Shipborne satellite communication antenna key device automatic detection and switching system

Abstract

The invention discloses a shipborne satellite communication antenna key device automatic detection and switching system, and belongs to the field of shipborne satellite communication device automatic detection and health management. On the basis of reliability analysis of all devices of the system, hardware hot standby redundancy design is carried out on key devices, communication, data and running states of states of all the devices of the system are detected hierarchically on software, then switching priorities of the devices are set according to actual conditions and inherent attributes of the system, and the switching priorities of the devices are set according to the actual conditions and inherent attributes of the system. And automatic switching is carried out in combination with an equipment detection state, so that automatic guarantee of tasks under the condition of no human intervention is realized. According to the method, the reliability and the health management level of the system are improved to a great extent.

Description

Technical Field

[0001] The present invention relates to the field of automatic detection and health management of shipborne satellite communication devices, in particular to the field of hardware hot standby redundancy design. Background Art

[0002] Since shipboard antennas are highly dependent on communications, satellite antennas often work continuously, which places very high demands on the reliability of components. Due to the special environmental requirements at sea and the increasing requirements of users for equipment working hours and reliability, simply reducing the failure rate of each device cannot effectively meet reliability requirements. Summary of the invention

[0003] The present invention particularly proposes a redundant design of the hardware of key components combined with a real-time automatic detection and switching processing method of the software, which can well reduce the failure rate caused by component failures. Compared with simply improving the failure rate of a single component, it has higher operability and more effectively improves system reliability. The local redundant design of first parallel and then series makes the reliability design more optimized. Real-time data collection and hierarchical status monitoring make fault detection more timely and effective, and the status display is also clearer. Priority is set according to the inherent attributes of the equipment, and the equipment is intelligently switched in real time without manual intervention, simplifying the operation process.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] An automatic detection and switching system for key components of a shipborne satellite communication antenna includes an antenna control unit, a navigation unit, an inertial navigation unit, a receiver, a gyro data acquisition unit and an antenna drive control unit;

[0006] The navigation unit is provided with two as the main device and the backup device respectively; the receiver is provided with two as the main device and the backup device respectively; the antenna drive control unit is provided with two sets of drive motors as the main device and the backup device respectively; the output ends of the two sets of drive motors are meshed with the drive end of the same rotating shaft; each gyro outputting data in the gyro data acquisition unit is provided with another gyro as its backup;

[0007] The antenna control unit monitors the status of the navigation, unit inertial navigation unit, receiver, gyro data acquisition unit and antenna drive control unit in real time, and selects and controls its own data source.

[0008] Furthermore, the antenna control unit is connected to the navigation unit via Ethernet; and performs data acquisition and drive control with the inertial navigation unit, the receiver, the gyro data acquisition unit and the antenna drive control unit via a CAN bus.

[0009] Furthermore,

[0010] The antenna control unit completes data collection for each device interface, analyzes it into relevant states, and implements switching between the current device and the data source according to the relevant states; the antenna control unit includes a communication monitoring module, a device status monitoring module, an operation status monitoring module and a device switching module;

[0011] The communication monitoring module is used to complete the communication interface monitoring and detection;

[0012] The equipment status monitoring module processes the data information of each device to obtain equipment status monitoring when the communication status is normal;

[0013] The operation status monitoring module detects the operation status of the primary device when the primary and backup devices are selected; the device switching module switches the current device or data source according to the current status of the primary and backup devices and data interfaces.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] The antenna control unit monitors all devices in real time through the CAN network, with fast communication speed and high reliability. External navigation data is communicated through the network interface, with fast speed and good versatility.

[0016] The main drive shaft is driven by dual motors, and the two motors are backed up by each other. When both motors are normal, the dual motor anti-backlash drive mode is adopted, which can eliminate the backlash and have better tracking performance. When any motor has a problem, it will automatically switch to the single motor drive mode. The tracking performance is not affected without reversing. There is a small fluctuation during reversing, but it can still ensure the normal function. The single-double machine switching takes into account the parameter matching of the two modes and ensures a smooth transition. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A block diagram of the principle of automatic switching of key components of a shipborne satellite communication antenna of the present invention

[0018] Figure 2 Hardware connection diagram of automatic switching of key components of a shipborne satellite communication antenna of the present invention

[0019] Figure 3 Schematic diagram of automatic switching loop control of key components of a shipborne satellite communication antenna of the present invention

[0020] Figure 4 A software flow chart of automatic switching of key components of a shipborne satellite communication antenna of the present invention

[0021] Figure 5 A software flow chart of automatic switching of navigation data source of a shipborne satellite communication antenna of the present invention

[0022] Figure 6 A software flow chart of automatic switching of a shipborne satellite communication antenna gyro device of the present invention

[0023] Figure 7 A software flow chart of automatic switching of a shipborne satellite communication antenna receiver device of the present invention

[0024] Figure 8 A software flow chart of automatic switching of single and double machine drive of a shipborne satellite communication antenna of the present invention DETAILED DESCRIPTION

[0025] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0026] The hardware of this embodiment based on the hot standby redundant design is partially redundant, mainly including navigation equipment, receivers, pitch axis feedforward and feedback gyroscopes, cross axis feedforward gyroscopes and feedback gyroscopes, and azimuth, pitch and cross axis motor drive strategies. The navigation equipment includes two external inertial navigation devices and one internal self-contained navigation device, a total of three navigation information sources that back up each other; the receiver is a main and standby device that backs up each other; the pitch and cross axis feedback gyroscopes and feedforward gyroscopes each have two sensors that back up each other; the azimuth, pitch and cross axis of the driving antenna are each driven by two motors. In addition to the dual-machine anti-gap driving strategy, a backup single-machine driving strategy is also provided. The switching of the above devices is centrally monitored and uniformly switched by the antenna control unit based on the CAN bus and network communication.

[0027] Specifically, all hot backup devices adopt a parallel local redundant design, and except for the navigation equipment, a dual-machine backup solution with one master and one backup is adopted.

[0028] Specifically, the hardware installation status of the main and standby receiver devices is the same. In software communication, the main device has a slightly higher priority. During operation, it automatically switches according to the current device status based on the real-time monitoring of the device status.

[0029] Specifically, the gyro devices are installed on the arms of the azimuth and pitch axes respectively, and are divided into feedforward and feedback gyro. All types of gyro are dual-machine backup, and the hardware installation and software communication have the same status and priority. During operation, they are automatically switched according to the real-time monitored device status and preset priority.

[0030] Specifically, the navigation equipment can use positioning modules and inclinometers according to the data used and the accuracy requirements, or use inertial navigation with better performance. In addition to the built-in inertial navigation, this system is connected to two external fiber optic inertial navigation. The priority is pre-set according to the performance and position of each inertial navigation, and it automatically switches according to the real-time monitoring of various fault states of each device.

[0031] Specifically, the main drive shaft is driven by dual motors, and the two motors are backed up for each other. When both motors are normal, the dual motor anti-backlash drive mode is used to eliminate the backlash and have better tracking performance. When any motor has a problem, it will automatically switch to the single motor drive mode. The tracking performance is not affected without reversing. There is a small fluctuation during reversing, but it can still ensure the normal function. The single-double machine switching takes into account the parameter matching of the two modes and ensures a smooth transition.

[0032] Specifically, the antenna control unit monitors all devices in real time through the CAN network, with fast communication speed and high reliability. External navigation data is communicated through the network interface, with fast speed and good versatility.

[0033] Figure 1 It is a system structure diagram, which describes the functional and hardware composition of the system. The dark colors represent hardware components, while the light colors represent functional modules. In 101, the antenna control unit is the core of equipment detection and active-standby switching. 102-106 are all hot standby modules in the system. The status of each device from 102 to 106 is monitored in real time through the status monitoring module of 101, and the data of each module is selected and controlled through the automatic switching module.

[0034] Figure 2 The hardware connection diagram of the system shows that the key components of the shipborne satellite communication antenna are mainly composed of the antenna control unit, inertial navigation, two-way external navigation data, main and standby receivers, gyro data acquisition box and antenna driver. The antenna control unit is the core processing device for data detection and automatic switching of each hot backup device. It is connected to the external navigation data through Ethernet, with strong versatility. It performs data acquisition and drive control with other devices through the CAN bus, making the communication more real-time and reliable.

[0035] Figure 3 The following is a loop control principle block diagram, which describes the basic principle of loop control for switching key components. Vref represents the current given position command value, Wc(s) and Wm(s) represent the transfer functions of the two motor drive parts, Wa(s) represents the current bias regulator, and Wb(s) represents the torque balance link regulator. Wch1(s) and Wch2(s) are loop regulators for switching between single and double machines according to the device status, and further adjust the relevant loop regulators according to the device status detected by the current system.

[0036] The implementation process of this system is as follows Figures 4 to 8 As shown, specifically including the following:

[0037] Data collection: This step completes the data collection for each device interface and analyzes it into relevant status.

[0038] Communication monitoring: This step mainly monitors and detects the communication interface of the equipment. It is mainly the most advanced physical layer detection of each device fault detection.

[0039] Equipment status monitoring: This step mainly completes the equipment status monitoring obtained after processing the data and other information of each device under normal communication status.

[0040] Device switching: This step mainly switches the current device or data source according to the current status of each primary and backup device and data interface.

[0041] Operation status monitoring: This step mainly completes the operation status of each device in the system under the current master and backup device selection status.

[0042] Loop control: This step completes the configuration of each loop and adjusts the loop parameters of the device according to the current device status.

[0043] Specifically for various types of data switching, data source monitoring communication and data validity, such as Figure 5 The gyro device focuses on device communication and fault status, such as Figure 6 In addition to the communication and fault status, the receiver device also pays attention to the lock status, such as Figure 7 The single-to-double-machine switching of the driver switches the double-machine or a single-machine control according to the fault status of the two paths, and cooperates with the switching of the loop to complete the specific switching, such as Figure 8 shown.

[0044] After the above process, the main task of automatic switching of key components can be completed. This process adopts hierarchical detection for equipment fault status monitoring, which has clear logic and convenient implementation, making the detection of each component easy for engineering practice. In addition to achieving a stable transition of equipment switching, it also provides a good foundation for engineering implementation and future maintenance and scalability.

Claims

1. An automatic detection and switching system for key components of shipborne satellite communication antennas, characterized in that: It includes an antenna control unit, a navigation unit, an inertial navigation unit, a receiver, a gyro data acquisition unit and an antenna drive control unit; The navigation unit is provided with two as the main device and the backup device respectively; the receiver is provided with two as the main device and the backup device respectively; the antenna drive control unit is provided with two sets of drive motors as the main device and the backup device respectively; the output ends of the two sets of drive motors are meshed with the drive end of the same rotating shaft; each gyro outputting data in the gyro data acquisition unit is provided with another gyro as its backup; The antenna control unit monitors the status of the navigation, unit inertial navigation unit, receiver, gyro data acquisition unit and antenna drive control unit in real time, and selects and controls its own data source.

2. According to claim 1, a shipborne satellite communication antenna key component automatic detection and switching system is characterized in that: The antenna control unit is connected to the navigation unit via Ethernet; and performs data acquisition and drive control with the inertial navigation unit, the receiver, the gyro data acquisition unit and the antenna drive control unit via the CAN bus.

3. The automatic detection and switching system for key components of shipborne satellite communication antenna according to claim 1 is characterized in that: The antenna control unit completes data collection for each device interface, analyzes it into relevant states, and implements switching between the current device and the data source according to the relevant states; the antenna control unit includes a communication monitoring module, a device status monitoring module, an operation status monitoring module and a device switching module; The communication monitoring module is used to complete the communication interface monitoring and detection; The equipment status monitoring module processes the data information of each device to obtain equipment status monitoring when the communication status is normal; The operation status monitoring module detects the operation status of the primary device when the primary and backup devices are selected; the device switching module switches the current device or data source according to the current status of the primary and backup devices and data interfaces.

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