Airborne antenna control method, electronic equipment and storage medium

Abstract

According to the airborne antenna control method, the electronic equipment and the storage medium, whether the first sensor breaks down or not is judged by judging whether the first angle, collected by the first sensor, of the airborne antenna meets the first preset condition or not, and when the first sensor does not break down, a motor is directly controlled through the first angle, so that the control efficiency is improved. When the first sensor breaks down, switching to a second angle of the motor collected by a second sensor to control the motor, and judging whether the second sensor breaks down or not according to whether the second angle meets a second preset condition or not; the motor is controlled by switching to the third angle of the motor determined by the motor type, and the feedback angle of the motor is timely switched and controlled when the sensor fails, so that the problem that the overall function of the system is lost due to the failure of the motor end sensor or the load end sensor in the actual use process can be effectively solved; and the overall task completion reliability of the airborne antenna servo control system is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of airborne antenna control, and in particular relates to an airborne antenna control method, electronic equipment, and storage medium. Background Art

[0002] Existing airborne antenna servo control systems typically use semi-closed-loop control (relying on a motor and a motor-side sensor) or full-closed-loop control (relying on a motor and a load-side sensor) to control antenna position. Achieving control stability and accuracy relies on the reliability of the sensor itself, especially in complex environments. Using a single sensor to control airborne antenna servo control can lead to system failure in the event of a sensor failure, resulting in low reliability for the overall system's mission. Summary of the Invention

[0003] The embodiments of the present application provide an airborne antenna control method, electronic device, and storage medium, which can improve the reliability of the overall task completion of the system.

[0004] In a first aspect, embodiments of the present application provide an airborne antenna control method, which is applied to an airborne antenna servo control system, wherein the airborne antenna servo control system includes a motor and an airborne antenna driven by the motor; the method includes:

[0005] Acquire a first angle of the airborne antenna collected by a first sensor;

[0006] In response to determining that the first angle does not satisfy a first preset condition, controlling the motor based on the first angle;

[0007] In response to determining that the first angle satisfies the first preset condition, acquiring a second angle of the motor acquired by a second sensor;

[0008] In response to determining that the second angle does not satisfy a second preset condition, controlling the motor based on the second angle;

[0009] In response to determining that the second angle satisfies a second preset condition, a third angle of the motor is determined based on the type of the motor, and the motor is controlled based on the third angle to control the onboard antenna via the motor.

[0010] In a second aspect, an embodiment of the present application provides an airborne antenna control device, which is applied to an airborne antenna servo control system, wherein the airborne antenna servo control system includes a motor and an airborne antenna driven by the motor; the device includes:

[0011] A first acquisition module acquires a first angle of the airborne antenna collected by a first sensor;

[0012] a first control module, in response to determining that the first angle does not satisfy a first preset condition, controlling the motor based on the first angle;

[0013] a second acquiring module, in response to determining that the first angle satisfies the first preset condition, acquiring a second angle of the motor acquired by a second sensor;

[0014] a second control module, in response to determining that the second angle does not satisfy a second preset condition, controlling the motor based on the second angle;

[0015] The third control module determines a third angle of the motor based on the type of the motor in response to determining that the second angle satisfies a second preset condition, and controls the motor based on the third angle so as to control the airborne antenna through the motor.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions;

[0017] When the processor executes the computer program instructions, the airborne antenna control as described in the first aspect is implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the airborne antenna control as described in the first aspect is implemented.

[0019] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device performs the airborne antenna control as described in the first aspect.

[0020] The airborne antenna control method, electronic device and storage medium of the embodiments of the present application determine whether the first sensor has a fault by determining whether the first angle of the airborne antenna collected by the first sensor meets a first preset condition. When the first sensor has not failed, the motor is directly controlled by the first angle. When the first sensor has failed, the control is switched to the second angle of the motor collected by the second sensor to control the motor, and whether the second sensor has a fault is determined by determining whether the second angle meets a second preset condition. When the second sensor has failed, the control is switched to a third angle of the motor determined by the motor type to control the motor. By promptly switching the feedback angle of the motor control when the sensor sends a fault signal, the problem of loss of overall system function due to failure of the motor-end sensor or the load-end sensor during actual use can be effectively solved, thereby improving the reliability of the overall task completion of the airborne antenna servo control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 This is a flow chart of an airborne antenna control method provided by one embodiment of the present application;

[0023] Figure 2 This is a schematic structural diagram of an airborne antenna servo control system provided by one embodiment of the present application;

[0024] Figure 3 This is a flow chart of another airborne antenna control method provided by one embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of a process for determining a reduction ratio provided by an embodiment of the present application;

[0026] Figure 5 This is a structural diagram of an airborne antenna control device provided by one embodiment of the present application;

[0027] Figure 6 This is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0028] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0029] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0030] As described in the background art, in existing airborne antenna servo control systems, antenna position control is typically achieved using a semi-closed loop (relying on a motor and a motor-end sensor) or a fully closed loop control (relying on a motor and a load-end sensor). Achieving control stability and accuracy relies on the reliability of the sensor itself, especially the reliability of the sensor in complex environments. For example, in related technologies, using a single semi-closed loop control will cause system mission failure if the motor-end sensor fails; using a single fully closed loop control will cause system mission failure if the load-end sensor fails; and using a combination of semi-closed loop and fully closed loop control will cause mission failure if either the motor end or the sensor fails. Therefore, the reliability of the overall mission completion of the airborne antenna servo control system in current related technologies is not high.

[0031] To solve the problems of the prior art, the embodiments of the present application provide an airborne antenna control method, apparatus, device, computer storage medium, and computer program product. The airborne antenna control provided by the embodiments of the present application is first introduced below.

[0032] Figure 1 The flowchart of the first airborne antenna control method provided by one embodiment of the present application is shown. The method is applied to an airborne antenna servo control system, which includes a motor and an airborne antenna driven by the motor; Figure 1 As shown, the method includes the following steps:

[0033] S101: Acquire a first angle of an airborne antenna collected by a first sensor.

[0034] During specific implementation, the airborne antenna control method of an embodiment of the present application is applied to an airborne antenna servo control system, which includes a motor and an airborne antenna driven by the motor. In some implementations, the airborne antenna servo control system also includes a first sensor, which is used to collect the first angle of rotation of the airborne antenna. In order to accurately control the airborne antenna, priority is given to servo control through the first angle of the airborne antenna. Therefore, the first angle of the airborne antenna collected by the first sensor is first obtained. In one example, after the first sensor collects and records the first angle of the antenna in real time, it sends the first angle to the controller of the airborne antenna servo control system, and the controller performs subsequent judgment operations based on the first angle. In one example, the first sensor includes a resolver or an absolute position sensor.

[0035] S102 : In response to determining that the first angle does not satisfy a first preset condition, controlling the motor based on the first angle.

[0036] During specific implementation, after obtaining the above-mentioned first angle, in order to be able to promptly discover whether the first sensor has failed, it is necessary to determine whether the first angle meets the first preset condition. It should be noted that the first preset condition can reflect the state corresponding to the first angle when the first sensor fails. The specific first preset condition can be set as needed. For example, the range of the first angle when the first sensor is in a normal state can be determined first, and then the values ​​of the first angle that are abnormal can be inferred based on the range, so that the first preset condition can be accurately determined. When it is determined that the first angle does not meet the first preset condition, it means that the first sensor is in a normal state at this time. Therefore, the motor can be controlled by the first angle so that the airborne antenna can be driven by the motor to realize servo control of the airborne antenna.

[0037] In some embodiments, the first preset condition includes: the displacement angle of the first angle in the first preset time interval is greater than the first preset angle, or the displacement angle of the first angle in the second preset time interval is less than the second preset angle; wherein the first preset angle is greater than the second preset angle. It should be noted that, considering that under normal circumstances, the maximum angle that the airborne antenna can rotate within a certain period of time is certain, therefore, when the displacement angle of the first angle collected by the first sensor in the first preset time interval is greater than the first preset angle, it indicates that the first sensor is currently faulty and cannot accurately collect the displacement angle of the airborne antenna. At the same time, when the airborne antenna servo control system is in operation, the airborne antenna cannot remain stationary. Therefore, when the displacement angle of the first angle in the second preset time interval is less than the second preset angle, it indicates that the first sensor has failed.

[0038] It should be noted that the above-mentioned first preset angle, second preset angle, first preset time interval and second preset time interval can all be set as needed. For example, in one example, it is set that the load angle of the airborne antenna does not change by more than 0.1° per 1ms, then the first preset time interval can be set to 1ms, and the first preset angle can be set to 0.1°. At the same time, the second preset angle can be set to 0.01°, and the second preset time interval can be set to 10ms. In some embodiments, in order to improve the robustness of the fault switching logic, the position error judgment threshold is set to a preset multiple of the maximum position change or an additional set value is added on the basis of the maximum position change. For example, when it is set that the load angle of the airborne antenna does not change by more than 0.1° per 1ms, the load angle can be set to a change of △θ1≥0.12° per ms, that is, the first preset time interval is set to 1ms, and the first preset angle is set to 0.12°.

[0039] It should be noted that in order to accurately control the rotation angle of the airborne antenna in the airborne antenna servo control system, when issuing control commands to the motor, it is necessary to use the first angle of the airborne antenna, which is acquired in real time, to determine the current position of the airborne antenna. This is to determine the angle required to further rotate the airborne antenna to reach the target position. Therefore, in the embodiments of the present application, servo control can be preferentially performed based on the first angle of the airborne antenna, which is directly acquired.

[0040] S103 : In response to determining that the first angle satisfies a first preset condition, obtaining a second angle of the motor acquired by a second sensor.

[0041] In a specific implementation, when it is determined that the first angle satisfies the first preset condition, it indicates that the first sensor has failed and servo control can no longer be performed using the first angle. To avoid system task failure, servo control can be switched to a second angle of motor rotation. Therefore, the second angle of the motor acquired by the second sensor is obtained. In one example, the second sensor includes an incremental encoder or a Hall sensor.

[0042] It should be noted that the reference Figure 2, is an airborne antenna servo control system in an embodiment of the present application, which includes a host computer 01, a controller 02, a motor 03, a motor inductor (i.e., a second sensor) 08, a reducer 04, a load (i.e., an airborne antenna) 05, a limit switch 06, and a load sensor (i.e., a first sensor) 07. After the motor inductor (i.e., the second sensor) 08 and the load sensor (i.e., the first sensor) 07 respectively collect the displacement angles of the motor 03 and the load (i.e., the airborne antenna) 05, they send the displacement angles to the controller 02. The controller 02 issues a control instruction to the motor 03 based on the target position of the airborne antenna and the displacement angle of the airborne antenna sent by the host computer 01. Alternatively, when the load sensor (i.e., the first sensor) 07 fails, the controller 02 issues a control instruction to the motor 03 based on the target position of the airborne antenna and the displacement angle of the motor sent by the host computer 01. Alternatively, when the motor sensor (ie, the second sensor) 08 also fails, the controller 02 sends a control instruction to the motor 03 based on the target position of the airborne antenna sent by the host computer 01 and the displacement angle of the motor calculated by the motor type.

[0043] In some embodiments, the second preset condition includes: the displacement angle of the second angle in the third preset time interval is greater than the third preset angle, or the displacement angle of the second angle in the fourth preset time interval is less than the fourth preset angle; wherein the third preset angle is greater than the fourth preset angle. It should be noted that the second preset condition is mainly used to determine whether the rotation angle of the motor collected by the second sensor is abnormal. The specific principle of determining the second preset condition can refer to the process of determining the first preset condition in the above embodiment. For example, in one example, the load angle of the airborne antenna is set to not change by more than 0.1° per 1ms, and the reduction ratio of the reducer is 100. At this time, the position change of the motor angle θ2 per 1ms will not exceed 10°. That is, at this time, the third preset time interval can be set to 1ms, the third preset angle can be set to 10°, the fourth preset time interval can be set to 10ms, and the fourth preset angle can be set to 0.01°.

[0044] S104 , in response to determining that the second angle does not satisfy a second preset condition, controlling the motor based on the second angle.

[0045] In a specific implementation, if it is determined that the second angle does not satisfy the second preset condition, it indicates that the second sensor is currently functioning normally. Therefore, the motor can be controlled using the second angle to drive the airborne antenna via the motor, thereby achieving servo control. It should be noted that when controlling the motor using the second angle, the current reduction ratio of the reducer can be used first, and then the acquired second angle of the motor can be converted into the first angle of the airborne antenna using the reduction ratio before servo control is performed.

[0046] S105 , in response to determining that the second angle satisfies the second preset condition, determining a third angle of the motor based on the type of the motor, and controlling the motor based on the third angle, so as to control the airborne antenna through the motor.

[0047] In a specific implementation, if it is determined that the second angle satisfies the second preset condition, it indicates that the second sensor has also failed, making servo control impossible using the second angle. To further improve the fault resistance of the airborne antenna servo control system, in this embodiment of the present application, a third angle of the motor is further determined based on the motor type. This third angle is an estimated angle of the motor calculated based on the motor type. The motor is then controlled using this third angle, thereby controlling the airborne antenna via the motor.

[0048] In order to accurately determine the third angle of the motor, in some embodiments, determining the third angle of the motor based on the type of the motor includes:

[0049] In response to determining that the type of the motor is a stepping motor, obtaining a pulse step number and a rotor tooth number of the motor, and determining the third angle based on the pulse step number and the rotor tooth number;

[0050] Alternatively, in response to determining that the type of the motor is a DC motor type, an operating current and an operating voltage of the motor are obtained, and the third angle is determined based on the operating current and the operating voltage.

[0051] In a specific implementation, when estimating the third angle of the motor by calculation, the type of the motor can be determined first. When it is determined that the type of the above-mentioned motor is a stepper motor type, the number of pulse steps and the number of rotor teeth of the motor can be obtained, and then the third angle of the motor can be determined using 360° / (number of rotor teeth × number of pulse steps). When it is determined that the type of the above-mentioned motor is a DC motor type, the operating current and the operating voltage of the above-mentioned motor are first obtained, and the above-mentioned third angle is determined based on the above-mentioned operating current and the above-mentioned operating voltage. When determining the above-mentioned third angle based on the above-mentioned operating current and the above-mentioned operating voltage, the algorithm for calculating the motor rotation angle by current and voltage in the relevant technology can be referred to, and no limitation is made to this. In one example, the DC motor type includes a BLDC brushless DC motor type or a PMSM permanent magnet synchronous motor type.

[0052] In order to accurately determine the third angle, in some embodiments, determining the third angle based on the operating current and the operating voltage includes:

[0053] Substituting the operating current and the operating voltage into a preset estimation method to determine the third angle;

[0054] The above-mentioned preset estimation methods include a sliding mode observer method, a model reference adaptive method or a Kalman filter method.

[0055] It should be noted that when calculating the third angle of the motor, the above-mentioned working current and the above-mentioned working voltage can be brought into the sliding mode observer method, the model reference adaptive method or the Kalman filter method to calculate the third angle of the motor. In one example, the basic idea of ​​using the sliding mode observer method to estimate the rotor position in the BLDC / PMSM positionless control includes: first, a sliding mode current observer is established according to the voltage equation of the BLDC / PMSM to observe the current, and the plane where the deviation between the current estimated by the sliding mode current observer and the current detected by the actual current sensor is equal to zero is selected as the sliding mode surface. The deviation is controlled by high-frequency switching to output the back electromotive force of the motor containing high-frequency components to form a closed-loop system. The back electromotive force of the motor containing high-frequency components is low-pass filtered to obtain an estimated back electromotive force. Finally, the rotor position information is calculated based on the rotor position information contained in the back electromotive force.

[0056] In some embodiments, the airborne antenna servo control system further includes an electrical limit switch, and determining the third angle of the motor based on the type of the motor includes:

[0057] In response to determining that the airborne antenna triggers the electrical limit switch, obtaining an electrical limit angle corresponding to the electrical limit switch;

[0058] The third angle is corrected based on the electrical limit angle.

[0059] In specific implementation, in order to solve the problem of cumulative deviation of the estimated third angle caused by step loss of the stepper motor during actual operation, or the problem of deviation of the third angle estimated by the observer when the BLDC / PMSM motor actually runs the sensorless algorithm, the boundary position can be recalibrated through the electrical limit switches at the positive and negative limit positions. The installation position of the electrical limit switch is usually a little outside the positive and negative limit positions (for example, if the positive and negative limit positions are +100° and -100°, then the electrical limit switch is usually installed at +101° and -101°, determined by mechanical installation). The electrical limit switch will not be triggered during normal operation. When the positive and negative electrical limit switches are triggered, the third angle will be directly corrected, that is, the electrical limit angle value will be assigned to the third angle, thereby avoiding continuous cumulative deviation.

[0060] refer to Figure 3 , is another airborne antenna control method according to an embodiment of the present application, the method comprising the following steps:

[0061] S201, start executing the airborne antenna control method.

[0062] S202, determining the current control mode.

[0063] S203, determine whether the current control mode is full closed-loop control, if so (Y), execute step S204, if not (N), execute step S205.

[0064] S204, determine whether the load angle (ie, the first angle of the airborne antenna) is normal. If normal, execute step S206; if not, execute step S207.

[0065] S205, determining whether the current control mode is semi-closed loop control, if so, executing step S208, if not, executing step S211.

[0066] S206, maintaining full closed-loop control mode.

[0067] S207 , using the load angle (the first angle mentioned above) as a control input.

[0068] S208, determine whether the motor angle (the above-mentioned second angle) is normal. If it is normal, execute step S209; if it is abnormal, execute step S211.

[0069] S209: Switch the control mode to a semi-closed loop control mode.

[0070] S210 uses the motor angle as the control input.

[0071] S211, switching the control mode to the sensorless control mode.

[0072] S212, determine whether the limit switch is triggered, if it is triggered, go to step S213, if not triggered, go directly to step S214.

[0073] S213, correcting the estimated angle (the third angle) value in the sensorless control method.

[0074] S214: Use the estimated angle (the third angle mentioned above) as a control input.

[0075] S215 , executing the normal control process of the airborne antenna servo control system according to different control inputs.

[0076] S216, end.

[0077] In order to solve the problem of deviation in the reduction ratio, in some embodiments, the airborne antenna servo control system further includes a reducer provided at the motor and the airborne antenna; and the method further includes:

[0078] controlling the above-mentioned airborne antenna to operate for multiple displacement cycles;

[0079] For each of the plurality of displacement cycles, determining a first cumulative displacement angle of the airborne antenna and a second cumulative displacement angle of the motor when the airborne antenna is displaced from a first preset angle to a second preset angle; and determining a reduction ratio of the reducer in the displacement cycle based on the first cumulative displacement angle and the second cumulative displacement angle;

[0080] Determining an average reduction ratio of the plurality of displacement periods based on the reduction ratio corresponding to each displacement period;

[0081] The average reduction ratio is determined as the calibrated reduction ratio of the reducer.

[0082] During specific implementation, considering that the factory reduction ratio of the reducer in the airborne antenna servo control system is somewhat different from the reduction ratio of the reducer in actual operation, in order to solve the technical problem of the deviation in the reduction ratio, this application proposes a calculation method for automatically calibrating the reduction ratio. That is, the above-mentioned airborne antenna is controlled to run multiple displacement cycles. In each displacement cycle, the first cumulative displacement angle of the above-mentioned airborne antenna and the second cumulative displacement angle of the above-mentioned motor are determined when the above-mentioned airborne antenna is displaced from the first preset angle to the second preset angle. Then, the reduction ratio of the reducer corresponding to the displacement cycle is obtained by dividing the second cumulative displacement angle by the first cumulative displacement angle. Then, the average reduction ratio of multiple displacement cycles is calculated, and the above-mentioned average reduction ratio is determined as the calibrated reduction ratio of the above-mentioned reducer. That is, the calibrated reduction ratio is used for control calculations in actual servo control.

[0083] To further improve the accuracy of calibrating the reduction ratio, in some embodiments, the first preset angle is the maximum angle that the airborne antenna can displace along the first direction, and the second preset angle is the maximum angle that the airborne antenna can displace along the second direction; the first direction is opposite to the second direction. It should be noted that, considering that the greater the displacement of the airborne antenna, the higher the accuracy of the corresponding calculated reduction ratio, in this embodiment, the first preset angle is the maximum angle that the airborne antenna can displace along the first direction, and the second preset angle is the maximum angle that the airborne antenna can displace along the second direction. For example, in one example, the first preset angle is +100°, and the second preset angle is -100°.

[0084] refer to Figure 4 , is a schematic diagram of a process for determining a reduction ratio according to an embodiment of the present application, wherein the reduction ratio determination process includes the following steps:

[0085] S401, start.

[0086] S402, controlling the airborne antenna to move to the negative limit position.

[0087] S403, controlling the airborne antenna to move to the positive limit position.

[0088] S404 , respectively calculating the accumulated value of the load angle (the first angle) and the accumulated value of the motor angle (the second angle).

[0089] S405, calculating the reduction ratio based on the accumulated value of the load angle (the first angle) and the accumulated value of the motor angle (the second angle), and repeating S402-S405 N times (N is a positive integer greater than 1).

[0090] S406: Take the average value of N reduction ratios as the final reduction ratio of the reducer.

[0091] S407, end.

[0092] In some embodiments, the airborne antenna control method of the embodiment of the present application further includes switching speed control based on the determination of sensor failure. The specific process may include:

[0093] Acquire a second speed of the motor collected by a second sensor;

[0094] in response to determining that the second speed does not satisfy a third predetermined condition, controlling the motor based on the second speed;

[0095] In response to determining that the second speed satisfies a third preset condition, obtaining a first speed of the airborne antenna acquired by the first sensor;

[0096] In response to determining that the first speed does not satisfy a fourth preset condition, controlling the motor based on the first speed;

[0097] In response to determining that the first speed satisfies a fourth preset condition, a third speed of the motor is determined based on the type of the motor, and the motor is controlled based on the third speed to control the onboard antenna via the motor.

[0098] In some embodiments, the third preset condition includes: the second speed is greater than the first preset speed, or the first speed, or the second speed is less than the second preset speed; wherein the first preset speed is greater than the second preset speed.

[0099] In some embodiments, the fourth preset condition includes: the first speed is greater than the third preset speed, or the first speed is less than the fourth preset speed; wherein the third preset speed is greater than the fourth preset speed. In one example, the antenna load operating speed is set to a maximum supported speed of 30° / s, and the reducer reduction ratio is 100. From this, the motor shaft end speed can be calculated to be 3000° / s, or 500 rpm. Therefore, the first preset speed can be set to 3000° / s, and the third preset speed can be set to 30° / s. Both the second preset speed and the fourth preset speed can be set to 0.1° / s.

[0100] The airborne antenna control method of the embodiment of the present application determines whether the first sensor has a fault by determining whether the first angle of the airborne antenna collected by the first sensor meets a first preset condition. When the first sensor has not failed, the motor is directly controlled by the first angle. When the first sensor has failed, the method switches to controlling the motor using the second angle of the motor collected by the second sensor, and determines whether the second sensor has a fault by determining whether the second angle meets a second preset condition. When the second sensor has failed, the method switches to controlling the motor using a third angle of the motor determined by the motor type. By timely switching the feedback angle of the motor control when the sensor sends a fault signal, the problem of loss of overall system function due to failure of the motor-end sensor or the load-end sensor during actual use can be effectively solved, thereby improving the reliability of the overall task completion of the airborne antenna servo control system.

[0101] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides an airborne antenna control device, which is applied to an airborne antenna servo control system. The airborne antenna servo control system includes a motor and an airborne antenna driven by the motor.

[0102] refer to Figure 5 , the airborne antenna control device comprises:

[0103] A first acquisition module 501 acquires a first angle of the airborne antenna collected by a first sensor;

[0104] A first control module 502 controls the motor based on the first angle in response to determining that the first angle does not satisfy a first preset condition;

[0105] A second acquisition module 503 acquires a second angle of the motor acquired by a second sensor in response to determining that the first angle meets a first preset condition;

[0106] a second control module 504 , in response to determining that the second angle does not satisfy a second preset condition, controlling the motor based on the second angle;

[0107] The third control module 505 , in response to determining that the second angle satisfies the second preset condition, determines a third angle of the motor based on the type of the motor, and controls the motor based on the third angle so as to control the airborne antenna through the motor.

[0108] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0109] The airborne antenna control device of the above embodiment is used to implement the corresponding airborne antenna control in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0110] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0111] In some embodiments, the electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0112] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0113] The memory 602 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 602 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 602 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 602 is a non-volatile solid-state memory.

[0114] In certain embodiments, memory 602 includes read-only memory (ROM). The ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory, or a combination of two or more thereof, where appropriate.

[0115] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0116] The processor 601 reads and executes computer program instructions stored in the memory 602 to implement any one of the airborne antenna controls in the above embodiments.

[0117] In one example, the electronic device may further include a communication interface 603 and a bus 610. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 and communicate with each other.

[0118] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0119] Bus 610 includes hardware, software or both, and the parts of online data flow metering equipment are coupled to each other. For example, but not limitation, bus can include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 610 can include one or more buses. Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0120] The electronic device of the above embodiment is used to implement the corresponding airborne antenna control in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0121] In addition, in conjunction with the airborne antenna control in the above embodiments, embodiments of the present application may provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the airborne antenna control in the above embodiments is implemented.

[0122] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the airborne antenna control as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0123] An embodiment of the present application further provides a computer program product, including a computer program, which, when processed and executed, implements any one of the airborne antenna controls in the above embodiments.

[0124] In some embodiments, the computer program instructions may be executed by one or more processors of a computer to cause the computer and / or the processor to perform the airborne antenna control described in the above embodiments. For each step in each embodiment of the airborne antenna control, the processor executing the step may belong to the corresponding execution entity.

[0125] The computer program product of the above embodiment is used to enable the computer and / or the processor to execute the airborne antenna control as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0126] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0127] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0128] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0129] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0130] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A method for controlling an airborne antenna, characterized in that: The method is applied to an airborne antenna servo control system, wherein the airborne antenna servo control system includes a motor and an airborne antenna driven by the motor; the method includes: Acquire a first angle of the airborne antenna collected by a first sensor; In response to determining that the first angle does not satisfy a first preset condition, controlling the motor based on the first angle; In response to determining that the first angle satisfies the first preset condition, acquiring a second angle of the motor acquired by a second sensor; In response to determining that the second angle does not satisfy a second preset condition, controlling the motor based on the second angle; In response to determining that the second angle satisfies a second preset condition, a third angle of the motor is determined based on the type of the motor, and the motor is controlled based on the third angle to control the onboard antenna via the motor.

2. The method according to claim 1, characterized in that Determining a third angle of the motor based on the type of the motor includes: In response to determining that the type of the motor is a stepping motor, obtaining a pulse step number and a rotor tooth number of the motor, and determining the third angle based on the pulse step number and the rotor tooth number; Alternatively, in response to determining that the type of the motor is a DC motor type, an operating current and an operating voltage of the motor are obtained, and the third angle is determined based on the operating current and the operating voltage.

3. The method according to claim 2, characterized in that Determining the third angle based on the operating current and the operating voltage includes: Substituting the operating current and the operating voltage into a preset estimation method to determine the third angle; The preset estimation method includes a sliding mode observer method, a model reference adaptive method or a Kalman filter method.

4. The method according to claim 1, wherein The first preset condition includes: the displacement angle of the first angle in the first preset time interval is greater than the first preset angle, or the displacement angle of the first angle in the second preset time interval is less than the second preset angle; wherein, the first preset angle is greater than the second preset angle.

5. The method according to claim 1, wherein The second preset condition includes: the displacement angle of the second angle in the third preset time interval is greater than the third preset angle, or the displacement angle of the second angle in the fourth preset time interval is less than the fourth preset angle; wherein the third preset angle is greater than the fourth preset angle.

6. The method according to claim 1, characterized in that The airborne antenna servo control system further includes an electrical limit switch, which determines a third angle of the motor based on the type of the motor, including: In response to determining that the airborne antenna triggers the electrical limit switch, obtaining an electrical limit angle corresponding to the electrical limit switch; The third angle is corrected based on the electrical limit angle.

7. The method according to claim 1, characterized in that The airborne antenna servo control system further includes a reducer provided between the motor and the airborne antenna; the method further includes: controlling the airborne antenna to operate for a plurality of displacement cycles; For each displacement cycle of the plurality of displacement cycles, determining a first cumulative displacement angle of the airborne antenna and a second cumulative displacement angle of the motor when the airborne antenna is displaced from a first preset angle to a second preset angle; and determining a reduction ratio of the reducer in the displacement cycle based on the first cumulative displacement angle and the second cumulative displacement angle; determining an average reduction ratio of the plurality of displacement periods based on the reduction ratio corresponding to each displacement period; The average reduction ratio is determined as a calibrated reduction ratio of the reducer.

8. The method according to claim 7, characterized in that The first preset angle is a maximum angle at which the airborne antenna can be displaced along a first direction, and the second preset angle is a maximum angle at which the airborne antenna can be displaced along a second direction; the first direction is opposite to the second direction.

9. An electronic device, characterized in that: The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the airborne antenna control according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the airborne antenna control according to any one of claims 1 to 8 is implemented.

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