Antenna beam control method and system based on velocity feedforward and jacobian matrix

Abstract

The application provides an antenna beam control method and system based on speed feedforward and a Jacobian matrix, and belongs to the technical field of antenna beam control. The method first acquires the azimuth angle and the elevation angle of a current antenna beam, converts the azimuth angle and the elevation angle into a first beam direction vector, and constructs a body Jacobian matrix. A rotation matrix is calculated by using an antenna carrier attitude quaternion, the first beam direction vector is converted into an actual beam vector in a world coordinate system, and a difference between the actual beam vector and a target vector is calculated. The rotation matrix is multiplied by the body Jacobian matrix to obtain a complete Jacobian matrix in the world coordinate system, a feedback correction amount in the antenna carrier system is obtained by converting the difference by using the complete Jacobian matrix, a carrier angular velocity is mapped to a beam azimuth-elevation space to obtain a feedforward compensation amount, the feedforward compensation amount is combined with the feedback correction amount to generate a beam control instruction, and the beam control instruction is converted into an optimal angular velocity instruction to drive an antenna radiation disc to adjust a beam pointing direction. The application can accurately control the antenna beam pointing direction in a dynamic environment.

Description

Technical Field

[0001] This invention relates to the field of antenna beam control technology, and in particular to an antenna beam control method and system based on velocity feedforward and Jacobian matrix. Background Technology

[0002] Existing airborne or vehicle-mounted antennas, in dynamic environments, need to simultaneously compensate for changes in the carrier's attitude and pointing errors. Traditional beam control methods mostly rely on closed-loop error correction, typically using error feedback control of the beam azimuth and elevation angles to adjust the antenna direction. While these methods can achieve beam alignment in static conditions, when the carrier experiences angular velocity disturbances, the antenna response lags, easily causing instantaneous beam deviations and affecting communication quality.

[0003] Existing methods fail to directly and effectively introduce carrier angular velocity disturbances into the control loop in a feedforward manner, and also fail to fully utilize the geometric relationships in the beam space to achieve accurate error mapping, resulting in limited dynamic performance and accuracy. Summary of the Invention

[0004] In view of this, the present invention provides an antenna beam control method and system based on velocity feedforward and Jacobian matrix to reduce the dynamic pointing error of antenna beam control.

[0005] The technical solution adopted in this invention is:

[0006] This invention provides an antenna beam control method based on velocity feedforward and Jacobian matrix, comprising:

[0007] Obtain the azimuth and elevation angles of the current VICTS antenna beam, convert the azimuth and elevation angles into the first beam direction vector in the body coordinate system, and construct the body Jacobian matrix based on the first beam direction vector;

[0008] The attitude quaternion of the antenna carrier is obtained and the rotation matrix is ​​calculated. Based on the rotation matrix, the coordinate transformation of the first beam direction vector is performed to obtain the actual beam direction vector in the world coordinate system. The vector difference between the target beam direction vector and the actual beam direction vector is calculated.

[0009] Multiply the rotation matrix by the body Jacobian matrix to obtain the complete Jacobian matrix, and use the complete Jacobian matrix to perform error transformation on the vector difference to obtain the feedback correction amount under the antenna system.

[0010] The actual angular velocity of the antenna carrier is obtained, and the actual angular velocity is mapped to the beam azimuth and elevation space based on the preset antenna beam angle transformation matrix to determine the feedforward compensation amount of the azimuth and elevation angles.

[0011] Based on the feedback correction amount and the feedforward compensation amount, a beam control command is generated. Based on the nonlinear mapping relationship between the antenna radiating disk and the beam direction, the beam control command is converted into the optimal angular velocity command of the radiating disk.

[0012] The optimal angular velocity command is sent to the servo motor driver, which drives the antenna radiating disk to adjust the beam pointing of the VICTS antenna.

[0013] Further, the step of obtaining the azimuth and elevation angles of the current VICTS antenna beam, converting the azimuth and elevation angles into a first beam direction vector in the body coordinate system, and constructing the body Jacobian matrix based on the first beam direction vector includes:

[0014] The real-time azimuth and elevation angles of the current VICTS antenna beam are collected, and the sine and cosine values ​​of the azimuth and elevation angles are combined and calculated to convert the azimuth and elevation angles into the first beam direction vector in the body coordinate system.

[0015] For the first beam direction vector in the body coordinate system, the partial derivatives with respect to the azimuth and elevation angles are calculated respectively. The partial derivatives are arranged in a preset row and column order to obtain the body Jacobian matrix.

[0016] Further, the process of obtaining the attitude quaternion of the antenna carrier and calculating the rotation matrix, and then performing coordinate transformation on the first beam direction vector based on the rotation matrix to obtain the actual beam direction vector in the world coordinate system, includes:

[0017] The attitude quaternions of the antenna carrier are collected in real time by the inertial measurement unit mounted on the antenna carrier.

[0018] The quaternion components are extracted from the attitude quaternion, and the quaternion components are calculated item by item according to the orthogonal matrix construction rule to obtain the rotation matrix;

[0019] The first beam direction vector in the carrier system is multiplied on the left by the rotation matrix to obtain the actual beam direction vector in the world coordinate system.

[0020] Further, the step of multiplying the rotation matrix with the body Jacobian matrix to obtain the complete Jacobian matrix, and using the complete Jacobian matrix to perform error transformation on the vector difference to obtain the feedback correction amount under the antenna system, includes:

[0021] Multiplying the rotation matrix by the Jacobian matrix yields the complete Jacobian matrix in the world coordinate system;

[0022] The complete Jacobian matrix is ​​transposed to obtain the transpose of the complete Jacobian matrix. The transpose of the complete Jacobian matrix is ​​then multiplied by the vector difference and the preset feedback gain coefficient to obtain the feedback correction amount of the beam angular velocity under the antenna system.

[0023] Further, the step of obtaining the actual angular velocity of the antenna carrier and mapping the actual angular velocity to the beam azimuth and elevation space based on a preset antenna beam angle transformation matrix, and determining the feedforward compensation amounts for the azimuth and elevation angles, includes:

[0024] The actual angular velocity of the antenna carrier is collected in real time by the inertial measurement unit;

[0025] Based on the kinematic relationship between the carrier angular velocity and the beam angular velocity, a preset antenna beam angle transformation matrix is ​​constructed, and the actual angular velocity of the antenna carrier is calculated by coordinate transformation based on the preset antenna beam angle transformation matrix to obtain the beam three-dimensional angular velocity vector;

[0026] The z-dimensional component is extracted from the beam's three-dimensional angular velocity vector as the feedforward compensation for the azimuth angle, and the y-dimensional component is extracted as the feedforward compensation for the pitch angle.

[0027] Further, the step of generating beam control commands based on the feedback correction and feedforward compensation amounts, and converting the beam control commands into optimal angular velocity commands for the radiating disk based on the nonlinear mapping relationship between the antenna radiating disk and the beam direction, includes:

[0028] Calculate the compensation difference between the feedback correction and the feedforward compensation, and generate beam control commands based on the compensation difference; the beam control commands include beam azimuth angular velocity control commands and pitch angular velocity control commands.

[0029] Based on the nonlinear mapping relationship between the antenna radiating disk and the beam direction, a nonlinear correlation model is established to associate the position of the antenna radiating disk with the azimuth and elevation angles of the beam. The nonlinear correlation model is then differentiated to obtain the mapping Jacobian matrix at the angular velocity level.

[0030] The Moore-Penrose pseudo-inverse is used to solve the mapped Jacobian matrix, and the beam azimuth angular velocity control command and elevation angular velocity control command are substituted to obtain the optimal angular velocity command for the antenna radiator.

[0031] Furthermore, the step of sending the optimal angular velocity command to the servo motor driver to drive the antenna radiating disk to adjust the beam pointing of the VICTS antenna includes:

[0032] The optimal angular velocity command of the antenna radiating disk is converted into a speed mode control command that can be recognized by the servo motor.

[0033] The speed mode control commands corresponding to the antenna radiating disk are sent to the corresponding servo motor drivers via the CAN bus. The servo motors drive the corresponding radiating disks to move in a coordinated manner at the optimal angular velocity, thereby adjusting the beam pointing of the VICTS antenna.

[0034] Based on the above method, this invention also provides an antenna beam control system based on velocity feedforward and Jacobian matrix, the system comprising:

[0035] The beam angle processing module is used to obtain the azimuth and elevation angles of the current VICTS antenna beam, convert the azimuth and elevation angles into the first beam direction vector in the body coordinate system, and construct the body Jacobian matrix based on the first beam direction vector.

[0036] The difference calculation module is used to obtain the attitude quaternion of the antenna carrier and calculate the rotation matrix. Based on the rotation matrix, the first beam direction vector is transformed to obtain the actual beam direction vector in the world coordinate system, and the vector difference between the target beam direction vector and the actual beam direction vector is calculated.

[0037] The feedback correction calculation module is used to multiply the rotation matrix with the body Jacobian matrix to obtain the complete Jacobian matrix, and then use the complete Jacobian matrix to perform error transformation on the vector difference to obtain the feedback correction amount under the antenna system.

[0038] The feedforward compensation mapping module is used to obtain the actual angular velocity of the antenna carrier and map the actual angular velocity to the beam azimuth and elevation space based on the preset antenna beam angle transformation matrix, and determine the feedforward compensation amount of the azimuth and elevation angles.

[0039] The instruction synthesis module is used to generate beam control instructions based on the feedback correction amount and the feedforward compensation amount, and convert the beam control instructions into the optimal angular velocity instructions of the radiating disk based on the nonlinear mapping relationship between the antenna radiating disk and the beam direction.

[0040] The command sending module is used to send the optimal angular velocity command to the servo motor driver, which drives the antenna radiating disk to adjust the beam pointing of the VICTS antenna.

[0041] In summary, the beneficial effects of the present invention are as follows:

[0042] The antenna beam control method based on velocity feedforward and Jacobian matrix provided by this invention has two aspects. First, it transforms the beam angle into a carrier system vector and constructs the carrier Jacobian matrix. Combining this with a rotation matrix, a complete Jacobian matrix is ​​obtained. After accurately solving for the deviation in the world coordinate system, the deviation is mapped to a feedback correction quantity through matrix transpose, achieving rapid convergence of small-angle deviations and avoiding gimbal lock-up. Second, by acquiring the carrier angular velocity in real time and mapping it to the beam space through a beam angle correlation transformation matrix, a feedforward correction quantity is obtained to offset disturbances in advance. Finally, the feedback correction quantity and the feedforward correction quantity are combined into a control command, and then the optimal angular velocity allocation of the four disks is achieved through pseudo-inverse calculation, maintaining sub-degree pointing accuracy and improving the ability to resist complex disturbances and dynamic response speed. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, and these are all within the protection scope of the present invention.

[0044] Figure 1 This is a flowchart of the antenna beam control method based on velocity feedforward and Jacobian matrix of the present invention.

[0045] Figure 2 This is a functional block diagram of the antenna beam control system based on velocity feedforward and Jacobian matrix of the present invention;

[0046] Figure 3 This is a flowchart of the antenna beam control system of the present invention. Detailed Implementation

[0047] 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. It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Unless otherwise specified, the present invention and the various features in the embodiments can be combined with each other, all of which are within the protection scope of the present invention.

[0048] Existing airborne or vehicle-mounted antennas, in dynamic environments, need to simultaneously compensate for changes in carrier attitude and pointing errors. Current airborne and vehicle-mounted antennas must address the dual challenges of carrier attitude changes (such as roll, pitch, and yaw) and beam pointing errors in dynamic environments. While the industry has developed multiple technical approaches, significant optimization space remains. Existing solutions often handle attitude disturbances and pointing errors separately, with the feedforward channel not deeply integrated with the feedback error mapping. This leads to a significant increase in dynamic errors during high-speed carrier maneuvers due to the superposition of attitude compensation lag and error correction delay. Furthermore, traditional methods lack precise coordinate system transformation and vector mapping mechanisms, making them prone to solution singularities or gimbal lock during large-angle attitude changes, limiting the antenna's stable operating angle range.

[0049] The purpose of this invention is to provide an antenna beam control method based on velocity feedforward and Jacobian matrix, solving the following technical problems:

[0050] When there is angular velocity disturbance in the carrier, the angular rate of the IMU gyroscope is effectively utilized, and the disturbance component on the beam pointing angular velocity is calculated through coordinate transformation feedforward. The compensation is then performed directly in the beam space (azimuth-pitch space), thereby significantly suppressing the dynamic pointing error caused by the carrier motion.

[0051] By establishing a real-time mapping between the antenna pointing angle deviation and the required spatial correction vector through the Jacobian matrix, the magnitude and direction of the correction are accurately provided, achieving stable and fast error convergence under small angle deviations; effectively avoiding the "gimbal lock" and attitude calculation singularity problems that occur in traditional methods at large angles or special attitudes.

[0052] By leveraging precise vector control capabilities based on the Jacobian matrix, while ensuring high static pointing accuracy, the antenna significantly improves its resistance to complex carrier disturbances (such as vibration and maneuvering) and dynamic response speed, ensuring stable target tracking in harsh motion environments.

[0053] Reference Figure 1 As shown, Figure 1 This is a schematic flowchart of an antenna beam control method based on velocity feedforward and Jacobian matrix according to an embodiment of the present invention. The method of this embodiment includes:

[0054] S1: Obtain the azimuth and elevation angles of the current VICTS antenna beam, convert the azimuth and elevation angles into the first beam direction vector in the body coordinate system, and construct the body Jacobian matrix based on the first beam direction vector;

[0055] S2: Obtain the attitude quaternion of the antenna carrier and calculate the rotation matrix. Based on the rotation matrix, perform coordinate transformation on the first beam direction vector to obtain the actual beam direction vector in the world coordinate system, and calculate the vector difference between the target beam direction vector and the actual beam direction vector.

[0056] S3: Multiply the rotation matrix with the body Jacobian matrix to obtain the complete Jacobian matrix, and use the complete Jacobian matrix to perform error transformation on the vector difference to obtain the feedback correction amount under the antenna system.

[0057] S4: Obtain the actual angular velocity of the antenna carrier, and map the actual angular velocity to the beam azimuth and elevation space based on the preset antenna beam angle transformation matrix, and determine the feedforward compensation amount of the azimuth and elevation angles;

[0058] S5: Generate beam control commands based on the feedback correction amount and feedforward compensation amount, and convert the beam control commands into the optimal angular velocity commands of the radiating disk based on the nonlinear mapping relationship between the antenna radiating disk and the beam direction.

[0059] S6: Send the optimal angular velocity command to the servo motor driver to drive the antenna radiating disk to adjust the beam pointing of the VICTS antenna.

[0060] This embodiment acquires the carrier's angular velocity information in real time through an inertial measurement unit (IMU). The angular velocity measured by the gyroscope is directly compensated by projecting the mechanical system onto the antenna's beam space (azimuth-pitch space). This allows for early correction of the antenna's control parameters when the carrier undergoes rapid attitude changes, reducing dynamic pointing errors. Simultaneously, based on the deviation vector between the antenna's current beam direction and the target direction, a Jacobian matrix is ​​constructed. This maps the direction deviation in the world coordinate system into angular velocity corrections for the antenna's azimuth and pitch axes, achieving rapid and stable error convergence within a small angle range.

[0061] The aforementioned velocity feedforward compensation and Jacobian matrix error mapping correction employ parallel setups of feedforward and feedback channels. The feedforward section primarily addresses dynamic disturbances to the carrier, ensuring rapid response; the feedback correction section guarantees steady-state accuracy and error elimination. By combining these two components, high-precision pointing control of the antenna beam is achieved in dynamic environments.

[0062] In this embodiment, step S1 involves obtaining the azimuth and elevation angles of the current VICTS antenna beam, converting the azimuth and elevation angles into a first beam direction vector in the aircraft coordinate system, and constructing an aircraft Jacobian matrix based on the first beam direction vector, including:

[0063] The real-time azimuth and elevation angles of the current VICTS antenna beam are collected, and the sine and cosine values ​​of the azimuth and elevation angles are combined and calculated to convert the azimuth and elevation angles into the first beam direction vector in the body coordinate system.

[0064] For the first beam direction vector in the body coordinate system, the partial derivatives with respect to the azimuth and elevation angles are calculated respectively. The partial derivatives are arranged in a preset row and column order to obtain the body Jacobian matrix. Based on the Jacobian matrix, the vector mapping relationship between the beam pointing vector and the azimuth and elevation angles is determined.

[0065] Specifically, the real-time azimuth and elevation angles of the VICTS antenna beam are expressed as follows: az and el In the body coordinate system, the azimuth angle of the antenna beam is... az With pitch angle el Represented as a unit direction vector, as shown in the following formula:

[0066]

[0067] in, The azimuth angle of the antenna beam; The elevation angle of the antenna beam; Let be the direction vector of the first beam in the body coordinate system, where cos represents the cosine function and sin represents the sine function.

[0068] Specifically, for each , By calculating the partial derivatives and arranging them in a predetermined row and column order, the mapping relationship between the change in the beam pointing vector of the aircraft system and the beam azimuth and elevation angles is constructed, i.e., the aircraft Jacobian matrix. Specifically, it is expressed as:

[0069]

[0070] The Jacobian matrix is ​​the first-order partial derivative matrix of a multivariate vector-valued function, used to describe the best linear approximation of a function from R^n to R^m at a certain point. The organism Jacobian matrix constructed in this embodiment... This reflects the sensitivity of the machine system to changes in the beam pointing vector to the azimuth and elevation angles.

[0071] In this embodiment, step S2 involves obtaining the attitude quaternion of the antenna carrier and calculating the rotation matrix. Based on the rotation matrix, a coordinate transformation is performed on the first beam direction vector to obtain the actual beam direction vector in the world coordinate system. Specifically, this includes:

[0072] The attitude quaternions of the antenna carrier are acquired in real time by an inertial measurement unit mounted on the antenna carrier. The attitude quaternions include attitude information such as roll angle, pitch angle, and yaw angle of the carrier.

[0073] Quaternion components are extracted from the attitude quaternions, and each quaternion component is calculated term by term using the orthogonal matrix construction rule to obtain the rotation matrix. The rotation matrix satisfies the orthogonal property that its inverse is equal to its transpose, and is used to realize the coordinate mapping between the carrier system and the world system.

[0074] The first beam direction vector in the carrier system is multiplied by the rotation matrix on the left to obtain the actual beam direction vector in the world coordinate system, ensuring that the beam pointing error is evaluated in a unified coordinate system.

[0075] In this embodiment, the target beam direction vector is represented as: The rotation matrix required for coordinate system transformation based on attitude quaternions is represented as follows: The first beam direction vector in the body coordinate system Transform to the world coordinate system to obtain the actual beam pointing vector in the world coordinate system. :

[0076]

[0077] The vector difference in the world coordinate system can be calculated by comparing the target beam direction vector with the actual beam pointing vector. e :

[0078]

[0079] This embodiment obtains the vector difference. e The three-dimensional vector difference characterizes the spatial pointing deviation between the target beam direction vector and the actual beam pointing vector. The magnitude of the vector difference corresponds to the magnitude of the beam pointing error, and the direction corresponds to the error offset direction.

[0080] In this embodiment, step S3 multiplies the rotation matrix with the body Jacobian matrix to obtain the complete Jacobian matrix, and uses the complete Jacobian matrix to perform error transformation on the vector difference to obtain the feedback correction amount under the antenna system, including:

[0081] Multiplying the rotation matrix by the Jacobian matrix yields the complete Jacobian matrix in the world coordinate system;

[0082] The complete Jacobian matrix is ​​transposed to obtain the transpose of the complete Jacobian matrix. The transpose of the complete Jacobian matrix is ​​then multiplied by the vector difference and the preset feedback gain coefficient to obtain the feedback correction amount of the beam angular velocity under the antenna system.

[0083] Specifically, by multiplying the transpose of the complete Jacobian matrix by the vector difference and the preset feedback gain coefficient, the vector difference of the aforementioned beam in the world coordinate system can be obtained. e (i.e., directional error) is mapped to the beam azimuth-elevation angular velocity space of the carrier system, generating a feedback correction amount under the antenna carrier system. The specific formula is as follows:

[0084]

[0085] in, The rotation matrix is ​​calculated from the attitude quaternion of the carrier. This represents the feedback correction amount under the antenna system, specifically the beam angular velocity correction amount of the antenna system. k is the feedback correction gain coefficient, and k > 0. This step achieves closed-loop error correction for beam pointing. e This represents the vector difference between the beam vectors in the world coordinate system. Represents the complete Jacobian matrix. This represents the transpose of the complete Jacobian matrix. The beam error in the world coordinate system is converted into the beam control angular velocity of the carrier system.

[0086] In this embodiment, step S4 involves obtaining the angular velocity of the antenna carrier and mapping it to the beam azimuth and elevation space based on a preset antenna beam angle transformation matrix, thereby determining the feedforward compensation amounts for the azimuth and elevation angles. This includes:

[0087] To quickly counteract carrier disturbances, the actual angular velocity of the antenna carrier is acquired in real time using an inertial measurement unit (IMU), specifically expressed as:

[0088]

[0089] in, This represents the actual angular velocity of the antenna carrier. This represents the x-dimensional component of the actual angular velocity. This represents the y-dimensional component of the actual angular velocity. The z-dimensional component represents the actual angular velocity; T represents the matrix transpose.

[0090] A preset antenna beam angle transformation matrix is ​​constructed based on the kinematic relationship between the carrier angular velocity and the beam angle velocity. The actual angular velocity of the antenna carrier is then transformed and calculated using the preset antenna beam angle transformation matrix to obtain the beam three-dimensional angular velocity vector. The beam three-dimensional angular velocity vector specifically includes components in three dimensions: x, y, and z.

[0091] Finally, the z-dimensional component is extracted from the beam's three-dimensional angular velocity vector as the feedforward compensation for the azimuth angle, and the y-dimensional component is extracted as the feedforward compensation for the pitch angle.

[0092] The preset antenna beam angle transformation matrix is ​​expressed as follows: The antenna beam angle ( , The transformation matrix is ​​determined by the kinematic relationship between the carrier angular velocity and the beam angular velocity, as shown in the following equation:

[0093]

[0094] Where tan is the tangent function.

[0095] When determining the feedforward compensation for azimuth and elevation angles, first define the antenna beam angular velocity vector:

[0096]

[0097] in, This refers to the antenna beam angular velocity; The antenna beam angular velocity x-dimensional component, The y-dimensional component of the antenna beam angular velocity. Let z be the z-dimensional component of the antenna beam angular velocity.

[0098] The effect of the change in body angular velocity on the antenna beam angular velocity is calculated by coordinate transformation. The coordinate transformation calculation relationship is as follows:

[0099]

[0100] This yields the feedforward components of the antenna beam azimuth and elevation axes, i.e., the feedforward compensation amounts for the azimuth and elevation angles:

[0101]

[0102] in, This is the feedforward compensation amount for the antenna beam azimuth angle. This represents the feedforward compensation for the antenna beam elevation angle. The feedforward compensation for the antenna beam azimuth angle and the antenna beam elevation angle can be combined and expressed as a single feedforward term. .

[0103] This compensation term directly reflects the perturbation effect of the carrier angular velocity on the antenna beam pointing, achieving fast feedforward suppression of the perturbation.

[0104] in: Indicates the beam azimuth angle; Indicates the beam pitch angle; This matrix represents the body's angular velocity. Mapped to antenna beam angular velocity .

[0105] In this embodiment, step S5 generates beam control commands based on the feedback correction amount and the feedforward compensation amount. Based on the nonlinear mapping relationship between the antenna radiating disk and the beam direction, the beam control commands are converted into optimal angular velocity commands for the radiating disk, including:

[0106] The difference between the feedback correction and the feedforward compensation is calculated, and beam control commands are generated based on this difference. These beam control commands include azimuth rate control commands and pitch rate control commands.

[0107] Based on the nonlinear mapping relationship between the antenna radiating disk and the beam direction, a nonlinear correlation model is established to associate the position of the antenna radiating disk with the azimuth and elevation angles of the beam. The nonlinear correlation model is then differentiated to obtain the mapping Jacobian matrix at the angular velocity level.

[0108] The Moore-Penrose pseudo-inverse is used to solve the mapped Jacobian matrix, and the beam azimuth angular velocity control command and elevation angular velocity control command are substituted to obtain the optimal angular velocity command for the antenna radiator.

[0109] The beam control command includes a total beam angular velocity command, which is determined by the difference between the feedback correction and the feedforward compensation. The calculation process is shown in the following formula:

[0110]

[0111] in, , The calculated total beam angular velocity command includes both error correction (feedback) for target tracking and active compensation (feedforward) for carrier disturbances. For error correction feedback, This serves as a feedforward term for error correction. It then drives the antenna servo system to achieve high-precision, high-dynamic beam stabilization and tracking.

[0112] Specifically, in the process of calculating the velocity of the antenna radiating disk based on nonlinear mapping relationships, the azimuth angular velocity obtained is... With pitch angular velocity All of these are defined in the beam pointing space (i.e., azimuth-elevation space). However, the physical actuator of the VICTS antenna consists of four independently controllable radiating disk units, and there is a complex nonlinear mapping relationship between their mechanical motion and the final beam pointing. Therefore, the nonlinear mapping relationship between the antenna radiating disks and the beam direction in this embodiment can be uniformly modeled as follows:

[0113]

[0114] in, These represent the current positions of the four disks, respectively. The nonlinear mapping between the position of the characterizing disk and the beam direction.

[0115] Differentiating the nonlinear mapping relationship yields the mapping form of angular velocity:

[0116]

[0117] in, , These represent the azimuth and pitch angular velocities after nonlinear mapping, respectively. These represent the positions of the four radiating disks after nonlinear mapping. This represents the Jacobian matrix of the mapping.

[0118] Wherein, the mapping Jacobian matrix Defined as:

[0119]

[0120] in, It is the beam azimuth function For the positions of the first to fourth radiating disks The partial derivatives of . It is the beam pitch angle function For the positions of the first to fourth radiating disks The partial derivatives of .

[0121] Since the system is underactuated (2 degrees of freedom corresponding to 4 actuators), the Moore–Penrose pseudo-inverse is required for solution to obtain the optimal disk angular velocity distribution. The specific process is shown in the following equation:

[0122]

[0123] in, , The total beam angular velocity command calculated using the aforementioned composite control law, For mapping the Jacobian matrix The Moore–Penrose pseudo-inverse matrix. This provides the optimal angular velocity command for the four antenna radiating disks. This solution not only ensures the antenna beams achieve the desired trajectory but also optimizes the disk motion to a certain extent.

[0124] In this embodiment, step S6, sending the optimal angular velocity command to the servo motor driver to drive the antenna radiating disk to adjust the beam pointing of the VICTS antenna, includes:

[0125] The optimal angular velocity command of the antenna radiating disk is converted into a speed mode control command that can be recognized by the servo motor.

[0126] The speed mode control commands corresponding to the antenna radiating disk are sent to the corresponding servo motor drivers via the CAN bus. The servo motors drive the corresponding radiating disks to move in a coordinated manner at the optimal angular velocity, thereby adjusting the beam pointing of the VICTS antenna.

[0127] Specifically, the servo motor driver is a closed-loop speed controller (PI controller), which outputs current to drive the motor to run at a given angular velocity. This generates coordinated mechanical motion in the four disks, and through the antenna's unique nonlinear electromagnetic synthesis effect, achieves rapid, stable, and precise beam pointing control.

[0128] The method in this embodiment directly maps IMU angular velocity information to the antenna control axis to form a velocity feedforward channel. It employs Jacobian matrix mapping under small deviations to avoid control singularities at large angles or in special attitudes. Finally, by combining feedforward and correction in parallel, it balances dynamic response and steady-state accuracy, improving the stability and reliability of the antenna in complex motion environments.

[0129] Example 2: Refer to Figure 2 As shown, based on Embodiment 1 above, this embodiment also provides an antenna beam control system based on velocity feedforward and Jacobian matrix. The system includes:

[0130] The beam angle processing module is used to obtain the azimuth and elevation angles of the current VICTS antenna beam, convert the azimuth and elevation angles into the first beam direction vector in the body coordinate system, and construct the body Jacobian matrix based on the first beam direction vector.

[0131] The difference calculation module is used to obtain the attitude quaternion of the antenna carrier and calculate the rotation matrix. Based on the rotation matrix, the first beam direction vector is transformed to obtain the actual beam direction vector in the world coordinate system, and the vector difference between the target beam direction vector and the actual beam direction vector is calculated.

[0132] The feedback correction calculation module is used to multiply the rotation matrix with the body Jacobian matrix to obtain the complete Jacobian matrix, and then use the complete Jacobian matrix to perform error transformation on the vector difference to obtain the feedback correction amount under the antenna system.

[0133] The feedforward compensation mapping module is used to obtain the actual angular velocity of the antenna carrier and map the actual angular velocity to the beam azimuth and elevation space based on the preset antenna beam angle transformation matrix, and determine the feedforward compensation amount of the azimuth and elevation angles.

[0134] The instruction synthesis module is used to generate beam control instructions based on the feedback correction amount and the feedforward compensation amount, and convert the beam control instructions into the optimal angular velocity instructions of the radiating disk based on the nonlinear mapping relationship between the antenna radiating disk and the beam direction.

[0135] The command sending module is used to send the optimal angular velocity command to the servo motor driver, which drives the antenna radiating disk to adjust the beam pointing of the VICTS antenna.

[0136] Reference Figure 3 The system workflow diagram shown in this embodiment first inputs data through sensors after the system starts up. The beam angle processing module first obtains the azimuth and elevation angles of the current VICTS antenna beam, converts them into the first beam direction vector in the body coordinate system, and constructs the body Jacobian matrix based on the vector, providing the basic correlation for subsequent calculations.

[0137] Subsequently, the difference calculation module obtains the target beam direction vector and, combined with the rotation matrix calculated from the carrier attitude quaternions, converts the first beam direction vector in the body coordinate system into the actual beam pointing vector in the world coordinate system. Then, it calculates the difference between the target beam direction vector and the actual beam direction vector. The feedback correction calculation module then multiplies the rotation matrix with the carrier Jacobian matrix to obtain the complete Jacobian matrix. This complete Jacobian matrix is ​​then used to perform error conversion on the vector difference, yielding the feedback correction amount in the antenna-borne system.

[0138] Simultaneously, the feedforward compensation mapping module acquires the carrier angular velocity and maps it to the beam azimuth-elevation space using a preset antenna beam angle transformation matrix to determine the feedforward compensation amount. Next, the command synthesis module integrates the feedback correction amount and the feedforward compensation amount to generate beam control commands. Then, based on the nonlinear mapping relationship between the antenna radiating disk and the beam direction, it calculates the optimal angular velocity command for the radiating disk.

[0139] Finally, the command sending module sends the command to the servo motor driver, which drives the antenna radiating disk to adjust the beam pointing. After completion, the system determines whether to continue tracking. If tracking is required, the above process is repeated. The modules are sequentially connected and work together to achieve high-precision and stable beam pointing of the VICTS antenna in dynamic environments, effectively offsetting the disturbances caused by changes in the carrier's attitude, significantly reducing beam pointing errors, and ensuring the continuous reliability of signal transmission.

[0140] This invention achieves a breakthrough improvement in beam stabilization performance through dual-channel collaborative control. Experimental verification shows that in the feedforward channel, direct mapping compensation based on IMU angular velocity improves the dynamic error suppression capability caused by carrier disturbance by more than 30%, effectively solving the response lag problem of traditional closed-loop control and reducing beam stabilization time by 50% in high-speed maneuvering scenarios. In the feedback channel, the Jacobian matrix is ​​used to accurately map spatial vectorization error to the azimuth / pitch axis, avoiding the gimbal lock-up risk when the pitch angle is close to 90°, extending the stable pitch angle range to 85°, and significantly enhancing control robustness under extreme attitudes.

[0141] At the system execution level, the motion optimization allocation from two-dimensional instructions to four-disk drives was achieved through Moore-Penrose pseudo-inverse calculation. While maintaining sub-degree pointing accuracy (static ≤0.1°, dynamic ≤0.5°), mechanical wear was reduced by 23% and servo power consumption was reduced by 30%.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for antenna beam control based on velocity feedforward and Jacobian matrix, characterized in that, The method comprises the following steps: obtaining the azimuth angle and the elevation angle of the current VICTS antenna beam, and converting the azimuth angle and the elevation angle into a first beam direction vector in the body coordinate system, and constructing a body Jacobian matrix based on the first beam direction vector; obtaining the attitude quaternion of the antenna carrier and calculating a rotation matrix, performing coordinate conversion on the first beam direction vector based on the rotation matrix to obtain an actual beam direction vector in the world coordinate system, and calculating a vector difference between the target beam direction vector and the actual beam direction vector; multiplying the rotation matrix and the body Jacobian matrix to obtain a complete Jacobian matrix, and performing error conversion on the vector difference by using the complete Jacobian matrix to obtain a feedback correction amount in the antenna carrier system; obtaining the actual angular velocity of the antenna carrier, and mapping the actual angular velocity to the beam azimuth-elevation space based on a preset antenna beam angle conversion matrix to determine a feedforward compensation amount of the azimuth angle and the elevation angle; generating a beam control instruction according to the feedback correction amount and the feedforward compensation amount, and converting the beam control instruction into an optimal angular velocity instruction of the radiating disc based on the nonlinear mapping relationship between the antenna radiating disc and the beam direction; sending the optimal angular velocity instruction to the servo motor driver to drive the antenna radiating disc to adjust the beam pointing direction of the VICTS antenna.

2. The method of claim 1, wherein the speed feedforward and Jacobian matrix based antenna beam control method is characterized by, The method comprises the following steps: collecting the real-time azimuth angle and the elevation angle of the current VICTS antenna beam, and performing combination operation based on the sine and cosine values of the azimuth angle and the sine and cosine values of the elevation angle to convert the azimuth angle and the elevation angle into a first beam direction vector in the body coordinate system; solving the partial derivatives of the first beam direction vector in the body coordinate system with respect to the azimuth angle and the elevation angle respectively, arranging the partial derivatives in a preset row-column order to obtain the body Jacobian matrix. 3.The antenna beam control method based on velocity feedforward and Jacobian matrix of claim 1, wherein, The method comprises the following steps: real-time collecting the attitude quaternion of the antenna carrier by the inertial measurement unit carried by the antenna carrier; extracting the quaternion components from the attitude quaternion, and calculating the quaternion components item by item by a rotation matrix construction rule to obtain the rotation matrix; left-multiplying the first beam direction vector in the carrier system with the rotation matrix to obtain the actual beam direction vector in the world coordinate system.

4. The method of claim 1, wherein the speed feedforward and Jacobian matrix based antenna beam control method is characterized by, The method comprises the following steps: multiplying the rotation matrix and the Jacobian matrix to obtain the complete Jacobian matrix in the world coordinate system; transposing the complete Jacobian matrix to obtain the transpose of the complete Jacobian matrix, and multiplying the transpose of the complete Jacobian matrix with the vector difference and a preset feedback gain coefficient to obtain the feedback correction amount of the beam angular velocity in the antenna carrier system.

5. The method of claim 1, wherein the method is based on a speed feedforward and Jacobian matrix for antenna beam control. The actual angular velocity of the antenna carrier is acquired, and the actual angular velocity is mapped to a beam azimuth-elevation space based on a preset antenna beam angle conversion matrix to determine a feedforward compensation amount of an azimuth angle and an elevation angle, including: The actual angular velocity of the antenna carrier is acquired in real time by an inertial measurement unit; A preset antenna beam angle conversion matrix is constructed based on a kinematic relationship between a carrier angular velocity and a beam angular velocity, and the actual angular velocity of the antenna carrier is subjected to coordinate conversion calculation based on the preset antenna beam angle conversion matrix to obtain a beam three-dimensional angular velocity vector; wherein the beam three-dimensional angular velocity vector specifically includes x, y, and z three-dimensional components; The z-dimensional component is extracted from the beam three-dimensional angular velocity vector as the feedforward compensation amount of the azimuth angle, and the y-dimensional component is extracted as the feedforward compensation amount of the elevation angle.

6. The method of claim 1, wherein, The beam control instruction is generated according to the feedback correction amount and the feedforward compensation amount, and the beam control instruction is converted into an optimal angular velocity instruction of the antenna radiation disc based on a nonlinear mapping relationship between the antenna radiation disc and the beam direction, including: A compensation difference value of the feedback correction amount and the feedforward compensation amount is calculated, and the beam control instruction is generated according to the compensation difference value; the beam control instruction includes a beam azimuth angular velocity control instruction and an elevation angular velocity control instruction; A nonlinear correlation model of the antenna radiation disc position and the beam azimuth angle and the elevation angle is established based on the nonlinear mapping relationship between the antenna radiation disc and the beam direction, and the nonlinear correlation model is subjected to differential processing to obtain a mapping Jacobian matrix at the angular velocity level; The mapping Jacobian matrix is solved by Moore-Penrose pseudo-inverse, and the beam azimuth angular velocity control instruction and the elevation angular velocity control instruction are substituted into the mapping Jacobian matrix to obtain the optimal angular velocity instruction of the antenna radiation disc.

7. The method of claim 1, wherein the method is based on a speed feedforward and Jacobian matrix for antenna beam control. The optimal angular velocity instruction is sent to a servo motor driver to drive the antenna radiation disc to adjust the beam pointing of the VICTS antenna, including: The optimal angular velocity instruction of the antenna radiation disc is converted into a speed mode control instruction recognizable by the servo motor; The speed mode control instruction corresponding to the antenna radiation disc is sent to the corresponding servo motor driver through the CAN bus to drive the servo motor to drive the corresponding radiation disc to move at the optimal angular velocity, so as to adjust the beam pointing of the VICTS antenna.

8. A velocity feedforward and Jacobian matrix based antenna beam control system implemented by the velocity feedforward and Jacobian matrix based antenna beam control method of any one of claims 1-7, characterized in that, Including: A beam angle processing module is configured to acquire an azimuth angle and an elevation angle of a current VICTS antenna beam, convert the azimuth angle and the elevation angle into a first beam direction vector in a body coordinate system, and construct a body Jacobian matrix based on the first beam direction vector; A difference calculation module is configured to acquire attitude quaternions of an antenna carrier, calculate a rotation matrix, perform coordinate conversion on the first beam direction vector based on the rotation matrix to obtain an actual beam direction vector in a world coordinate system, and calculate a vector difference value between a target beam direction vector and the actual beam direction vector; A feedback correction calculation module is configured to multiply the rotation matrix and the body Jacobian matrix to obtain a complete Jacobian matrix, and perform error conversion on the vector difference value by using the complete Jacobian matrix to obtain a feedback correction amount in the antenna carrier system. The feedforward compensation mapping module is configured to acquire an actual angular velocity of the antenna carrier, and map the actual angular velocity to a beam azimuth-elevation space based on a preset antenna beam angle conversion matrix to determine a feedforward compensation amount of an azimuth angle and an elevation angle. The instruction synthesis module is configured to generate a beam control instruction according to the feedback correction amount and the feedforward compensation amount, and convert the beam control instruction into an optimal angular velocity instruction of the radiating disc based on a nonlinear mapping relationship between the antenna radiating disc and the beam direction. The instruction sending module is configured to send the optimal angular velocity instruction to a servo motor driver to drive the antenna radiating disc to adjust the beam pointing direction of the VICTS antenna.

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