps.

6. The hydraulic control system for antenna arrays according to claim 3, characterized in that, The real-time opening degree of the second multi-way valve = (length of the first hydraulic cylinder - length of the second hydraulic cylinder) × proportional coefficient + real-time opening degree of the first multi-way valve.

7. The hydraulic control system for antenna arrays according to claim 1, characterized in that, The first hydraulic node also includes a cylinder unlocking pressure sensor, a working pressure sensor, an oil temperature sensor, and an oil level sensor. The oil temperature sensor is used to obtain the oil temperature of the hydraulic oil tank, the oil level sensor is used to obtain the oil level of the hydraulic cylinder, the working pressure sensor is used to obtain the working pressure, and the cylinder unlocking pressure sensor is used to obtain the unlocking pressure. The cylinder unlocking pressure sensor, the working pressure sensor, the oil temperature sensor, and the oil level sensor are all connected to the first control board for communication.

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