Synchronous control system and method for high-power microwave double-sided array antenna

Abstract

The invention discloses a synchronous control system and method for a high-power microwave double-sided array antenna, and relates to the field of high-power microwave conduction, the system constructs a complete control link, an upper computer can accurately determine the target position of the antenna based on angle information of a rotary transformer, and the antenna can be accurately positioned. And the servo driver can control the motor, the speed reducer and the antenna mechanical shaft according to an instruction of the upper computer, so that the antenna accurately runs to a target position, the positioning precision and the response speed of the antenna are greatly improved, and the synchronism and the stability of the high-power microwave double-sided array antenna are ensured. Through three steps of instruction buffering of an upper computer, target position planning and servo driving control, accurate control of antenna operation is realized. The instruction buffer can be used for storing and updating a position instruction and time, so that the accuracy and timeliness of the instruction are ensured; the target position planning can output a proper position instruction and a target estimation rotating speed according to the buffer information; and the synchronization performance of the antenna is improved.

Description

Technical Field

[0001] The present invention relates to the field of high-power microwave conduction, and particularly to a synchronous control system for a high-power microwave double-sided array antenna.

[0002] The present invention also relates to a synchronous control method for a high-power microwave double-sided array antenna. Background Art

[0003] A high-power microwave double-sided array antenna has two antenna surfaces, and the mechanical axes of the two antenna surfaces are independent. At this time, it is necessary for the two motors on both sides to cooperate to ensure that the antenna surface is flat. However, due to the gaps of worm gears and worm wheels, the tooth gaps of speed reducers, communication delays, etc., the two antenna surfaces are asynchronous. The errors caused by this asynchrony will randomly change with the pitch angle, resulting in a decline in the antenna performance during actual use. When the target is switched, the angle of the double-sided array antenna may have a large step. At this time, how to control the antenna synchronization is also a problem. Summary of the Invention

[0004] The purpose of the present invention is to provide a synchronous control system for a high-power microwave double-sided array antenna, which designs the synchronization adjustment of the two axes of the servo-driven double-sided antenna to solve the problem that asynchrony is likely to occur when relying solely on the cooperation of two motors.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A synchronous control system for a high-power microwave double-sided array antenna, the system includes a host computer, the host computer is respectively connected to two servo drivers, the two servo drivers are sequentially connected to a motor, a speed reducer and an antenna mechanical axis respectively, and the antenna mechanical axis is also connected to a resolver;

[0007] The host computer is used to collect the current angle of the resolver and determine the target position of the antenna by using the current angle of the resolver and the predicted angle;

[0008] The servo driver is used to receive the control output of the target position determined by the host computer, and control the motor to drive the speed reducer and the antenna mechanical axis to run the antenna to the target position.

[0009] The second technical solution adopted by the present invention is a synchronous control method for a high-power microwave double-sided array antenna, which adopts the above-mentioned synchronous control system for a high-power microwave double-sided array antenna. The method includes:

[0010] Host computer instruction buffering. The host computer has a built-in buffer area. The buffer area is preset with a certain number of buffer positions for storing the current position instruction and the current time. The host computer receives the current angle of the resolver and the predicted angle to update the buffer position;

[0011] Target position planning, and output the current position instruction and the target estimated speed to the driver according to the updated buffer;

[0012] Servo drive control, and respectively drive two servo drivers to control the corresponding antennas to run to the target position by receiving the current position instruction and the target estimated speed output by the target position planning.

[0013] Further, the specific process of the host computer instruction buffer includes:

[0014] Judge whether the host computer issues a target instruction. If not, the host computer instruction buffer ends. If so, judge the angle error value between the current resolver and the predicted angle, and update the buffer position according to the error value.

[0015] Due to the adoption of the above technical solution, by judging whether the host computer issues a target instruction and the resolver angle error value to update the buffer position, it can ensure that the information stored in the buffer is always accurate and effective. Only after issuing a target instruction and reasonably updating the buffer according to the error value, the subsequent control process can be based on accurate information, thereby improving the control accuracy and reliability of the system; in practical applications, it can effectively reduce the antenna control deviation caused by incorrect instructions or inaccurate information.

[0016] Further, the host computer presets a threshold corresponding to the error value, judges the relationship between the error value and the threshold. If the error value is greater than the threshold, clear the buffer and update the current position instruction and the current time; if the error value is less than the threshold, store the current position instruction and the current time in the buffer.

[0017] Due to the adoption of the above technical solution, by setting an error threshold and processing the buffer according to the relationship between the error value and the threshold, it can flexibly cope with different error situations. When the error value is greater than the threshold, clear the buffer and update the information to avoid the influence of incorrect information on subsequent control; when the error value is less than the threshold, store the information to ensure the continuity and accuracy of the buffer information. In actual operation, this processing method can enable the system to operate stably in the face of different error situations and improve the fault tolerance of the system.

[0018] Further, the position planning specifically includes:

[0019] Judge the amount of position data in the buffer, and judge whether the number of buffers is greater than the preset number threshold. If not, calculate the target position and the target estimated speed; if so, judge whether the deviation between the resolver angle and the predicted angle is greater than the preset angle threshold, and calculate the target position and the target estimated speed according to the judgment result.

[0020] Due to the adoption of the above technical solution, by judging the number of buffer positions and the angle deviation of the resolver to calculate the target position and the target estimated rotational speed, the calculation method can be flexibly adjusted according to the actual situation. Different buffer numbers and angle deviations may require different calculation strategies. This hierarchical judgment and calculation method can improve the accuracy and adaptability of the calculation results, and further enable the antenna to operate more precisely to the target position. In a complex working environment, the control effect of the antenna can be effectively improved.

[0021] Further, the two servo drivers include driver A and driver B;

[0022] The host computer controls driver A to drive the corresponding antenna to rotate to the target position through the angle difference between the target position and the resolver and the speed reducer;

[0023] The host computer controls driver B to drive the corresponding antenna to rotate to the target position through the angle difference between the target position and the resolver, the target estimated rotational speed, and the position difference compensation amount.

[0024] Due to the adoption of the above technical solution, different control methods are adopted for the two different servo drivers, and precise control can be carried out according to the characteristics of the drivers and the actual operating conditions of the antenna. Driver A is controlled based on the angle difference and the speed reducer, while driver B also takes into account the target estimated rotational speed and the position difference compensation amount on this basis, enabling both antennas to reach the target position more accurately, improving the synchronization and coordination of the dual-sided array antenna, and effectively reducing the time difference and angle difference between the two antennas reaching the target position.

[0025] Further, the position difference compensation amount is the angle difference between the resolvers corresponding to the mechanical axes of the two antennas.

[0026] Due to the adoption of the above technical solution, taking the angle difference between the resolvers corresponding to the mechanical axes of the two antennas as the position difference compensation amount can reflect the position difference between the two antennas in real time and perform compensation when controlling driver B. This can effectively eliminate the position deviation between the two antennas, enable them to maintain better synchronization during operation, further improve the performance and stability of the high-power microwave dual-sided array antenna synchronization control system, and significantly improve the synchronization effect of the antenna.

[0027] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0028] A synchronous control system for a high-power microwave double-sided array antenna of the present invention constructs a complete control link. The host computer can accurately determine the target position of the antenna based on the angle information of the resolver, and the servo driver can control the motor, reducer, and antenna mechanical shaft according to the host computer's instructions, enabling the antenna to accurately operate to the target position, greatly improving the positioning accuracy and response speed of the antenna, and ensuring the synchronization and stability of the high-power microwave double-sided array antenna. A synchronous control method for a high-power microwave double-sided array antenna of the present invention realizes precise control of the antenna operation through three steps: host computer instruction buffering, target position planning, and servo drive control. Instruction buffering can store and update position instructions and time to ensure the accuracy and timeliness of the instructions; target position planning can output appropriate position instructions and target estimated speeds based on the buffered information; servo drive control drives the antenna to the target position, improving the synchronization performance of the antenna. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is the structural schematic diagram of a synchronous control system for a high-power microwave double-sided array antenna of the present invention;

[0030] Figure 2 is the flow schematic diagram of host computer instruction buffering in a synchronous control method for a high-power microwave double-sided array antenna of the present invention;

[0031] Figure 3 is the flow schematic diagram of position planning in a synchronous control method for a high-power microwave double-sided array antenna of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The present invention will be described in detail below with reference to the accompanying drawings.

[0033] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] Embodiment

[0035] This embodiment provides a synchronous control system for a high-power microwave double-sided array antenna, specifically as Figure 1 shown, including a host computer, which is respectively connected to two servo drivers. In this embodiment, the first servo driver and the second servo driver are driver A and driver B. Driver A and driver B are successively connected to a motor, a reducer, and an antenna mechanical shaft, and the antenna mechanical shaft is also connected to a resolver;

[0036] The host computer is used to collect the current angle of the resolver and determine the target position of the antenna by comparing the current angle of the resolver with the predicted angle;

[0037] Driver A and Driver B are used to receive the target position output control determined by the host computer, and control the corresponding motors to drive the reducers and the antenna mechanical shafts to move the antenna to the target position.

[0038] This embodiment also provides a synchronous control method for a high-power microwave double-sided array antenna. Specifically, the above-mentioned synchronous control system for a high-power microwave double-sided array antenna is adopted, and the implementation steps are as follows:

[0039] Before the operation of this system, the position loop gains of the two-sided antennas have been adjusted separately. The parameters of the differential tracker are selected according to the servo driver and the overall situation of the system. This control method is triggered periodically. In this embodiment, it is triggered with a period of 10 ms.

[0040] (1) Host computer instruction buffering. As Figure 2 shown, the host computer has a built-in buffer. A certain number of buffer positions are preset in the buffer. In this embodiment, 5 buffer positions are preset to store the current position instruction and the current time. The host computer receives the current angle and predicted angle of the resolver to update the buffer position. Specifically: judge whether the host computer issues a target instruction. If no instruction is issued, the host computer instruction buffering ends. If the host computer issues an instruction, judge the error value between the current angle and the predicted angle of the resolver. The host computer presets a threshold corresponding to the error value. In this embodiment, the threshold is set to 0.5°. Judge the relationship between the error value and the threshold. If the error value is greater than the threshold, clear the buffer and update the current position instruction and the current time; if the error value is less than the threshold, judge whether the buffer position is full. If it is not full, store the received current position instruction and the current time in the current memory. If the buffer position is full, shift the entire buffer memory one bit to the left, and then update the current position instruction and the current time at the last bit, that is, update the latest angle and the corresponding latest time of the buffer.

[0041] (2) Target position planning. Output the current position instruction and the target estimated speed to the driver according to the updated buffer, specifically as follows:

[0042] As Figure 3As shown, the amount of data in the judgment buffer position is judged, and it is judged whether the amount of buffer data is greater than a preset quantity threshold. In this embodiment, the quantity threshold is selected as 2. If not, a differential tracker is used to calculate the target position and the target estimated rotational speed of the current cycle. If so, any resolver can be selected to collect the angle in this process. In this embodiment, it is judged whether the deviation between the resolver angle corresponding to servo driver A and the predicted angle is greater than a preset angle threshold. In this embodiment, the angle threshold is selected as 0.5°. If not, a differential tracker is used to calculate the target position and the target estimated rotational speed of the current cycle. Otherwise, linear interpolation is used to calculate the target position and the target estimated rotational speed of the current cycle, and these two values are further used to predict the position of one cycle.

[0043] Servo drive control drives two servo drivers to control the corresponding antennas to run to the target position respectively by receiving the current position command and the target estimated rotational speed output by the target position planning. The target position is the target angle of the antenna, which is specifically as follows:

[0044] The two servo drivers include driver A and driver B;

[0045] The control quantity of driver A consists of two parts: the output of the proportional controller and the feedforward quantity. The input of the proportional controller is the difference between the target position and the resolver angle of the current cycle, and the feedforward quantity is the target estimated rotational speed.

[0046] The control quantity of driver B consists of three parts: the output of the proportional controller, the feedforward quantity, and the position difference compensation quantity. The input of the proportional controller is the difference between the target position and the resolver angle of the current cycle, the feedforward quantity is the target estimated rotational speed, and the input of the position difference compensation quantity is the difference between resolver A and resolver B, which is output through the proportional controller.

[0047] A high-power microwave double-sided array antenna synchronous control method in this embodiment realizes precise control of the antenna operation through three steps: host computer instruction buffering, target position planning, and servo drive control. Instruction buffering can store and update position instructions and time to ensure the accuracy and timeliness of instructions; target position planning can output appropriate position instructions and target estimated rotational speeds according to buffer information; servo drive control drives the antenna to reach the target position, improving the synchronous performance of the antenna.

[0048] Specific embodiments are applied in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A high-power microwave double-sided array antenna synchronization control system, characterized in that: The system includes a host computer, the host computer is respectively connected to two servo drivers, the two servo drivers are respectively connected to a motor, a reducer and an antenna mechanical shaft in turn, and the antenna mechanical shaft is also connected to a rotary transformer; The host computer is used to collect the current angle of the rotary transformer, and use the current angle of the rotary transformer and the predicted angle to determine the target position of the antenna; The servo driver is used to receive the target position output control determined by the host computer, and control the motor to drive the reducer and the antenna mechanical axis to move the antenna to the target position.

2. A high-power microwave double-sided array antenna synchronization control method, using the high-power microwave double-sided array antenna synchronization control system according to claim 1, characterized in that: The method comprises: Host computer command buffer, the host computer has a built-in buffer, the buffer has a certain number of buffer positions preset, which are used to store the current position command and the current time, and the host computer receives the current angle and predicted angle of the rotary transformer to update the buffer position; Target position planning, outputting the current position command and target estimated speed to the driver according to the updated buffer; The servo drive control receives the current position command and the target estimated speed output by the target position planning and drives two servo drivers to control the corresponding antenna to run to the target position.

3. A high-power microwave double-sided array antenna synchronization control method according to claim 2, characterized in that: The specific process of host computer instruction buffering includes: Determine whether the host computer issues a target instruction. If not, the host computer instruction buffering ends. If so, determine the error value between the current rotary transformer angle and the predicted angle, and update the buffer position according to the error value.

4. A high-power microwave double-sided array antenna synchronization control method according to claim 3, characterized in that: The host computer presets a threshold value corresponding to the error value, judges the relationship between the error value and the threshold value, and if the error value is greater than the threshold value, clears the buffer and updates the current position instruction and current time; if the error value is less than the threshold value, stores the current position instruction and current time in the buffer.

5. The method for synchronous control of a high-power microwave double-sided array antenna according to claim 2, characterized in that: The target location planning specifically includes: Determine the amount of data in the buffer position, and determine whether the amount of data in the buffer is greater than a preset quantity threshold. If not, calculate the target position and the target estimated speed; if so, determine whether the deviation between the rotary transformer angle and the predicted angle is greater than a preset angle threshold, and calculate the target position and the target estimated speed based on the judgment result.

6. A high-power microwave double-sided array antenna synchronization control method according to claim 5, characterized in that: The two servo drives include a first drive and a second drive; The host computer controls the first driver to drive the corresponding antenna to rotate to the target position through the angle difference between the target position and the rotary transformer and the reducer; The host computer controls the second driver to drive the corresponding antenna to rotate to the target position through the angle difference between the target position and the rotary transformer, the target estimated rotation speed and the position difference compensation amount.

7. A high-power microwave double-sided array antenna synchronization control method according to claim 6, characterized in that: The position difference compensation amount is the angle difference of the rotary transformers corresponding to the mechanical axes of the two antennas.

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