An antenna angle control method based on bus communication

Abstract

This invention discloses an antenna angle control method based on bus communication, belonging to the aerospace field. The method includes: a control subsystem responding to an antenna control command received from a data management subsystem; in each control cycle of the control subsystem, calculating the target angle of each payload antenna at a set extrapolation time based on orbit and attitude information; in each polling cycle of the data management subsystem, responding to a polling broadcast command received from the data management subsystem, broadcasting the latest calculated target angle data packets of each payload antenna to the corresponding payload antenna via the bus; the polling cycle is longer than the control cycle; each payload antenna calculates its rotational angular velocity based on the target angle and the current actual angle, and controls the rotation of that payload antenna. This solution can save hardware serial port resources, reduce costs, and utilizes the reliable bus communication technology of satellites to achieve precise target tracking in on-orbit antenna angle control.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and in particular to an antenna angle control method based on bus communication. Background Technology

[0002] As a crucial component of a satellite, the payload antenna plays a vital role in accurately pointing to the target for satellite measurements and output transmission. Traditionally, the satellite control subsystem communicates with the payload antenna subsystem via differential 422 serial communication. The control subsystem calculates the antenna's pointing angle and sends it to the antenna servo controller in real time via the serial port. The servo controller then returns the actual antenna angle to the control subsystem, achieving closed-loop feedback control of the antenna's rotation angle.

[0003] However, traditional differential 422 serial communication requires corresponding hardware resources for both the control and payload antenna subsystems. With the miniaturization of control computers, serial port resources are becoming scarce. Reliability requirements necessitate configuring primary and backup serial ports for each antenna. For satellites with several different antenna configurations, the number of serial ports for control calculations increases exponentially. As performance improves, tracking speed and accuracy also increase significantly. Spacecraft face the need for low cost and high reliability, urgently requiring the exploration of a new communication and control method to control the payload antennas. Summary of the Invention

[0004] To address the issue of the large amount of hardware serial port resources required by traditional differential 422 serial communication methods, this invention provides an antenna angle control method based on bus communication.

[0005] On the one hand, a bus-based antenna angle control method is provided, the method comprising: The control subsystem responds to the antenna control command sent by the data management subsystem. In each control cycle of the control subsystem, it calculates the target angle of each load antenna at a set extrapolation time based on the orbit and attitude information. In each polling cycle of the data management subsystem, in response to receiving a polling broadcast command sent by the data management subsystem, the control subsystem broadcasts the latest calculated target angle data packets of each load antenna to the corresponding load antenna via the bus; the polling cycle is longer than the control cycle; Each of the aforementioned payload antennas calculates its rotational angular velocity based on the target angle and the current actual angle, and controls the rotation of the payload antenna.

[0006] On the other hand, a bus-communication-based antenna angle control device is provided, based on the steps described in any method embodiment of the specification. The device includes: The extrapolation unit, located in the control subsystem, is used to respond to the antenna control command sent by the data management subsystem. In each control cycle of the control subsystem, it calculates the target angle of each load antenna at a set extrapolation time based on the orbit and attitude information. A broadcast unit, located in the control subsystem, broadcasts the latest calculated target angle data packets of each load antenna to the corresponding load antenna via a bus in each polling cycle of the data management subsystem in response to receiving a polling broadcast command from the data management subsystem; the polling cycle is longer than the control cycle. A rotation unit, located in the antenna subsystem, is used to calculate the antenna rotation angular velocity based on the target angle and the current actual angle, and to control the rotation of the load antenna.

[0007] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing a computer program, and the processor for executing the computer program stored in the memory to implement the steps of the method described above.

[0008] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the method described above.

[0009] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described above.

[0010] The technical solution provided by this invention can bring at least the following beneficial effects: The target angle of the control antenna is sent to the antenna subsystem via bus polling and broadcasting for antenna angle control. Compared with the previous antenna angle control method that relied solely on differential 422 serial communication, this method can save hardware serial port resources, reduce costs, and the reliable bus communication technology of the satellite can achieve precise target tracking through on-orbit antenna angle control. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of an antenna angle control method based on bus communication provided in an embodiment of the present invention; Figure 2This is a data flow relationship diagram of three subsystems provided in an embodiment of the present invention; Figure 3 This is a structural diagram of an antenna angle control device based on bus communication provided in an embodiment of the present invention; Figure 4 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0014] The specific implementation of the above concept is described below.

[0015] Please refer to Figure 1 The present invention provides an antenna angle control method based on bus communication, the method comprising: Step 100: In response to receiving the antenna control command from the data management subsystem, the control subsystem calculates the target angle of each load antenna at a set extrapolation time in each control cycle of the control subsystem based on the orbit and attitude information. Step 102: In each polling cycle of the data management subsystem, in response to receiving the polling broadcast command sent by the data management subsystem, the control subsystem broadcasts the latest calculated target angle data packets of each load antenna to the corresponding load antenna via the bus; the polling cycle is longer than the control cycle; Step 104: Each load antenna calculates its rotational angular velocity based on the target angle and the current actual angle, and controls the rotation of that load antenna.

[0016] In this embodiment of the invention, the target angle of the control calculation antenna is sent to the antenna subsystem through bus polling and broadcasting to control the antenna angle. Compared with the previous antenna angle control method that only relied on differential 422 serial communication, it can save hardware serial port resources, reduce costs, and improve the reliability of the system. Moreover, the reliable bus communication technology of the satellite can realize on-orbit antenna angle control to accurately track the target.

[0017] The following description Figure 1 The execution method of each step is shown.

[0018] For steps 100 and 102: In some implementations, the extrapolation time is set to be greater than the sum of the polling period, the control subsystem's response time to the polling broadcast command, and the bus transmission time delay.

[0019] In this embodiment, since the polling period is longer than the control period, in order to ensure that the antenna subsystem receives angle data that the antenna should reach at a future time, it is necessary to determine the extrapolation time based on the antenna's maneuverability and time delay.

[0020] In this embodiment of the invention, the polling period is set to 0.5s, the control period is set to 0.125s, the antenna's operating angle range is [-80°, 80°], the maximum rotation speed of the antenna is ±1.5° / s, and the maximum angular acceleration does not exceed 0.2 / s. 2 After the data management subsystem polls the bus, the control subsystem responds to the polling time in less than 2ms. In order to ensure that the antenna subsystem receives angle data that the antenna should reach at a future time, the extrapolation time can be set to be greater than 0.6s based on the antenna's maneuverability and time delay.

[0021] However, in order to improve fault handling capability and reliability, a communication fault handling strategy is set in the embodiments of the present invention. The communication fault handling strategy includes: setting an extrapolation time greater than the polling cycle, the control subsystem response time to the polling broadcast command, the bus transmission time delay and the control cycle, so that when a packet of target angle data is lost due to bus communication abnormality, the target angle sent in the previous polling cycle with the set extrapolation time covers the next frame angle of the load antenna.

[0022] It should be noted that the update cycle of the antenna control angle is determined according to the control cycle. In this embodiment, the angle update cycle of the load antenna is set to be equal to the control cycle of the control subsystem, i.e., 0.125s.

[0023] In this embodiment, packet loss may occur during bus communication. Therefore, the extrapolation time is set to be greater than the sum of the polling period, the control subsystem's response time to the polling broadcast command, the bus transmission time delay, and the control period. This ensures that even if a packet of target angle data is lost due to a bus communication anomaly, the designed extrapolation time can still guarantee that the target angle covers the next frame angle of the load antenna, thus ensuring the continuity of antenna tracking and the safety of antenna rotation in the event of communication failure. Therefore, in this embodiment of the invention, the extrapolation time is set to 0.75s.

[0024] Combination Figure 2 Please explain the data flow relationship between the control subsystem, data management subsystem, and antenna subsystem, i.e., the load antenna.

[0025] (1) The data management subsystem sends a command, and the antenna subsystem powers on the antenna; (2) The ground mission planning and data management subsystem sends an antenna control command to the control subsystem, which includes the data transmission station number information and the data transmission station coordinate information already loaded on the satellite. After receiving the antenna control command, the control subsystem executes step 100. In each control cycle, the target angle is calculated based on the orbit, target position, and current attitude, and steps 102 and 104 are executed in sequence to complete the tracking rotation of the payload antenna.

[0026] (3) After the antenna has finished working, the data management subsystem sends a command to power off the antenna subsystem. The antenna position can be ignored when powering off.

[0027] In some implementations, during each control cycle of the control subsystem, based on orbit and attitude information, the target angle of each payload antenna at a set extrapolation time is calculated, including: For each control cycle, execute: Obtain the orbit and attitude information at the start of the previous control cycle to deduce the orbit and attitude information at the start of the current control cycle; Based on the trajectory and attitude information at the start of the current control cycle, calculate the trajectory and attitude information at the start of the current control cycle plus a set extrapolation time; Based on the trajectory and attitude information at the start time of the current control cycle plus a set extrapolation time, calculate the target angle at the start time of the current control cycle plus the set extrapolation time, and package the target angle.

[0028] For example, since the polling period is set to 0.5s and the control period is set to 0.125s, if the T0 control period receives a polling command, it will package the target angle of the T0 control period and send it to the bus for broadcast to the antenna subsystem; the T1 control period will calculate the target angle of the T1 control period starting time plus a set extrapolation time based on the orbit and attitude information at the start of the T0 control period; the T2 control period will calculate the target angle of the T2 control period starting time plus a set extrapolation time based on the orbit and attitude information at the start of the T1 control period; the T3 control period will calculate the target angle of the T3 control period starting time plus a set extrapolation time based on the orbit and attitude information at the start of the T2 control period; the T4 control period will calculate the target angle of the T4 control period starting time plus a set extrapolation time based on the orbit and attitude information at the start of the T3 control period; if the polling command arrives before the T4 control period calculates the target angle, the target angle data packet of the T3 control period will be broadcast via the bus; if the polling command arrives after the T4 control period calculates the target angle, the target angle data packet of the T4 control period will be broadcast via the bus.

[0029] Regarding step 104: In some implementations, step 104 may include: When the load antenna receives the target angle, the actual angle of the load antenna at the current moment is obtained; Obtain the target time corresponding to the target angle. Based on the difference between the target time and the current time, and the quotient of the difference between the target angle and the actual angle, determine the angular velocity of the antenna rotation so that the load antenna rotates based on the angular velocity. The target time is the start time of the control cycle corresponding to the target angle plus a set extrapolation time.

[0030] For example, suppose the target angle data packet received by the load antenna is the extrapolated angle data Angle1 at time t1. The target angle data packet is broadcast to the load antenna via the bus. Due to the bus transmission time delay, the load antenna actually receives the target angle at time t2, which is the current time. Then, the actual angle Angle2 of the load antenna at the current time t2 is obtained. The angular velocity of the antenna rotation is then: V=((t1-t2) / (Angle1-Angle2)) In this embodiment of the invention, the communication failure handling strategy further includes: When the target angle of the broadcast is not received continuously, each load antenna maintains its current angular velocity and continues to rotate until it reaches the boundary working angle of the load antenna, i.e., -80° or 80°, and then stops rotating.

[0031] It should be noted that, in order to protect the safety of the antenna angle, a limit angle strategy is set as follows: when the target angle received by the antenna subsystem exceeds the boundary working angle of the load antenna or the calculated rotational angular velocity exceeds the antenna's maneuverability, the antenna subsystem will limit the angle and velocity.

[0032] Please refer to Figure 3 This invention provides an antenna angle control device based on bus communication, used to implement the steps of any method embodiment in the specification. The device includes: Extrapolation unit 301 is located in the control subsystem and is used to respond to the antenna control command sent by the data management subsystem. In each control cycle of the control subsystem, it calculates the target angle of each load antenna at a set extrapolation time based on the track and attitude information. The broadcast unit 302 is located in the control subsystem. In each polling cycle of the data management subsystem, in response to receiving the polling broadcast command sent by the data management subsystem, it broadcasts the latest calculated target angle data packets of each load antenna to the corresponding load antenna via the bus; the polling cycle is longer than the control cycle. The rotation unit 303 is located in the antenna subsystem and is used to calculate the angular velocity of the antenna rotation based on the target angle and the current actual angle, and to control the rotation of the load antenna.

[0033] It should be noted that the above-described device embodiments and method embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0034] Embodiments of this application also provide a computer device, please refer to... Figure 4 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the antenna angle control method based on bus communication provided in the above-described method embodiments.

[0035] The embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the antenna angle control method based on bus communication provided in the above-described method embodiments.

[0036] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform any of the bus communication-based antenna angle control methods described in the above embodiments.

[0037] For ease of description, the above devices or apparatuses are described separately according to their functions, divided into various modules or units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0038] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0039] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used merely 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 limitations, 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 the element.

[0040] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An antenna angle control method based on bus communication, characterized in that, include: The control subsystem responds to the antenna control command sent by the data management subsystem. In each control cycle of the control subsystem, it calculates the target angle of each load antenna at a set extrapolation time based on the orbit and attitude information. In each polling cycle of the data management subsystem, in response to receiving a polling broadcast command sent by the data management subsystem, the control subsystem broadcasts the latest calculated target angle data packets of each load antenna to the corresponding load antenna via the bus; The polling period is longer than the control period; Each of the aforementioned payload antennas calculates its rotational angular velocity based on the target angle and the current actual angle, and controls the rotation of the payload antenna. The set extrapolation time is greater than the sum of the polling period, the time for the control subsystem to respond to the polling broadcast command, and the time delay of bus transmission; A communication failure handling strategy is set up, which includes: the sum of the set extrapolation time being greater than the polling period, the control subsystem's response time to the polling broadcast command, the bus transmission time delay, and the control period, so that when a packet of target angle data is lost due to bus communication failure, the target angle sent in the previous polling period with the set extrapolation time covers the next frame angle of the load antenna.

2. The method as described in claim 1, characterized in that, In each control cycle of the control subsystem, based on orbit and attitude information, the target angle of each payload antenna at a set extrapolation time is calculated, including: For each control cycle, execute: Obtain the orbit and attitude information at the start of the previous control cycle to deduce the orbit and attitude information at the start of the current control cycle; Based on the trajectory and attitude information at the start of the current control cycle, calculate the trajectory and attitude information at the start of the current control cycle plus the set extrapolation time; Based on the trajectory and attitude information at the start time of the current control cycle plus the set extrapolation time, calculate the target angle at the start time of the current control cycle plus the set extrapolation time, and package the target angle.

3. The method as described in claim 2, characterized in that, Each of the aforementioned payload antennas calculates its rotational angular velocity based on the target angle and the current actual angle, and controls the rotation of the payload antenna, including: When the load antenna receives the target angle, the actual angle of the load antenna at the current moment is obtained; Obtain the target time corresponding to the target angle, and determine the angular velocity of the antenna rotation based on the difference between the target time and the current time, and the quotient of the difference between the target angle and the actual angle, so that the load antenna rotates based on the angular velocity; wherein, the target time is the start time of the control cycle corresponding to the target angle plus the set extrapolation time.

4. The method as described in claim 1, characterized in that, The communication failure handling strategy also includes: When the target angle of the broadcast is not received continuously, each load antenna maintains its current angular velocity and continues to rotate until it reaches the boundary working angle of the load antenna and then stops rotating.

5. An antenna angle control device based on bus communication, used to implement the steps of the method according to any one of claims 1-4, characterized in that, include: The extrapolation unit, located in the control subsystem, is used to respond to the antenna control command sent by the data management subsystem. In each control cycle of the control subsystem, it calculates the target angle of each load antenna at a set extrapolation time based on the orbit and attitude information. The broadcast unit, located in the control subsystem, in each polling cycle of the data management subsystem, responds to receiving the polling broadcast command sent by the data management subsystem and broadcasts the latest calculated target angle data packets of each load antenna to the corresponding load antenna via the bus. The polling period is longer than the control period; A rotation unit, located in the antenna subsystem, is used to calculate the antenna rotation angular velocity based on the target angle and the current actual angle, and to control the rotation of the load antenna.

6. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-4.

8. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-4.

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