Double-shaft rotary table for satellite coarse tracking

Abstract

The invention discloses a double-shaft turntable for coarse tracking of satellites, and relates to the technical field of coarse tracking of low-orbit satellites. Comprising a rotary table mechanical table body, a rotary table electric control system, an equipment cable and an image recognition assembly. The rotary table mechanical table body is of a U-T horizontal structure and comprises an outer ring base, and a first support and a second support are fixedly arranged on the two sides of the outer ring base respectively. An outer ring shaft is rotationally installed between the first support and the second support, an inner ring shaft is rotationally installed on the outer ring shaft, the outer ring shaft rotates around a pitching axis, the pitching axis is in the horizontal direction, the inner ring shaft rotates around an azimuth axis, the azimuth axis is in the vertical direction, and the azimuth axis can be located at different space positions around the pitching axis. The outer ring shaft and the inner ring shaft rotate continuously and infinitely; the rotary table electric control system is used for completing motion control, state monitoring and remote control of the rotary table; the rotary table is small in overall motion envelope size and convenient to move; the control system is placed in the table body frame, so that the system design is simplified.

Description

Technical Field

[0001] This invention relates to the field of coarse tracking technology for low-Earth orbit satellites, and particularly to a dual-axis turntable for coarse satellite tracking. Background Technology

[0002] A dual-axis turntable for satellite coarse tracking is a device used by ground systems to track satellites or other space objects, typically applied in satellite communication, remote sensing, and other satellite-related missions. This turntable uses an electronic control system to achieve precise pointing and positioning of the satellite, ensuring stable reception or transmission of satellite signals. A dual-axis turntable usually has two rotation axes, controlling pitch and yaw angles respectively. In low-Earth orbit satellite communication and telemetry systems, coarse tracking turntables are used to ensure that ground station antennas or laser systems are always aligned with the satellite, thereby establishing a stable communication link. Existing turntables are designed with large platform weight and a large overall motion envelope, and the control system wiring is cumbersome, making the entire turntable system complex. Therefore, to achieve efficient and accurate satellite information acquisition for control and management, this invention proposes a dual-axis turntable for satellite coarse tracking. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention proposes a dual-axis turntable for satellite coarse tracking. The turntable body adopts a UT horizontal structure, and the inner ring axis adopts a double-platform design, both of which can be used to install loads. It also features a hollow design to facilitate cable routing. The overall motion envelope size of the turntable is small, making it easy to move. By placing the control system inside the turntable frame, the system design is simplified, and the entire turntable only requires communication and power cables to connect to the outside, reducing system complexity.

[0004] The technical solution used in this invention is as follows: a dual-axis turntable for satellite coarse tracking, comprising a turntable mechanical body, a turntable electrical control system, equipment cables, and an image recognition component; the turntable mechanical body is a UT horizontal structure, including an outer ring base, with a first bracket and a second bracket fixedly mounted on both sides of the outer ring base; an outer ring shaft is rotatably mounted between the first bracket and the second bracket, and an inner ring shaft is rotatably mounted on the outer ring shaft. The outer ring shaft rotates around the pitch axis, which is horizontal, and the inner ring shaft rotates around the azimuth axis, which is vertical. The azimuth axis can be in different spatial positions around the pitch axis; mounting surfaces are fixedly mounted at both ends of the inner ring shaft, and the outer and inner ring shafts rotate continuously and infinitely; the turntable electrical control system is used to complete the motion control, status monitoring, and remote control of the turntable, including a motion control unit, an angle measurement unit, a drive unit, and a logic control unit; the image recognition component is mounted on the mounting surface to provide real-time satellite position information.

[0005] As a preferred embodiment, the bottom of the outer ring base is provided with a support part by a threaded connection for supporting and adjusting the outer ring base.

[0006] As a preferred embodiment, the mounting platform is used to mount the load, and the two mounting platforms and the inner ring shaft are hollow structures for the routing of equipment cables.

[0007] As a preferred embodiment, the turntable electrical control system is installed in the first and second supports to realize the control of the turntable's orientation and pitch movements.

[0008] As a preferred embodiment, the motion control unit is used to control the attitude changes of the turntable. The motion control unit receives instructions from the logic control unit and achieves precise positioning of the turntable through cooperation with the drive unit. The motion control unit includes: a digital signal processor for executing control algorithms, data processing, and communication; a current sensor and encoder for real-time monitoring of the motor current and speed and feeding the data back to the control unit; and a motor drive chip for controlling the motor's start, stop, and speed adjustment.

[0009] As a preferred embodiment, the angle measurement unit is used to measure the attitude information of the turntable in real time, including pitch angle and yaw angle; the angle measurement unit includes: an angle sensor for continuously measuring the angle of the turntable; an optical encoder for calculating the rotation angle of the shaft by emitting a light beam and receiving reflected light, and outputting feedback angle information; a potentiometer for calculating and analyzing the angle by measuring the change in resistance; a gyroscope for analyzing and calculating the dynamic angle information of the turntable; and a digital signal converter for converting analog signals into digital signals for processing by the control system.

[0010] As a preferred embodiment, the drive unit is used to convert the commands of the motion control unit into the physical motion of the turntable, driving the outer ring shaft and the inner ring shaft to rotate; the drive unit includes: a servo motor; a reducer, used to increase torque and slow down the rotation speed of the motor; and a motor driver, used to control the start, stop, acceleration, deceleration and other operations of the motor.

[0011] As a preferred embodiment, the logic control unit is responsible for coordinating the work of each unit, processing control commands from the outside, and interacting with other units. The logic control unit includes: a main control processor, which manages all control processes and real-time data processing, and implements complex control algorithms and task scheduling; a communication module, which exchanges data with the remote control system; and a user interface, which provides an interface for operators to interact with the system.

[0012] Compared with the prior art, the present invention has the following advantages: (1) The total weight of the platform is small and the overall motion envelope of the turntable is small, making it easy to move; (2) By placing the control system inside the platform support, the system design is simplified, and the entire platform only needs communication and power supply cables to connect with the outside, reducing the system complexity; (3) The hollow design is adopted to facilitate cable routing, and the double platform design can be used to install loads. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0014] Figure 2 This is a schematic diagram of the overall side structure of the present invention.

[0015] Figure 3 This is a schematic diagram of the overall front structure of the present invention.

[0016] Reference numerals in the attached drawings: 1-Outer ring base; 2-First bracket; 3-Second bracket; 4-Outer ring shaft; 5-Mounting platform; 6-Support part; 7-Inner ring shaft. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0018] like Figures 1 to 3 As shown, a dual-axis turntable for coarse satellite tracking includes a turntable mechanical body, a turntable electrical control system, equipment cables, and an image recognition component. The turntable mechanical body is a UT horizontal structure, including an outer ring base 1, with a first support 2 and a second support 3 fixedly mounted on both sides of the outer ring base. An outer ring shaft 4 is rotatably mounted between the first support 2 and the second support 3, and an inner ring shaft 7 is rotatably mounted on the outer ring shaft 4. The outer ring shaft 4 rotates around the pitch axis, which is horizontal, while the inner ring shaft 7 rotates around the azimuth axis, which is vertical. The azimuth axis can be in different spatial positions around the pitch axis. Mounting surfaces 5 are fixedly mounted at both ends of the inner ring shaft 7. The outer ring shaft 4 and the inner ring shaft 7 rotate continuously and infinitely. The turntable electrical control system is used to complete the motion control, status monitoring, and remote control of the turntable, including a motion control unit, an angle measurement unit, a drive unit, and a logic control unit. An image recognition load device or a laser communication device is mounted on the mounting surface. The image recognition load device transmits the position, azimuth, and pitch information of the target satellite in real time. After receiving the information, the turntable adjusts its attitude in real time to achieve coarse tracking.

[0019] The outer ring base 1 has a support part 6 connected by a thread at the bottom to support and adjust the outer ring base; the mounting platform 5 is used to install the load, and the two mounting platforms 5 and the inner ring shaft 7 are empty structures for the arrangement of equipment cables; the turntable electrical control system is installed in the first bracket 2 and the second bracket 3 to realize the turntable's orientation and pitch movement control, and the turntable is powered by a power cable, and status feedback and command control are realized by a communication cable.

[0020] The motion control unit is used to control the attitude changes of the turntable. The motion control unit receives instructions from the logic control unit and achieves precise positioning of the turntable through cooperation with the drive unit. The motion control unit includes: a digital signal processor for executing control algorithms, data processing and communication; a current sensor and encoder for real-time monitoring of the motor current and speed and feeding the data back to the control unit; and a motor drive chip for controlling the motor's start, stop and speed adjustment.

[0021] The angle measurement unit is used to measure the attitude information of the turntable in real time, including pitch and yaw angles. The angle measurement unit includes: an angle sensor for continuously measuring the angle of the turntable; an optical encoder for calculating the rotation angle of the shaft by emitting a light beam and receiving reflected light to output feedback angle information; a potentiometer for estimating and analyzing angles by measuring changes in resistance; a gyroscope for analyzing and calculating the dynamic angle information of the turntable; and a digital signal converter for converting analog signals into digital signals for processing by the control system.

[0022] The drive unit is used to convert the commands of the motion control unit into the physical motion of the turntable, driving the outer ring shaft 4 and the inner ring shaft 7 to rotate; the drive unit includes: a servo motor; a reducer, used to increase torque and slow down the rotation speed of the motor; and a motor driver, used to control the start, stop, acceleration, deceleration and other operations of the motor.

[0023] The logic control unit is responsible for coordinating the work of each unit, processing control commands from the outside, and interacting with other units. The logic control unit includes: a main control processor, which manages all control processes and real-time data processing, and implements complex control algorithms and task scheduling; a communication module, which exchanges data with the remote control system; and a user interface, which provides an interface for operators to interact with the system.

[0024] In this invention, both the outer ring shaft 4 and the inner ring shaft 7 are supported by high-precision angular contact ball bearings, a high-precision angle encoder serves as the angle feedback element, and a conductive slip ring serves as the power supply and electrical signal transmission channel, providing a load mounting platform for the turntable to realize its functions and complete the required mechanical movements; the turntable adopts a double-table design, which facilitates the installation of image recognition equipment and auxiliary load equipment.

[0025] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0026] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A two-axis turntable for satellite coarse tracking, characterized by: The application relates to a rotating table, which comprises a rotating table mechanical base, a rotating table electric control system, equipment cables and an image recognition assembly; the rotating table mechanical base is in a U-T horizontal structure, comprises an outer ring base, and first and second supports are fixedly arranged on the two sides of the outer ring base; an outer ring shaft is rotatably arranged between the first and second supports, an inner ring shaft is rotatably arranged on the outer ring shaft, the outer ring shaft rotates around a pitch axis, the pitch axis is in a horizontal direction, the inner ring shaft rotates around an azimuth axis, the azimuth axis is in a vertical direction, and the azimuth axis can be in different spatial positions around the pitch axis; installation platforms are fixedly arranged at the two ends of the inner ring shaft, and the outer ring shaft and the inner ring shaft rotate continuously and infinitely; the rotating table electric control system is used for completing motion control, state monitoring and remote control of the rotating table, and comprises a motion control unit, an angle measurement unit, a driving unit and a logic control unit; the image recognition assembly is installed on the installation platforms and is used for providing real-time position information of a satellite.

2. The dual-axis turntable for satellite coarse tracking according to claim 1, characterized in that: The outer ring base bottom is provided with a support part in a threaded connection mode, which is used for supporting and adjusting the outer ring base.

3. The dual-axis turntable for satellite coarse tracking according to claim 1, characterized in that: The installation platforms are used for installing loads, and the two installation platforms and the inner ring shaft are empty structures and are used for arranging the equipment cables.

4. The dual-axis turntable for satellite coarse tracking according to claim 1, characterized in that: The rotating table electric control system is installed in the first and second supports, and realizes azimuth and pitch motion control of the rotating table.

5. The dual-axis turntable for satellite coarse tracking according to claim 1, characterized in that: The motion control unit is used for controlling attitude change of the rotating table, the motion control unit receives instructions from the logic control unit, and realizes accurate positioning of the rotating table through cooperative work with the driving unit; the motion control unit comprises a digital signal processor which is used for executing a control algorithm, data processing and communication; a current sensor and an encoder which are used for monitoring current and rotating speed of a motor in real time and feeding back data to the control unit; and a motor driving chip which is used for controlling starting, stopping and rotating speed adjustment of the motor.

6. The dual-axis turntable for satellite coarse tracking according to claim 1, characterized in that: The angle measurement unit is used for measuring attitude information of the rotating table in real time, and the attitude information comprises a pitch angle and a yaw angle; the angle measurement unit comprises an angle sensor which is used for continuously measuring an angle of the rotating table; a photoelectric encoder which calculates a rotating angle of a rotating shaft by emitting a light beam and receiving reflected light to output feedback angle information; a potentiometer which calculates and analyzes an angle by measuring resistance change; and a gyroscope which is used for analyzing and calculating dynamic angle information of the rotating table; and a digital signal converter which converts an analog signal into a digital signal to be processed by a control system.

7. The dual-axis turntable for satellite coarse tracking according to claim 1, characterized in that: The driving unit is used for converting instructions of the motion control unit into physical motion of the rotating table, and drives the outer ring shaft and the inner ring shaft to rotate; the driving unit comprises a servo motor, a reducer which is used for improving torque and slowing down rotating speed of the motor, and a motor driver which is used for controlling starting, stopping, accelerating and decelerating of the motor.

8. The dual-axis turntable for satellite coarse tracking according to claim 1, characterized in that: The logic control unit is responsible for coordinating work of all units, processing control commands from the outside and interacting with other units; the logic control unit comprises a main control processor which is used for managing all control processes and real-time data processing, and realizing complex control algorithms and task scheduling; a communication module which is used for exchanging data with a remote control system; and a user interface which is used for providing an interface for an operator to interact with the system.

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