Antenna unfolding and folding system

Abstract

The embodiment of the invention discloses an antenna unfolding and folding system. The system comprises a middle block antenna, at least one side block antenna, a first hinge shaft, a convex block, a second hinge shaft, a third hinge shaft, an electric cylinder, a pressure sensor, an angle sensor, a first positioning block, a second positioning block and a controller, the controller is connected with the pressure sensor, the angle sensor and the electric cylinder and used for controlling the first positioning block to move when the first positioning block makes contact with the second positioning block. The counter-acting force of the first positioning block is calculated according to the current rotation angle, measured by the angle sensor, of the side block antenna, the current acting force, measured by the pressure sensor, of the electric cylinder, the weight of the side block antenna and the corresponding force arm, and the first rotation speed of the side block antenna around the middle block antenna is calculated according to the counter-acting force and a preset damping coefficient; and controlling the electric cylinder to act according to the first rotation speed to unfold the side block antenna.

Description

Technical Field

[0001] This invention relates to the field of radar technology. More specifically, it relates to an antenna deflection system. Background Technology

[0002] With the development of electronic technology, radar antennas are becoming increasingly larger, while the requirements for mobility are becoming increasingly stringent. The mobility performance of radar has a decisive impact on its rapid response capability. In order for large-size planar array antenna radars to fully meet the limitations of various transport vehicles, it is necessary to divide the large planar array antenna into several sections and adopt corresponding unfolding and folding techniques to enable it to automatically unfold and fold, thus giving the radar high mobility.

[0003] At the end of the antenna deployment process, to ensure the overall dimensional accuracy and deformation of the large planar array antenna, the high-precision positioning surfaces of each section must be tightly fitted according to design requirements to guarantee positioning accuracy. If the moving parts move too fast or the actuators exert too much force during the fitting process, it will impact each antenna section. Therefore, certain strategies are needed to control the final fitting process. Summary of the Invention

[0004] The purpose of this invention is to provide an antenna unfolding system to solve at least one of the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The first aspect of the present invention provides an antenna spreading system, the system comprising:

[0007] A middle block antenna, at least one side block antenna, a first hinge axis disposed on a first surface of the side block antenna, a protrusion disposed on the first surface of the middle block antenna, a second hinge axis disposed on the protrusion, a third hinge axis hinged between the first surface of the middle block antenna and the first surface of the side block antenna, an electric cylinder hinged between the first hinge axis and the second hinge axis, a pressure sensor disposed between the electric cylinder and the first hinge axis, an angle sensor disposed on the third rotation axis, a first positioning block disposed on a second surface of the side block antenna, a second positioning block disposed on a second surface of the middle block antenna, and a controller;

[0008] The controller, connected to the pressure sensor, the angle sensor, and the electric cylinder, is used to calculate the reaction force of the first positioning block when the first positioning block and the second positioning block are in contact, based on the current rotation angle of the side block antenna measured by the angle sensor, the current force of the electric cylinder measured by the pressure sensor, the weight of the side block antenna, and the corresponding lever arm; calculate the first rotation speed of the side block antenna around the middle block antenna based on the reaction force and a preset damping coefficient; and control the electric cylinder to deploy the side block antenna based on the first rotation speed.

[0009] Optionally, the flatness of the surface formed by the third surface of the unfolded side block antenna and the third surface of the middle block antenna is less than or equal to 5 mm.

[0010] Optionally, the perpendicularity between the second surface of the first positioning block and the third surface of the deployed antenna is less than a first preset value;

[0011] The flatness of the third surface of the first positioning block is less than the second preset value;

[0012] The perpendicularity between the second surface of the second positioning block and the third surface of the deployed antenna is less than a third preset value;

[0013] The flatness of the third surface of the second positioning block is less than the fourth preset value.

[0014] Optionally, the pressure sensor's range is greater than the maximum output force of the electric cylinder.

[0015] Optionally, the controller is further configured to control the electric cylinder to rotate about the third hinge axis according to the second rotation speed before the first positioning block and the second positioning block come into contact.

[0016] Optionally, the second rotational speed ranges from 0.2° / s to 0.3° / s.

[0017] Optionally, the first rotational speed is less than the second rotational speed.

[0018] Optionally, the controller is further configured to determine whether the reaction force of the first positioning block reaches a preset reaction force value; if so, the controller controls the electric cylinder to not operate.

[0019] Optionally, the controller is further configured to determine whether the reaction force of the first positioning block reaches N times the preset value of the reaction force; if so, it controls the electric cylinder to stop moving and issues an alarm signal.

[0020] Optionally, the range of the N times reaction force preset value is greater than or equal to 1.5 times the reaction force preset value and less than or equal to 3 times the reaction force preset value.

[0021] The beneficial effects of the present invention are as follows:

[0022] In the final stage of the antenna deployment process, the speed and force of the movable parts are controlled to avoid impact on each antenna segment during the positioning and bonding process. The whole process is well controlled and has low complexity. Attached Figure Description

[0023] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0024] Figure 1 A schematic diagram of the antenna spreading system provided in an embodiment of the present invention is shown.

[0025] Figure 2 This diagram shows an antenna unfolding system provided in an embodiment of the present invention before and after unfolding.

[0026] Figure 3 This diagram shows another schematic of the antenna unfolding system provided in an embodiment of the present invention before and after unfolding.

[0027] Figure 4 This diagram illustrates the force analysis of the front block of the antenna unfolding system provided in an embodiment of the present invention after unfolding. Detailed Implementation

[0028] To more clearly illustrate the present invention, the following description, in conjunction with embodiments and accompanying drawings, further explains the invention. Similar components in the drawings are indicated by the same reference numerals. Those skilled in the art should understand that the specific description below is illustrative rather than restrictive and should not be construed as limiting the scope of protection of the present invention.

[0029] At the end of the antenna deployment process, to ensure the overall dimensional accuracy and deformation of the large planar array antenna, the high-precision positioning surfaces of each section must be tightly fitted according to design requirements to guarantee positioning accuracy. If the moving parts move too fast or the actuators exert too much force during the fitting process, it will impact each antenna section. Therefore, certain strategies are needed to control the final fitting process.

[0030] In view of this, one embodiment of the present invention provides an antenna unfolding system, the system comprising: a central antenna, at least one side antenna, a first hinge axis disposed on a first surface of the side antenna, a protrusion disposed on the first surface of the central antenna, a second hinge axis disposed on the protrusion, a third hinge axis hinged between the first surface of the central antenna and the first surface of the side antenna, an electric cylinder hinged between the first hinge axis and the second hinge axis, a pressure sensor disposed between the electric cylinder and the first hinge axis, an angle sensor disposed on the third rotation axis, and a first positioning sensor disposed on a second surface of the side antenna. The system comprises a first positioning block, a second positioning block disposed on the second surface of the middle antenna block, and a controller. The controller is connected to the pressure sensor, the angle sensor, and the electric cylinder. When the first positioning block and the second positioning block are in contact, the controller calculates the reaction force of the first positioning block based on the current rotation angle of the side antenna block measured by the angle sensor, the current force of the electric cylinder measured by the pressure sensor, the weight of the side antenna block, and the corresponding lever arm. Based on the reaction force and a preset damping coefficient, the controller calculates the first rotation speed of the side antenna block around the middle antenna block. Based on the first rotation speed, the controller controls the electric cylinder to move to deploy the side antenna block.

[0031] In a specific example, such as Figure 3 As shown, (a) is a partial schematic diagram of the antenna unfolding system before it is fully unfolded, and (b) is a partial schematic diagram of the antenna unfolding system after it is fully unfolded.

[0032] In a specific example, such as Figure 1 As shown, the system uses positioning surfaces (i.e., positioning blocks) on the center and side antennas to ensure deployment accuracy; a pressure sensor is placed at the end of the electric cylinder output; and an angle sensor is placed at the array rotation hinge point (i.e., the third rotation axis). At the end of the deployment process, after the positioning surfaces begin to make contact, the reaction force of the positioning surfaces is calculated based on the force measured by the pressure sensor at the end of the electric cylinder, the weight of the side antennas, and the current rotation angle of the side antennas. Based on the reaction force of the positioning surfaces and the set damping coefficient for compliant control, the rotation speed of the side antennas around the center antenna is controlled according to the compliant control strategy. When the reaction force of the positioning surfaces reaches a preset value, it is confirmed that the positioning surfaces are fully engaged, and the deployment process ends.

[0033] Furthermore, the first and second hinge axes are rotary hinge points; the electric cylinder is a folding electric cylinder.

[0034] In this embodiment, the speed and force of the movable parts are controlled at the end of the antenna deployment process to avoid impact on each antenna segment during the positioning and bonding process. The whole process is well controlled and has low complexity.

[0035] In one possible implementation, the flatness of the surface formed by the third surface of the unfolded side block antenna and the third surface of the middle block antenna is less than or equal to 5 mm.

[0036] In a specific example, positioning surfaces are set on the middle block antenna and the side block antenna according to the structural accuracy design requirements.

[0037] Furthermore, structural accuracy includes, for example, the flatness index formed by the unfolded mid-block antenna and at least one side-block antenna.

[0038] Furthermore, the positioning surface needs to be designed according to the structural accuracy requirements. For example, if the flatness of the antenna after deployment (the plane composed of the central antenna and at least one side antenna, with the vertical distance deviation between this plane and the ideal plane) is required to be no more than 5mm, then the perpendicularity between the positioning surface and the upper surface of the antenna, as well as the flatness of the positioning surface itself, must meet the flatness requirements of the antenna after deployment.

[0039] In one possible implementation, the perpendicularity between the second surface of the first positioning block and the third surface of the deployed antenna is less than a first preset value; the flatness of the third surface of the first positioning block is less than a second preset value; the perpendicularity between the second surface of the second positioning block and the third surface of the deployed antenna is less than a third preset value; and the flatness of the third surface of the second positioning block is less than a fourth preset value.

[0040] In a specific example, the second surface of the first positioning block is a surface that is parallel to and away from the second surface of the side block antenna;

[0041] Furthermore, the third surface of the first positioning block is a surface that is parallel to and close to the third surface of the side block antenna.

[0042] Furthermore, the second surface of the first positioning block is a surface that is parallel to and far away from the second surface of the middle block antenna;

[0043] Furthermore, the third surface of the second positioning block is a surface that is parallel to and close to the third surface of the middle block antenna.

[0044] In a specific example, the setting range of the first preset value, the second preset value, the third preset value, and the fourth preset value is such that the flatness of the antenna after deployment is no more than 5mm.

[0045] In one possible implementation, the pressure sensor has a range greater than the maximum output force of the electric cylinder.

[0046] In a specific example, the pressure sensor range is selected based on the maximum output capacity of the electric cylinder, and it is placed at the end of the electric cylinder output.

[0047] Furthermore, in the design of antenna folding systems, the maximum output capacity of electric cylinders is usually left with a margin. To prevent damage to the pressure sensor when the electric cylinder outputs its maximum force in extreme cases, the range of the pressure sensor is generally greater than the maximum output capacity of the electric cylinder.

[0048] In one possible implementation, the controller is further configured to control the electric cylinder to rotate about the third hinge axis according to a second rotation speed before the first positioning block and the second positioning block come into contact.

[0049] In a specific example, an angle sensor (i.e., an angle sensor) is placed at the rotation hinge point of the array.

[0050] Furthermore, the angle sensor is used to determine when the deployment process ends and compliant control begins, and to calculate the reaction force f of the positioning surface. env .

[0051] Furthermore, based on the structural design results, the current rotation angle θ of the side block antenna of the angle measuring sensor is recorded when the positioning surface just makes contact. This is considered to be the end of the deployment process, and compliant control begins.

[0052] In a specific example, such as Figure 2 As shown, (a) is a schematic diagram of the antenna unfolding system before it is fully unfolded, and (b) is a schematic diagram of the antenna unfolding system after it is fully unfolded.

[0053] In one possible implementation, the second rotational speed ranges from 0.2° / s to 0.3° / s.

[0054] In a specific example, such as Figure 4 As shown, at the end of the deployment process, at least one side block antenna maintains a small rotational speed around the middle block antenna. That is, the second rotational speed; after the positioning surface begins to contact, the force f measured by the pressure sensor at the end of the electric cylinder is... r Given the weight M of the edge antenna and the current rotation angle θ of the edge antenna, calculate the reaction force f of the positioning surface. env .

[0055] Furthermore, before the final positioning contact occurs during the deployment process, the rotation speed of the side antenna around the central antenna needs to be controlled to a small speed. To avoid severe impacts caused by excessive initial speed and insufficient deceleration capacity of the electric cylinder, resulting in delayed deceleration.

[0056] Furthermore, generally, the minimum velocity θ is 0.2° / s to 0.3° / s. It can also be adjusted according to the actual situation.

[0057] Furthermore, based on the current rotation angle θ of the side block antenna and the structural dimension parameters, the force f measured by the pressure sensor can be calculated. r The gravity M of the edge antenna g And the reaction force f of the positioning surface env The first lever arm x1, the second lever arm x2, and the third lever arm x3 are rotated around the pivot point of the array surface.

[0058] Furthermore, the reaction force f of the positioning surface env =(f r *x1-M g *x2) / x3.

[0059] In one possible implementation, the first rotational speed is less than the second rotational speed.

[0060] In a specific example, based on the reaction force f of the positioning surface... env and the damping coefficient b of the set compliance control r Calculate the rotational speed of the side block antenna around the middle block antenna at the end of the deployment process. That is, the first rotational speed, causing the side antenna to rotate around the middle antenna at a speed according to... control.

[0061] Furthermore, the damping coefficient b is controlled by compliance. r To control the rotation speed of the end segment side antenna around the middle segment antenna, and to position the reaction force f of the surface. env The larger the size, the smaller the rotation speed of the edge block around the central block antenna.

[0062] In one possible implementation, the controller is further configured to determine whether the reaction force of the first positioning block reaches a preset reaction force value; if so, the controller controls the electric cylinder to remain stationary.

[0063] In a specific example, when the reaction force of the positioning surface reaches the preset value f env0 After confirming that the positioning surface is fully aligned, the unfolding process is complete.

[0064] In one possible implementation, the controller is further configured to determine whether the reaction force of the first positioning block reaches N times the preset value of the reaction force; if so, the controller controls the electric cylinder to stop moving and issues an alarm signal.

[0065] In a specific example, during the unfolding of the final segment, if the calculated reaction force f of the positioning surface... envExceeding the preset value f env0 If the allowable multiple is reached, the unfolding process is determined to be obstructed, the unfolding process is stopped, and an alarm is issued.

[0066] In one possible implementation, the N times reaction force preset value ranges from greater than or equal to 1.5 times the reaction force preset value to less than or equal to 3 times the reaction force preset value.

[0067] In a specific example, the allowable multiplier can be set to 1.5. When the reaction force f of the positioning surface... env Exceeding the preset value f env0 When the speed reaches 1.5 times the normal speed, a message indicates that there may be a movement obstruction, and the machine needs to be stopped for inspection. Movement should not continue.

[0068] Furthermore, this allowable multiple is related to the antenna's weight, size, and structural rigidity, and generally does not exceed 3 times.

[0069] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0070] It should also be noted that in the description of this invention, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0071] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. An antenna unfolding system, characterized in that, The system includes: A middle block antenna, at least one side block antenna, a first hinge axis disposed on a first surface of the side block antenna, a protrusion disposed on the first surface of the middle block antenna, a second hinge axis disposed on the protrusion, a third hinge axis hinged between the first surface of the middle block antenna and the first surface of the side block antenna, an electric cylinder hinged between the first hinge axis and the second hinge axis, a pressure sensor disposed between the electric cylinder and the first hinge axis, an angle sensor disposed on the third rotation axis, a first positioning block disposed on a second surface of the side block antenna, a second positioning block disposed on a second surface of the middle block antenna, and a controller; The controller, connected to the pressure sensor, the angle sensor, and the electric cylinder, is used to calculate the reaction force of the first positioning block when the first positioning block and the second positioning block are in contact, based on the current rotation angle of the side block antenna measured by the angle sensor, the current force of the electric cylinder measured by the pressure sensor, the weight of the side block antenna, and the corresponding lever arm; calculate the first rotation speed of the side block antenna around the middle block antenna based on the reaction force and a preset damping coefficient; and control the electric cylinder to deploy the side block antenna based on the first rotation speed.

2. The antenna unfolding system according to claim 1, characterized in that, The flatness of the surface formed by the third surface of the unfolded side block antenna and the third surface of the middle block antenna is less than or equal to 5 mm.

3. The antenna unfolding system according to claim 2, characterized in that, The perpendicularity between the second surface of the first positioning block and the third surface of the deployed antenna is less than a first preset value; The flatness of the third surface of the first positioning block is less than the second preset value; The perpendicularity between the second surface of the second positioning block and the third surface of the deployed antenna is less than a third preset value; The flatness of the third surface of the second positioning block is less than the fourth preset value.

4. The antenna unfolding system according to claim 3, characterized in that, The pressure sensor's range is greater than the maximum output force of the electric cylinder.

5. The antenna unfolding system according to claim 4, characterized in that, The controller is further configured to control the electric cylinder to rotate about the third hinge axis according to the second rotation speed before the first positioning block and the second positioning block come into contact.

6. The antenna unfolding system according to claim 5, characterized in that, The second rotational speed ranges from 0.2° / s to 0.3° / s.

7. The antenna unfolding system according to claim 6, characterized in that, The first rotational speed is less than the second rotational speed.

8. The antenna spreading system according to claim 7, characterized in that, The controller is also used to determine whether the reaction force of the first positioning block reaches the preset value of the reaction force. If it does, the controller controls the electric cylinder not to move.

9. The antenna spreading system according to claim 8, characterized in that, The controller is also used to determine whether the reaction force of the first positioning block reaches N times the preset value of the reaction force. If it does, the controller controls the electric cylinder to stop moving and issues an alarm signal.

10. The antenna unfolding system according to claim 9, characterized in that, The range of the preset value of N times the reaction force is greater than or equal to 1.5 times the preset value of reaction force and less than or equal to 3 times the preset value of reaction force.

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