A tracking radar servo system and a control method thereof

Abstract

The present application relates to the technical field of tracking radar, especially to a tracking radar servo system and a control method thereof, comprising a radar signal processing system, a motor driver, a direct drive motor, an encoder and a radar antenna, the radar signal processing system and the motor driver exchange information by using field bus, the motor driver is connected with the direct drive motor for controlling the direct drive motor, the output end of the direct drive motor is connected with the fixed end of the radar antenna for driving the radar antenna to rotate, and the encoder is installed on the direct drive motor for position detection of the direct drive motor, the present application provides a tracking radar servo system and a control method thereof for simplifying the function of the radar servo system by changing the instruction form of the radar signal processing and the control structure of the motor driver of the servo system.

Description

Technical Field

[0001] This invention relates to the field of tracking radar technology, and in particular to a tracking radar servo system and its control method. Background Technology

[0002] Tracking radar servo systems are generally two-dimensional rotation systems, namely azimuth drive control systems and pitch drive control systems. The main components of the servo system are motion controllers, motor drivers, position sensors, antenna mounts, etc. For details, please refer to the literature "Design and Simulation Analysis of a Shipborne Tracking Radar Servo System" by Zhang Wei.

[0003] The main operating modes of a tracking radar servo system are speed control, position control, and tracking control. Its working principle involves receiving radar signals, processing the transmitted operating mode commands, speed control commands, position control commands, and tracking error information, and then completing the control functions of the tracking radar servo system. Existing tracking radar servo systems are controlled by motion controllers. It is impossible to simplify the radar servo system and achieve miniaturization without adding any hardware or involving servo-related expertise by changing the command format of the radar signal processing and the control structure of the servo system's motor driver, thus eliminating the motion controller. Summary of the Invention

[0004] The purpose of this invention is to provide a tracking radar servo system and its control method. By appropriately changing the instruction form of radar signal processing and the control structure of the servo system motor driver, the function of the radar servo system is simplified, thereby solving the technical problems existing in the background art.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A tracking radar servo system includes: a radar signal processing system, a motor driver, a direct drive motor, an encoder, and a radar antenna. The radar signal processing system and the motor driver exchange information via a fieldbus. The motor driver is connected to the direct drive motor to control the direct drive motor. The output end of the direct drive motor is connected to the fixed end of the radar antenna to drive the radar antenna to rotate. An encoder is installed on the direct drive motor for position detection.

[0006] Furthermore, the radar signal processing system includes a mode control module, and the motor driver includes a selection switch one, a selection switch two, a position comparator, a position controller, and a speed controller. The mode control module is used by the radar signal processing system to configure the motor driver according to the operating mode requirements of the tracking radar servo system. The selection switch one selects the input information for which position difference comparison is required based on the mode control information issued by the mode control module. The position comparator compares the input information for which position difference comparison is required with the position value of the direct drive motor detected by the encoder and outputs the position difference value to the selection switch two. The selection switch two selects the input information of the position controller based on the mode control information issued by the mode control module. The output information of the position controller is transmitted to the speed controller to complete the speed control of the direct drive motor.

[0007] Furthermore, the operating modes include: speed control mode, position control mode, and tracking control mode; the radar signal processing system further includes: a speed setting module, an integrator, and a position setting module. The speed setting module is used to set the radar antenna rotation speed value in the speed control mode; the integrator is used to integrate the set radar antenna rotation speed value to obtain the target position value of the radar antenna at the target speed value; the position setting module is used to set the radar antenna rotation target position value in the position control mode.

[0008] Furthermore, the input information that requires position difference comparison includes: the target position value obtained by integrating the set radar antenna rotation target speed value through an integrator and the radar antenna rotation target position value set by the position setting module.

[0009] Furthermore, the radar signal processing system also includes a deviation calculation module, which is used to calculate the tracking position deviation of the radar antenna and transmit the calculated tracking position deviation to the motor driver in tracking mode.

[0010] Furthermore, the radar signal processing system also includes a gain matcher, which is used to match the tracking control gain value of the radar antenna.

[0011] Furthermore, the input information of the position controller includes: the position difference value after comparing the input information selected by the selection switch and the position value of the direct drive motor detected by the encoder through the position comparator, and the gain matching value after performing gain matching on the tracking position deviation of the radar antenna calculated by the deviation calculation module through the gain matching unit.

[0012] A control method for a tracking radar servo system, comprising the following steps: In speed control mode, the mode control module of the radar signal processing system sets selector switch one to position 1 and selector switch two to position 3. The speed setting module sets the target rotation speed value of the radar antenna and transmits it to the position comparator through the integrator and channel one of selector switch one. The position comparator subtracts the position value of the direct drive motor detected by the encoder from the target position value obtained by integrating the set target rotation speed value of the radar antenna by the integrator to obtain the position difference value. The position difference value is transmitted to the position controller through channel two of selector switch two to complete the implementation of the speed control mode of the radar antenna. In position control mode, the mode control of the radar signal processing system sets selector switch one to position 2 and selector switch two to position 3. The position setting module sets the target rotation position value of the radar antenna and transmits it to the position comparator through channel one of selector switch one. The position comparator subtracts the position value of the direct drive motor detected by the encoder from the target rotation position value set by the position setting module to obtain the position difference value. The position difference value is transmitted to the position controller through channel two of selector switch two to complete the position control mode of the radar antenna. In tracking control mode, the mode control of the radar signal processing system sets the selection switch two to position 4, and transmits the tracking position deviation calculated by the deviation calculation module to the gain matching unit. The gain matching unit provides the tracking control gain matching value for the radar antenna. The gain matching value is transmitted to the position controller through channel two of the selection switch two, thus realizing the tracking control mode of the radar antenna.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes existing hardware in radar signal processing systems, eliminating the motion controller of the radar servo system, thus simplifying the radar servo system and enabling its miniaturization. The radar signal processing system involves functions such as mode control, speed setpoints, position setpoints, integrators, tracking deviation, and gain matching, which are independent of servo system expertise. The radar servo system algorithm is still implemented within the servo system, therefore it does not affect the specialized knowledge of radar systems. The motor driver optimizes the radar servo control algorithm, using only one position controller (position control algorithm) to control all operating modes of the tracking radar servo system without affecting the real-time performance of the motor driver. The set gain matching coefficient can be adjusted within a small range by radar signal processing technicians, eliminating the need for servo system personnel to be present for tracking performance debugging. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the system composition of a tracking radar servo system provided by the present invention; Figure 2 This is a control flowchart of a control method for a tracking radar servo system provided by the present invention; Figure 3 This is a schematic diagram of position control in a control method for a tracking radar servo system provided by the present invention; Figure 4 This is a schematic diagram of tracking control in a control method for a tracking radar servo system provided by the present invention. Detailed Implementation

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0016] like Figure 1 As shown, a tracking radar servo system includes: a radar signal processing system, a motor driver, a direct drive motor, an encoder, and a radar antenna. The radar signal processing system and the motor driver exchange information via a fieldbus. The motor driver is connected to the direct drive motor to control the direct drive motor. The output end of the direct drive motor is connected to the fixed end of the radar antenna to drive the radar antenna to rotate. An encoder is installed on the direct drive motor for position detection.

[0017] The radar signal processing system includes a mode control module, and the motor driver includes a selection switch one, a selection switch two, a position comparator, a position controller, and a speed controller. The mode control module is used by the radar signal processing system to configure the motor driver according to the operating mode requirements of the tracking radar servo system. Selection switch one selects the input information for position difference comparison based on the mode control information issued by the mode control module. The position comparator compares the input information for position difference comparison with the position value of the direct drive motor detected by the encoder and outputs the position difference value to selection switch two. Selection switch two selects the input information of the position controller based on the mode control information issued by the mode control module. The output information of the position controller is transmitted to the speed controller to complete the speed control of the direct drive motor.

[0018] The radar signal processing system has the following operating modes: speed control mode, position control mode, and tracking control mode. The control requirements for the speed control mode are as follows: the radar servo system receives the speed setting command from the radar signal processing system and drives the radar antenna to rotate at the speed set value. The control requirements for the position control mode are: the radar servo system receives the target position value from the radar signal processing system and controls the radar antenna to rotate to the target position specified by the position setpoint; The control requirements for the tracking control mode are as follows: the radar servo system receives the tracking deviation command from the radar signal processing system. The tracking deviation is the difference between the radar antenna pointing to the tracked object. The servo system controls the radar antenna to rotate to point to the tracked object.

[0019] like Figure 3 As shown, the position controller uses a proportional-integral controller. For the speed control closed-loop transfer function, To optimize the position sensor's resolution, the position controller's control performance is tuned by adjusting control parameters in position control mode.

[0020] like Figure 4 As shown, the difference between tracking control mode and position control mode is that: in position control mode, the position controller receives the position deviation as the target position value minus the actual position of the radar antenna, while in tracking mode, the position deviation is received from the tracking deviation command of the radar signal processing system.

[0021] The radar signal processing system also includes: a speed setting module, an integrator, and a position setting module. The speed setting module is used to set the radar antenna rotation speed value in speed control mode; the integrator is used to integrate the set radar antenna rotation speed value to obtain the target position value of the radar antenna at the target speed value; and the position setting module is used to set the radar antenna rotation target position value in position control mode.

[0022] The input information required for position difference comparison includes: the target position value obtained by integrating the set radar antenna rotation target speed value through the integrator, and the radar antenna rotation target position value set through the position setting module.

[0023] The radar signal processing system also includes a deviation calculation module, which is used to calculate the tracking position deviation of the radar antenna and transmit the calculated tracking position deviation to the motor driver in tracking mode.

[0024] The radar signal processing system also includes a gain matcher, which is used to match the tracking control gain value for the radar antenna.

[0025] The input information of the position controller includes: the position difference value after comparing the input information selected by the selector switch and the position value of the direct drive motor detected by the encoder through the position comparator, and the gain matching value after performing gain matching on the tracking position deviation of the radar antenna calculated by the deviation calculation module through the gain matching unit. Gain matching is used to match the open-loop gain of position control, enabling the same position controller to be used for both tracking and position control. Let the gain matching be K. In this embodiment, the encoder is a 16-bit encoder, and the unit of position feedback is pulses. The angle corresponding to each pulse is: Degree / Pulse Let the tracking error unit be mil, and 1 mil equal 0.06 degrees. The formula for calculating the gain matching coefficient K is: .

[0026] After the radar servo system technicians have debugged the position control performance, the radar signal processing personnel can adjust the gain matching coefficient K calculated by the above formula as a benchmark within a certain range according to the tracking performance requirements. The adjustment range is between K multiplied by 0.5 and 1.5, without the need for servo system technicians to be present for adjustment.

[0027] like Figure 2 As shown, a control method for a tracking radar servo system includes the following specific steps: In speed control mode, the mode control module of the radar signal processing system sets selector switch one to position 1 and selector switch two to position 3. The speed setting module sets the target rotation speed value of the radar antenna and transmits it to the position comparator through the integrator and channel one of selector switch one. The position comparator subtracts the position value of the direct drive motor detected by the encoder from the target position value obtained by integrating the set target rotation speed value of the radar antenna by the integrator to obtain the position difference value. The position difference value is transmitted to the position controller through channel two of selector switch two to complete the implementation of the speed control mode of the radar antenna. In position control mode, the mode control of the radar signal processing system sets selector switch one to position 2 and selector switch two to position 3. The position setting module sets the target rotation position value of the radar antenna and transmits it to the position comparator through channel one of selector switch one. The position comparator subtracts the position value of the direct drive motor detected by the encoder from the target rotation position value set by the position setting module to obtain the position difference value. The position difference value is transmitted to the position controller through channel two of selector switch two to complete the position control mode of the radar antenna. In tracking control mode, the mode control of the radar signal processing system sets the selection switch two to position 4, and transmits the tracking position deviation calculated by the deviation calculation module to the gain matching unit. The gain matching unit provides the tracking control gain matching value for the radar antenna. The gain matching value is transmitted to the position controller through channel two of the selection switch two, thus realizing the tracking control mode of the radar antenna.

[0028] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent substitutions, and improvements made by those skilled in the art to the above embodiments without departing from the scope of the technical solution of the present invention, based on the technical essence of the present invention, shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A tracking radar servo system, characterized in that, include: The system includes a radar signal processing system, a motor driver, a direct drive motor, an encoder, and a radar antenna. The radar signal processing system and the motor driver exchange information via a fieldbus. The motor driver is connected to the direct drive motor to control the direct drive motor. The output end of the direct drive motor is connected to the fixed end of the radar antenna to drive the radar antenna to rotate. An encoder is installed on the direct drive motor for position detection. The radar signal processing system includes a mode control module. The motor driver includes a selection switch one, a selection switch two, a position comparator, a position controller, and a speed controller. The mode control module is used by the radar signal processing system to configure the motor driver according to the operating mode requirements of the tracking radar servo system. The selection switch one selects the input information for position difference comparison based on the mode control information issued by the mode control module. The position comparator compares the input information for position difference comparison with the position value of the direct drive motor detected by the encoder and outputs the position difference value to the selection switch two. The selection switch two selects the input information of the position controller based on the mode control information issued by the mode control module. The output information of the position controller is transmitted to the speed controller to complete the speed control of the direct drive motor.

2. The tracking radar servo system according to claim 1, characterized in that: The operating modes include: speed control mode, position control mode, and tracking control mode; the radar signal processing system further includes: a speed setting module, an integrator, and a position setting module. The speed setting module is used to set the radar antenna rotation speed value in speed control mode; the integrator is used to integrate the set radar antenna rotation speed value to obtain the target position value of the radar antenna at the target speed value; the position setting module is used to set the radar antenna rotation target position value in position control mode.

3. A tracking radar servo system according to claim 2, characterized in that: The input information that requires position difference comparison includes: the target position value obtained by integrating the set radar antenna rotation target speed value through an integrator and the radar antenna rotation target position value set by the position setting module.

4. A tracking radar servo system according to claim 3, characterized in that: The radar signal processing system further includes a deviation calculation module, which is used to calculate the tracking position deviation of the radar antenna and transmit the calculated tracking position deviation to the motor driver in tracking mode.

5. A tracking radar servo system according to claim 4, characterized in that: The radar signal processing system further includes a gain matcher, which is used to match the tracking control gain value for the radar antenna.

6. A tracking radar servo system according to claim 5, characterized in that: The input information of the position controller includes: the position difference value after comparing the input information selected by the selection switch and the position value of the direct drive motor detected by the encoder through the position comparator, and the gain matching value after performing gain matching on the tracking position deviation of the radar antenna calculated by the deviation calculation module through the gain matching unit.

7. A control method for a tracking radar servo system, using the tracking radar servo system described in claim 6, characterized in that: The specific steps are as follows: In speed control mode, the mode control module of the radar signal processing system sets selector switch one to position 1 and selector switch two to position 3. The speed setting module sets the target rotation speed value of the radar antenna and transmits it to the position comparator through the integrator and channel one of selector switch one. The position comparator subtracts the position value of the direct drive motor detected by the encoder from the target position value obtained by integrating the set target rotation speed value of the radar antenna by the integrator to obtain the position difference value. The position difference value is transmitted to the position controller through channel two of selector switch two to complete the implementation of the speed control mode of the radar antenna. In position control mode, the mode control of the radar signal processing system sets selector switch one to position 2 and selector switch two to position 3. The position setting module sets the target rotation position value of the radar antenna and transmits it to the position comparator through channel one of selector switch one. The position comparator subtracts the position value of the direct drive motor detected by the encoder from the target rotation position value set by the position setting module to obtain the position difference value. The position difference value is transmitted to the position controller through channel two of selector switch two to complete the position control mode of the radar antenna. In tracking control mode, the mode control of the radar signal processing system sets the selection switch two to position 4, and transmits the tracking position deviation calculated by the deviation calculation module to the gain matching unit. The gain matching unit provides the tracking control gain matching value for the radar antenna. The gain matching value is transmitted to the position controller through channel two of the selection switch two, thus realizing the tracking control mode of the radar antenna.

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