Motor drive control method for adjusting downward inclination angle of antenna and related product

Abstract

The invention provides a motor driving control method for adjusting a downward inclination angle of an antenna and a related product. The method comprises the following steps: determining a target position parameter of a driving target; obtaining the starting rotating speed and starting current of the motor and the working environment temperature of the motor; wherein the starting rotating speed is the minimum rotating speed meeting the motor starting requirement; controlling the motor to start based on the starting speed and the starting current; after the motor is started successfully, acquiring a current position parameter of the motor, and determining a residual stroke of the driving target in combination with the current position parameter and the target position parameter; determining a target current of the motor based on the ambient temperature and the remaining stroke; wherein the target current is the working current that the motor controls the driving target to continuously advance forwards. According to the scheme, the motor is controlled to be started at low speed and large current, the starting success rate can be increased, and a transmission mechanism can be prevented from being damaged by high-torque locked-rotor; the working current of the motor is determined by combining the environment temperature, torque loss caused by the temperature is reasonably compensated, and the driving control precision is improved.

Description

Technical Field

[0001] This application relates to the field of antenna technology, and in particular to a motor drive control method and related products for adjusting the downtilt angle of an antenna. Background Technology

[0002] With the development of communication systems, the use of base station antennas is increasing. In mobile communication systems, to optimize the coverage of wireless signals in different areas and to suppress interference between signals on the same frequency, it is necessary to adjust the downtilt angle of the base station communication antenna. This can be achieved by adjusting the phase shifter, a key component of the antenna, continuously adjusting the antenna feed network, and changing the phase of each element in the antenna array. This allows for continuous adjustment of the antenna's electrical downtilt angle without changing its physical position. With continuous technological advancements, remote automatic control of downtilt angle adjustment via an electronically adjustable telescoping module (RET module) has become the mainstream application in the market.

[0003] In related technologies, a RET module can be used to drive and control a drive motor. The drive motor can move the transmission structure, which in turn moves the phase shifter. When the phase shifter reaches the target position, the tilt angle adjustment is completed. However, RET modules typically use a fixed current / fixed duty cycle control strategy for motor drive. This control method lacks flexibility, has low adjustment accuracy, and a high drive failure rate. Summary of the Invention

[0004] This application provides a motor drive control method and related products for adjusting the antenna downtilt angle, which can at least solve the problems of low adjustment accuracy and high drive failure rate of the antenna downtilt angle in the related technology.

[0005] The first aspect of this application provides a motor drive control method for adjusting the downtilt angle of an antenna, applied to the RET module of an electrically adjustable antenna control system. The motor drive control method includes:

[0006] Determine the target position parameters of the driven target; where the antenna has different downtilt angles when the driven target is in different positions;

[0007] The starting speed and starting current of the motor, as well as the ambient temperature at which the motor operates, are obtained; where the motor is used to drive the target to move, and the starting speed is the minimum speed that meets the motor's starting requirements;

[0008] Motor starting is controlled based on starting speed and starting current;

[0009] After confirming that the motor has started successfully, the current position parameters of the motor are obtained, and the remaining stroke of the driving target is determined by combining the current position parameters and the target position parameters.

[0010] Based on the ambient temperature and remaining stroke, the target current of the motor is determined; where the target current is the working current of the motor to drive the target to continue moving towards the target position.

[0011] The second aspect of this application provides an electrically adjustable antenna control system, including: a downtilt adjustment device and a RET module, wherein the downtilt adjustment device is used to adjust the downtilt angle of the antenna; and the RET module is used to execute a computer program to implement the steps in the motor drive control method for adjusting the downtilt angle of the antenna provided in the first aspect of this application.

[0012] The fourth aspect of this application provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by the RET module, it implements the steps of the motor drive control method for adjusting the antenna downtilt angle provided in the first aspect of this application.

[0013] As can be seen from the above, according to the motor drive control method and related products for adjusting the antenna downtilt angle provided in this application, the target position parameters of the driven target are determined; wherein, the antenna has different downtilt angles when the driven target is in different positions; the starting speed and starting current of the motor and the ambient temperature of the motor are obtained; wherein, the motor is used to drive the driven target to move, and the starting speed is the minimum speed that meets the motor starting requirements; the motor is controlled to start based on the starting speed and starting current; after confirming that the motor has started successfully, the current position parameters of the motor are obtained, and the remaining stroke of the driven target is determined by combining the current position parameters and the target position parameters; the target current of the motor is determined based on the ambient temperature and the remaining stroke; wherein, the target current is the working current of the motor to drive the driven target to continue moving towards the target position. By implementing the solution of this application, when the electrically adjustable antenna is tilted down, the motor is controlled to start at low speed and high current, which not only improves the success rate of starting, but also controls the maximum stall torque, thus avoiding damage to the transmission mechanism due to high torque stall. In addition, the solution of this application also takes into account the ambient temperature to determine the operating current of the motor, reasonably compensates for the torque loss caused by temperature, improves the accuracy of motor drive control, and can also effectively reduce the occurrence of adverse conditions such as motor drive failure and equipment damage under extreme temperatures. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structural assembly of a tilt angle adjustment device and a RET module provided in the first embodiment of this application;

[0015] Figure 2 A basic flowchart illustrating a motor drive control method for adjusting the antenna downtilt angle provided in the second embodiment of this application;

[0016] Figure 3 This is a schematic diagram of the electrically adjustable antenna control system provided in the fourth embodiment of this application. Detailed Implementation

[0017] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] In the description of the embodiments of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this application 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. Therefore, they should not be construed as limiting the present invention.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0020] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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 of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0021] The first embodiment of this application provides an electrically adjustable antenna control system, such as... Figure 1As shown, the electrically adjustable antenna control system includes a downtilt adjustment device and a RET module. The RET module includes a motor; 8; wherein, the downtilt adjustment device includes a base plate 1, a transmission mechanism, a driving target, and a phase shifter 4. The RET module and the transmission mechanism are both fixed on the base plate 1. The transmission mechanism is connected to the motor of the RET module. The driving target is mounted on the transmission mechanism, and the phase shifter 4 is connected to the driving target. The motor is used to drive and control the transmission mechanism to move the driving target through the transmission mechanism. The driving target is used to move the phase shifter 4 to achieve the adjustment of the antenna downtilt angle.

[0022] Specifically, the RET module 8 can be fixed on the base plate 1; the transmission mechanism can include a screw 2 and a gear assembly 5 connected between the screw 2 and the motor, and the driving target can be a transmission nut 3 set on the screw 2. The screw 2 is also equipped with a stop clip 6 and a stop ring 7; during operation, the RET module 8 responds to the user's downtilt angle adjustment command to drive the motor, and the motor can provide kinetic energy to the gear assembly 5. The gear assembly 5 drives the screw 2 to rotate, so that the transmission nut 3 (i.e., the driving target) mounted on the screw 2 can drive the phase shifter 4 to move, thereby realizing the adjustment of the downtilt angle of the corresponding frequency band of the electrically tunable antenna.

[0023] The second embodiment of this application provides a motor drive control method for adjusting the downtilt angle of an antenna, applied to the RET module of an electrically adjustable antenna control system, such as... Figure 2 This is a basic flowchart illustrating the motor drive control method for adjusting the antenna downtilt angle provided in this embodiment. The motor drive control method for adjusting the antenna downtilt angle includes the following steps:

[0024] Step 201: Determine the target position parameters of the driving target.

[0025] Specifically, the antenna has different downtilt angles when the target is in different positions. It is understood that in this embodiment, the antenna downtilt angle adjustment operation may include one or more operation processes (e.g., calibration operation process, angle setting operation process, etc.), and each operation process may include detailed processes such as a start-up phase and a travel phase. Therefore, different operation processes correspond to different target position parameters. The specific target position parameters can be determined according to the actual working state and requirements of the electrically adjustable antenna control system, and are not limited here.

[0026] Step 202: Obtain the motor's starting speed and starting current, as well as the ambient temperature at which the motor operates.

[0027] Specifically, the motor is used to drive the target to move, and the starting speed is the minimum speed Vmin that meets the motor's starting requirements. The starting current can be the maximum current allowed by the motor within the torque requirement range. In this embodiment, low-speed, high-current starting not only improves the success rate of starting but also controls the maximum stall torque, thus avoiding damage to the transmission mechanism from excessive stall torque. In this embodiment, the ambient temperature can refer to the real-time temperature value of the MCU chip on the RET module.

[0028] Step 203: Control the motor to start based on the starting speed and starting current.

[0029] Specifically, in this embodiment, the engine is started at the starting speed. If a stall occurs, the transmission mechanism can be kept safe and will not be damaged.

[0030] Step 204: After confirming that the motor has started successfully, obtain the current position parameters of the motor, and combine the current position parameters and the target position parameters to determine the remaining stroke of the driving target.

[0031] Specifically, the remaining travel is the distance between the current position of the sliding nut and the target position.

[0032] Step 205: Determine the target current of the motor based on the ambient temperature and remaining stroke.

[0033] Specifically, the target current is the operating current used by the motor to drive the target object to continue moving towards the target position. Determining the motor's operating current in conjunction with the ambient temperature can effectively reduce the probability of motor drive failure and equipment damage under extreme temperatures.

[0034] In one embodiment of this example, determining the target position parameters of the driven target includes: determining the target downtilt angle of the antenna in response to the user's downtilt angle adjustment command; obtaining the reference position parameters of the driven target; and combining the target downtilt angle and the reference position parameters to determine the target position parameters of the driven target.

[0035] Specifically, the reference position parameters can be obtained from the historical database of the RET module or determined by recalibrating the drive motor; no restriction is imposed here. Before adjusting the downtilt angle, the reference position is determined first. Based on the reference position and the target downtilt angle, the target position parameters of the driven target are determined, which can prevent the accumulation of errors caused by repeated motor starts and stops from affecting the drive accuracy. In addition, in some specific implementations, when the RET module is powered on or reset, especially when the RET module has just been installed with the antenna, the position of the sliding nut on the screw is uncertain and may be very close to the stop clip. If high-speed operation is performed at this time, it may damage the transmission mechanism. Therefore, when the module is reset or powered on, the motor should be limited to a safe speed Vlmt, such as 60 rpm. After finding the reference, it should be restored to the preset target speed Vnorm.

[0036] In one embodiment of this example, the step of determining the target current of the motor based on ambient temperature and remaining travel includes: determining the temperature range to which the ambient temperature belongs; if the ambient temperature belongs to a first temperature range, obtaining the motor characteristic data table corresponding to the first temperature range and the motor's stall torque threshold; wherein, the temperature in the first temperature range is a temperature at which the motor output torque is not sensitive, and the motor characteristic data table includes the correspondence between different speeds, currents, and stall torques; based on the remaining travel, determining all target drive modes of the motor for the subsequent travel phase of the driving target, and determining the target speed of the motor in the target drive mode; and combining the motor characteristic data table, the stall torque threshold, and the target speed to determine the target current of the motor.

[0037] Specifically, the temperature in the first temperature range is the temperature at which the motor output torque is not sensitive. For example, the first temperature range can be -20℃ to 70℃. The stall torque threshold of the motor can be slightly less than the maximum stall torque that the transmission device can withstand within the first temperature range. This margin design ensures that the motor always operates within a safe range. For example, when the maximum stall torque that the transmission device can withstand within the first temperature range is 800 mN.m, the stall torque threshold can be set to 650 mN.m.

[0038] For example, the contents of the motor characteristic data table are set as follows:

[0039]

[0040] Within the first temperature range, the motor torque is less affected by temperature, and the target current value can be determined by combining a preset motor characteristic data table, a stall torque threshold, and the target speed. In practice, after determining the target speed under the target drive mode, the maximum current with a stall torque less than or equal to the stall torque threshold can be selected as the motor's target current based on the motor characteristic data table. This setting of current and speed helps ensure efficient motor drive of the target and also fully guarantees the safety of the transmission device.

[0041] Furthermore, in one embodiment of this example, after the step of determining the temperature range to which the ambient temperature belongs, the method further includes: if the ambient temperature belongs to the second temperature range, then the first preset operating current value corresponding to the first temperature range is determined as the target current of the motor; wherein, the temperature in the second temperature range is the temperature sensitive to the output torque of the motor, and the upper limit of the second temperature range is lower than or equal to the lower limit of the first temperature range.

[0042] Specifically, the upper limit of the second temperature range can be set to -20℃. Because motor torque loss is significant at low temperatures and transmission resistance increases, if the internal temperature of the MCU is detected to be below -20℃ after startup, the motor will be driven with the maximum current (1320mA) regardless of its target speed, ensuring smooth operation even in extreme temperatures.

[0043] Further, in one embodiment of this example, the steps of determining all target drive modes of the motor for the subsequent travel phase of the driven target based on the remaining travel, and determining the target speed of the motor in the target drive mode, include: if the remaining travel is less than or equal to a first travel threshold, then the target drive mode is determined to include only a deceleration mode, and the target speed corresponding to the deceleration mode is determined to be a first preset speed; wherein, the first preset speed is less than the starting speed; if the remaining travel is greater than the first travel threshold and less than or equal to a second travel threshold, then the target drive mode is determined to include a constant speed mode and a deceleration mode; wherein, the remaining travel includes the first displacement travel of the driven target in the constant speed mode and the second displacement travel in the deceleration mode, the magnitude of the second displacement travel is determined based on the current speed of the motor, and the target speed of the motor in the constant speed mode is the current speed; if the remaining travel is greater than the second travel threshold, then the target drive mode is determined to include an acceleration mode and a deceleration mode; wherein, the remaining travel includes the third displacement travel of the driven target in the acceleration mode and the fourth displacement travel in the deceleration mode, and the sum of the third displacement travel and the fourth displacement travel is less than or equal to the remaining travel, the target speed of the motor in the acceleration mode is a second preset speed, the second preset speed is greater than the first preset speed, and the magnitude of the fourth displacement travel is determined based on the second preset speed.

[0044] Specifically, in this embodiment, if the remaining travel is less than or equal to the first travel threshold (for example, the first travel threshold can refer to the sliding displacement corresponding to the sliding nut when the motor rotates 1 revolution or 0.5 revolutions), it indicates that the sliding nut is very close to the target position, and the motor can be controlled to decelerate directly. The target speed for deceleration can be a preset speed threshold (first preset speed) of the system, which is a safe speed Vlmt less than the system threshold. In this embodiment, if the remaining travel is greater than the first travel threshold and less than or equal to the second travel threshold (for example, the second travel threshold can be set as the sliding displacement corresponding to the sliding nut when the motor rotates 2 revolutions), it indicates that there is a certain distance between the sliding nut and the target position, but the distance is not far. Therefore, the motor can be controlled to run at the current speed at a constant speed for a period of time, and then decelerate. Here, in order to ensure timely deceleration (to avoid damage to the transmission mechanism), the displacement travel of the sliding nut when the motor decreases from the current speed to the first preset speed (that is, the second displacement travel mentioned above) can be calculated by combining the motor characteristic data table. Then, the first displacement travel in the constant speed mode can be calculated based on the remaining travel and the second displacement travel. In this embodiment, if the remaining stroke is greater than the second stroke threshold, it indicates that the distance between the sliding nut and the target position is relatively far. In this case, the operation can be carried out by first accelerating and then decelerating, or by first accelerating and then maintaining a constant speed and then decelerating, so as to achieve high-precision adjustment of the tilt angle quickly and efficiently while ensuring the safety of the transmission device. It should be noted that when the remaining stroke is greater than the second stroke threshold, the displacement stroke of the sliding nut when the motor drops from the second preset speed to the first preset speed (that is, the fourth displacement stroke mentioned above) can also be calculated by combining the motor characteristic data table. The second preset speed can be the target speed Vnorm preset by the system.

[0045] In some specific implementations, when running at a constant speed, the high rotational speed makes it easy to damage the stop plate if it encounters it. If the machine stops only when it reaches the target position, the deviation between the stopping position and the target position will be relatively large due to the influence of inertia. Therefore, when approaching the stop position or the target position, the speed should be reduced in advance. The amount of advance is related to the current rotational speed. For example, at 120 rpm, it can be reduced by 1 revolution in advance, and at 60 rpm, it can be reduced by half a revolution in advance.

[0046] Furthermore, in one embodiment of this example, the above-mentioned motor drive control method further includes: if the motor operates in acceleration mode with a second preset speed as the target speed and the motor acceleration fails, then the target speed is adjusted to a third preset speed; wherein the third preset speed is greater than the first preset speed and less than the second preset speed; and the target current of the motor is re-determined by combining the motor characteristic data table, the stall torque threshold and the adjusted target speed.

[0047] Specifically, in this embodiment, multiple speed threshold levels can be set (e.g., 30 rpm, 60 rpm, 120 rpm, etc.). For antennas with heavy loads, the preset torque Tmax may not match its target speed Vnorm, or the two may be at a critical value, potentially causing acceleration failure after startup. In this case, a maximum of three acceleration attempts are allowed. If unsuccessful, each acceleration attempt will reduce the speed by one level (e.g., from 120 rpm to 60 rpm) until acceleration is successful or the speed is reduced to the lowest level to ensure successful final drive. When the speed decreases, the corresponding motor operating current is retrieved from the preset motor characteristic data table according to the preset torque requirement to ensure that the torque meets the requirements without damaging the mechanism. It should be noted that the preset second speed must be restored whenever the configuration file (motor characteristic data table) is re-downloaded, the module is reset, or the module is restarted.

[0048] In one embodiment of this example, after determining the target current of the motor by combining the target speed, motor characteristic data table, and stall torque threshold, the method further includes: sending a drive control command to the motor based on the target speed and target current; wherein the drive control command is used to instruct the motor to operate at the target speed and target current in the corresponding target drive mode, so as to drive the target to the target position; if a stall state is detected in the motor during the driving of the target, an intervention command is sent to the motor; wherein the intervention command is used to instruct the motor to continuously reverse at the starting speed for a preset time before returning to the forward rotation state.

[0049] Specifically, in this embodiment, when the transmission mechanism has high elasticity, the motor stalls at the stop position (reference position), resulting in significant structural deformation. If the sliding nut is in a sliding state when the machine stops, the motor will reverse and slide during the pause due to the reaction force, causing a zero-point deviation in the reference position and affecting the final drive accuracy. In this embodiment, the motor is kept in a braking state during the stop and then directly controlled to reverse. The reference deviation caused by deformation can be compensated for by the stall deformation amount Ljam when calculating the target position.

[0050] In some embodiments of this implementation, when the motor stops, the motor can be controlled to remain in a braking state for a period of time (e.g., 0.2 to 0.5 seconds) before being completely shut off, so as to avoid the sliding nut from continuing to slide due to inertia and affecting the tilt angle adjustment accuracy.

[0051] It should be understood that the sequence number of each step in this embodiment does not imply the order in which the steps are executed. The execution order of each step should be determined by its function and internal logic, and should not constitute a unique limitation on the implementation process of this application embodiment.

[0052] Based on the technical solution of the above embodiments of this application, the target position parameters of the driven target are determined; wherein, the antenna has different downtilt angles corresponding to different positions of the driven target; the starting speed and starting current of the motor and the ambient temperature of the motor are obtained; wherein, the motor is used to drive the driven target to move, and the starting speed is the minimum speed that meets the motor starting requirements; the motor is controlled to start based on the starting speed and starting current; after the motor is determined to start successfully, the current position parameters of the motor are obtained, and the remaining stroke of the driven target is determined by combining the current position parameters and the target position parameters; the target current of the motor is determined based on the ambient temperature and the remaining stroke; wherein, the target current is the working current of the motor to drive the driven target to continue moving towards the target position. Through the implementation of the solution of this application, when adjusting the downtilt angle of the antenna, the motor is controlled to start with low speed and high current, which not only improves the success rate of starting, but also controls the maximum stall torque, which can avoid damage to the transmission mechanism by high torque stall; in addition, the solution of this application also combines the ambient temperature to determine the working current of the motor, reasonably compensates for the torque loss caused by temperature, improves the motor drive control accuracy, and can also effectively reduce the occurrence of adverse conditions such as motor drive failure and equipment damage under extreme temperatures.

[0053] The third embodiment of this application provides a refined motor drive control method for adjusting the antenna downtilt angle.

[0054] In this embodiment, the antenna downtilt adjustment operation mainly includes two operation processes, namely the calibration operation process and the angle setting operation process; the calibration operation includes three stages (finding the reference → measuring the stroke → moving to the original angle), and the angle setting operation includes two stages (setting the downtilt angle → moving to the target angle).

[0055] The steps to find a benchmark are as follows:

[0056] Step 301, Motor Start-up Process

[0057] The motor is controlled to start at the minimum speed Vmin and the starting current corresponding to the minimum speed Vmin in the motor characteristic data table; the starting time is 1 to 2.5 seconds; if a stall is detected during the start-up, the process jumps to step 305.

[0058] Step 302, Acceleration Process

[0059] If the motor starts normally, it accelerates towards Vnrm; however, if the motor has experienced a drive failure even once since the module started or reset, the second preset speed will be adjusted from the preset target speed Vnrm to the preset safe speed Vlmt.

[0060] If acceleration fails or stall is detected during acceleration, proceed to step 305;

[0061] Step 303, Uniform Speed ​​Process

[0062] The driving target (i.e., the sliding nut) moves at a constant speed of Vnrm towards the reference position (i.e., the stop).

[0063] If stall is detected during constant speed operation, proceed to step 305;

[0064] Step 304, Deceleration Process

[0065] When the sliding nut moves to near the reference position (that is, when the remaining stroke is the sliding displacement corresponding to the sliding nut when the motor rotates 1 revolution or 0.5 revolutions), the speed is reduced to Vmin within 1 second. During the deceleration process, the motor operating current corresponding to the current speed needs to be obtained from the preset motor data table according to the torque requirement.

[0066] If stall is detected during deceleration, proceed to step 305;

[0067] Step 305, stall process

[0068] When the motor encounters a stall, it reverses at its starting speed Vmin for 1 second and then rotates forward again to allow the target to continue moving to the reference position. The brake must be maintained before the motor reverses. If the above stall handling measures fail, it can be retried a maximum of two times.

[0069] It should be noted that if the target fails to accelerate after starting at a position far from the stop, its behavior is similar to that of a stall. The handling measures are similar to those mentioned above for dealing with a stall. That is, it is necessary to control the motor to reverse and restart and accelerate. Each acceleration attempt should be repeated at a lower speed until it is reduced to the first preset speed Vmin.

[0070] If three acceleration failures occur, it is assumed that the reference position (i.e., the position of the stop ring) has been found. If this reference position is not the true reference position, the drive target will be stuck by the stop ring before the end of the next stroke, resulting in calibration failure.

[0071] The steps for measuring stroke are as follows:

[0072] Step 311, Motor Start-up Process

[0073] The motor starts at the starting speed Vmin while in braking mode; the starting time is 1 to 2.5 seconds.

[0074] If stall is detected during startup, proceed to step 316.

[0075] Step 312, Acceleration Process

[0076] If the motor starts normally, accelerate towards Vnrm;

[0077] If acceleration fails or stall is detected during acceleration, proceed to step 316.

[0078] Step 313, Uniform Speed ​​Process

[0079] Move at a constant speed (Vnrm) to the position corresponding to the maximum angle, which is the distance specified in the configuration file.

[0080] If stall is detected during the constant speed period, proceed to step 316.

[0081] Step 314, Deceleration Process

[0082] When the sliding nut reaches the vicinity of the maximum angle position (the sliding nut will reach the maximum angle position after the motor worm rotates another 1 turn or 0.5 turns), the speed will be reduced to Vmin within 1 second;

[0083] If stall is detected during deceleration, proceed to step 316 ahead of schedule.

[0084] Step 315: Measuring the stroke process

[0085] Drive the target to the maximum angle position (i.e., the end of the stroke). If this position is the original angle position, the calibration ends; otherwise, proceed to the "go to the original angle" step.

[0086] Step 316, Stalling Process

[0087] When encountering a stall, reverse the rotation speed Vmin for 1 second and then move back to the maximum angle position;

[0088] If acceleration fails after starting from a position far from the stop ring, the behavior is similar to stalling. The handling measures are similar to those described above for stalling, namely, reversing and restarting / accelerating. Each acceleration attempt should be repeated at a lower speed until the first preset speed Vmin is reached.

[0089] If the engine stalls three times or fails to accelerate three times and the deviation between the current position and the maximum angle position is no more than 0.2 revolutions, proceed to step 315; otherwise, restart the calibration operation and increment the number of failed drive attempts.

[0090] The steps to return to the original angle are as follows:

[0091] It should be noted that the original angle refers to the angle value recorded by the previous angle setting operation through the tilt angle adjustment device. The size of the original angle is between the minimum angle and the maximum angle. Of course, the original angle can also be equal to the minimum angle or the maximum angle. Before driving, the original angle should be set to an effective value within the angle range, and the screw position corresponding to the "original angle" should be calculated according to the stroke and angle range. The screw position is used as the target for "moving to the original angle".

[0092] Step 321, Motor Start-up Process

[0093] Start at the starting speed Vmin; start time is 1–2.5 seconds;

[0094] If stall is detected during startup, proceed to step 326.

[0095] Step 322, Acceleration Process

[0096] If the motor starts normally, accelerate towards Vnrm;

[0097] If acceleration fails or stall is detected during acceleration, proceed to step 326.

[0098] Step 323, Uniform speed process

[0099] The motor moves towards the original angular position at a constant speed of Vnrm.

[0100] If stall is detected during the constant speed period, proceed to step 326.

[0101] Step 324, Deceleration Process

[0102] Once the sliding nut has moved to near its original angular position (the motor worm will rotate another 1 or 0.5 revolutions to bring the sliding nut to its original angular position), determine the operating current based on the current speed and reduce the speed to Vmin within 1 second.

[0103] If stall is detected during deceleration, proceed to step 326 ahead of schedule.

[0104] Step 325, Calibration complete:

[0105] Brake and hold for 0.5 seconds before stopping; calibration complete.

[0106] Step 326, Stalling Process

[0107] If the motor encounters a stall, reverse the direction at the starting speed Vmin for 1 second and then move towards the target again; before the motor reverses, maintain the brake state.

[0108] If the stall or acceleration fails three times and the deviation between the current position and the target position does not exceed 0.2 revolutions, the calibration ends; otherwise, the calibration is recalibrated and the number of failures is incremented by one. If the calibration is retried twice, the calibration ends and a calibration failure is reported.

[0109] The steps to set the downhill angle are as follows:

[0110] Step 330: Finding the Benchmark

[0111] If the reference position has been found after powering on or after downloading the configuration data, and the number of times the tilt angle adjustment device has set the angle since the previous determination of the reference position has not exceeded the preset threshold of "no reference required" (e.g., 10 times), then this step can be skipped; that is, the reference position must be found once every 10 angle settings to prevent the cumulative error caused by repeated starting and stopping of the motor from affecting the drive accuracy.

[0112] Step 331, Motor Start-up Process

[0113] Start with Vmin;

[0114] Step 332, Acceleration Process

[0115] If the motor starts normally, it accelerates towards Vnrm; if the sliding nut has experienced a calibration failure or angle setting failure since the module started or reset, the second preset speed is adjusted from the preset target speed Vnrm to the preset safe speed Vlmt.

[0116] If acceleration fails or stall is detected during acceleration, proceed to step 335.

[0117] Step 333, Uniform speed process

[0118] Control the sliding nut to move towards the stop (reference position) at a constant speed of Vnrm;

[0119] If stall is detected during the constant speed period, proceed to step 335.

[0120] Step 334, Deceleration Process

[0121] When the sliding nut reaches the vicinity of the stop (that is, when the remaining stroke is the sliding displacement corresponding to the sliding nut when the motor rotates 1 revolution or 0.5 revolutions), the speed is reduced to Vmin within 1 second;

[0122] If stall is detected during deceleration, proceed to step 335 ahead of schedule.

[0123] Step 335, stall process

[0124] When the motor encounters a stall, it reverses at the starting speed Vmin for 1 second and then moves back to the stop (reference position); the brake must be maintained before the motor reverses.

[0125] If the engine stalls three times and the current position deviates from the stop (reference position) by less than 0.2 turns, then the reference position has been found.

[0126] If the current position is the target angle position, then the drive ends.

[0127] The steps to reach the target angle are as follows:

[0128] Step 341, Motor Start-up Process

[0129] The motor is controlled to start at the minimum speed Vmin and the starting current corresponding to the minimum speed Vmin in the motor characteristic data table; the starting time is 1 to 2.5 seconds. If a stall is detected during the starting process, the process jumps to step 346.

[0130] Step 342, Acceleration Process

[0131] If the motor starts normally, accelerate towards Vnrm;

[0132] If acceleration fails or stall is detected during acceleration, proceed to step 346.

[0133] Step 343, Uniform speed process

[0134] Vnrm moves at a constant speed toward the target angular position;

[0135] If stall is detected during the constant speed period, proceed to step 346;

[0136] Step 344, Deceleration Process

[0137] When the sliding nut reaches the vicinity of the target angle position (that is, the sliding displacement corresponding to the sliding nut when the remaining stroke is 1 revolution or 0.5 revolutions of the motor), the speed is reduced to Vmin within 1 second;

[0138] If stall is detected during deceleration, proceed to step 346 in advance;

[0139] Step 345, Angle setting successful:

[0140] Hold the brake for 0.5 seconds and then stop the machine. The angle setting is complete.

[0141] Step 346, Stalling Process

[0142] If stalled, reverse the motor at the starting speed Vmin for 1 second and then move to the target angle position again; keep the brake in place before the motor reverses.

[0143] If the current position deviates from the target angle position within 0.2 revolutions after three stalls, the angle setting operation ends; otherwise, the angle setting operation is retried and the number of failures is incremented. If the number of retries reaches two, the operation ends and the angle setting failure is reported.

[0144] By implementing the solution in this embodiment, the following beneficial effects can be achieved: 1. Controlling the motor to start at low speed and high current not only improves the success rate of starting but also controls the maximum stall torque, thus avoiding damage to the transmission mechanism from high-torque stall; 2. Pre-deceleration and stopping ensure driving accuracy while ensuring that the stall torque does not exceed the requirements; 3. Running at a safe speed after three failed acceleration attempts or driving failures avoids damage to the transmission mechanism from high-torque impacts; 4. Braking and reversing to maintain the speed and braking before stopping further improve driving accuracy.

[0145] It should be noted that all specific parameter values ​​such as time, temperature, rotation speed, and torque involved in the above embodiments of this application are merely exemplary and used to illustrate and analyze the solution content of the embodiments of this application, and should not be construed as limiting the solution.

[0146] Figure 3 This application provides an electrically adjustable antenna control system according to a fourth embodiment. This control system can be used to implement the motor drive control method for adjusting the antenna downtilt angle in the aforementioned embodiments. It mainly includes: a downtilt angle adjustment device 301 and a RET module 302; the downtilt angle adjustment device is used to adjust the downtilt angle of the antenna; the RET module 302 integrates an MCU chip, which is configured with a storage module 3021, a processing module 3022, and a computer program 3023 that can run on the processing module 3022. The storage module 3021 and the processing module 3022 are connected via communication. When the processing module 3022 executes the computer program 3023, it implements the method in the second or third embodiment described above. The number of processing modules can be one or more.

[0147] Furthermore, embodiments of this application also provide a computer-readable storage medium, which may be disposed in the aforementioned electrically adjustable antenna control system. This computer-readable storage medium may be the aforementioned... Figure 3 The storage module in the illustrated embodiment.

[0148] The computer-readable storage medium stores a computer program that, when executed by the processing module, implements the motor drive control method for adjusting the antenna downtilt angle in the foregoing embodiments.

[0149] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0150] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0151] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0152] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0153] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0154] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0155] The above is a description of the motor drive control method and related products for adjusting the antenna downtilt angle provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A motor drive control method for adjusting the downtilt angle of an antenna, characterized in that, The RET module applied to the electrically adjustable antenna control system includes a motor drive control method comprising: Determine the target position parameters of the driven target; wherein, the antenna has different downtilt angles when the driven target is in different positions; The starting speed and starting current of the motor, as well as the ambient temperature at which the motor operates, are obtained; wherein the motor is used to drive the target to move, and the starting speed is the minimum speed that meets the motor's starting requirements; The motor is started based on the starting speed and the starting current; After confirming that the motor has started successfully, the current position parameters of the motor are obtained, and the remaining stroke of the driving target is determined by combining the current position parameters and the target position parameters. Based on the ambient temperature and the remaining travel distance, the target current of the motor is determined; wherein, the target current is the operating current of the motor driving the target to continue moving towards the target position.

2. The motor drive control method according to claim 1, characterized in that, Determining the target current of the motor based on the ambient temperature and the remaining stroke includes: Determine the temperature range to which the ambient temperature belongs; If the ambient temperature falls within a first temperature range, then obtain the motor characteristic data table corresponding to the first temperature range and the stall torque threshold of the motor; wherein, the temperature in the first temperature range is the temperature at which the electronic control output torque is not sensitive, and the motor characteristic data table includes the correspondence between different speeds, currents and stall torques; Based on the remaining travel distance, determine all target drive modes of the motor for the subsequent travel phase of the driving target, and determine the target speed of the motor in the target drive mode; The target current of the motor is determined by combining the motor characteristic data table, the stall torque threshold, and the target speed.

3. The motor drive control method according to claim 2, characterized in that, After determining the temperature range to which the ambient temperature belongs, the process also includes: If the ambient temperature falls within the second temperature range, then the first preset operating current value corresponding to the first temperature range is determined as the target current of the motor; wherein, the temperature in the second temperature range is the temperature sensitive to the electronic control output torque, and the upper limit of the second temperature range is lower than or equal to the lower limit of the first temperature range.

4. The motor drive control method according to claim 2, characterized in that, The step of determining all target drive modes of the motor for the subsequent travel phase of the driving target based on the remaining travel distance, and determining the target speed of the motor in the target drive mode, includes: If the remaining travel is less than or equal to the first travel threshold, then the target drive mode is determined to include only the deceleration mode, and the target speed corresponding to the deceleration mode is determined to be the first preset speed; wherein, the first preset speed is less than the starting speed; If the remaining travel is greater than the first travel threshold and less than or equal to the second travel threshold, then the target driving mode is determined to include a constant speed mode and a deceleration mode; wherein, the remaining travel includes the first displacement travel of the driving target in the constant speed mode and the second displacement travel in the deceleration mode, the magnitude of the second displacement travel is determined based on the current speed of the motor, and the target speed of the motor in the constant speed mode is the current speed; If the remaining travel is greater than the second travel threshold, then the target driving mode is determined to include an acceleration mode and a deceleration mode; wherein, the remaining travel includes the third displacement travel of the driving target in the acceleration mode and the fourth displacement travel in the deceleration mode, and the sum of the third displacement travel and the fourth displacement travel is less than or equal to the remaining travel, the target speed of the motor in the acceleration mode is a second preset speed, the second preset speed is greater than the first preset speed, and the magnitude of the fourth displacement travel is determined based on the second preset speed.

5. The motor drive control method according to claim 4, characterized in that, Also includes: If the motor operates in the acceleration mode with the second preset speed as the target speed and the motor fails to accelerate, then the target speed is adjusted to the third preset speed; wherein the third preset speed is greater than the first preset speed and less than the second preset speed; Based on the motor characteristic data table, the stall torque threshold, and the adjusted target speed, the target current of the motor is re-determined.

6. The motor drive control method according to claim 2, characterized in that, After determining the target current of the motor by combining the target speed, the motor characteristic data table, and the stall torque threshold, the method further includes: Based on the target speed and the target current, a drive control command is sent to the motor; wherein, the drive control command is used to instruct the motor to operate at the target speed and the target current in the corresponding target drive mode, so as to drive the target to the target position; If a stalled state is detected in the motor during the movement of the driving target, an intervention command is sent to the motor; wherein, the intervention command is used to instruct the motor to continuously reverse at the starting speed for a preset time before returning to the forward rotation state.

7. The motor drive control method according to claim 1, characterized in that, The determination of the target position parameters of the driving target includes: In response to the user's downtilt adjustment command, the target downtilt angle of the antenna is determined; Obtain the reference position parameters of the driven target; The target position parameters of the driving target are determined by combining the target tilt angle and the reference position parameters.

8. An electrically adjustable antenna control system, characterized in that, Includes a tilt adjustment device and a RET module, wherein: The downtilt adjustment device is used to adjust the downtilt angle of the antenna; The RET module is used to execute a computer program to implement the steps in the method of any one of claims 1 to 7.

9. The electrically adjustable antenna control system according to claim 8, characterized in that, The downtilt adjustment device includes a base plate, a transmission mechanism, a driving target, and a phase shifter. The RET module and the transmission mechanism are respectively fixed on the base plate, and the transmission mechanism is connected to the RET module. The driving target is mounted on the transmission mechanism, and the phase shifter is connected to the driving target. The RET module is used to drive and control the transmission mechanism to move the driving target through the transmission mechanism. The driving target is used to move the phase shifter to adjust the antenna downtilt angle.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the RET module, it implements the steps of the method according to any one of claims 1 to 7.

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