Compatible stabilization system of ship-borne phased array radar array plane system

Abstract

The utility model belongs to a radar stabilization system, and discloses a compatible stabilization system of a ship-borne phased array radar array plane system. The stabilization system comprises a compensation selection module, a passive compensation module and an active compensation module, wherein the passive compensation module and the active compensation module are matched with the compensation selection module. Wherein the compensation selection module comprises a first ground, a second ground, a third ground, a fourth ground and other structures which are matched with one another; the passive compensation module comprises a first hydraulic pump, a first hydraulic cylinder and other structures which are matched with each other; the active compensation module comprises a user side, a first motion parameter sensor, a second motion parameter sensor and other structures which are matched with one another. And when the ship body bumps, the compensation selection module is triggered, and the passive compensation module or the active compensation module is triggered to perform compensation based on different bump degrees. According to the utility model, corresponding compensation measures can be taken according to the bumping degree so as to optimize the stability of the system.

Description

Technical Field

[0001] The utility model relates to a radar stabilization system, in particular to a compatible stabilization system for a phased array radar antenna system for shipborne use. Background Art

[0002] A ship is a large ship that can perform various military or commercial tasks such as transportation, rescue, patrol, and combat. At the same time, a phased array radar antenna system is often installed on the ship to assist in positioning related targets during the execution of specific tasks.

[0003] In order to prevent the bumps caused by natural factors such as waves and storms during ship navigation from being transmitted to the phased array radar antenna system, which may lead to abnormal positioning of the phased array radar antenna system or damage to the hardware structure, a related stabilization system is also installed on the ship to perform displacement compensation on the phased array radar antenna system, thereby minimizing the adverse effects of bumps on it. Specifically, the existing stabilization systems are mostly built based on hydraulic systems. That is, the displacement of the phased array radar antenna system is compensated by the response feedback of the hydraulic system to the bump displacement.

[0004] However, the inventor found that the existing stabilization system for the phased array radar antenna system on ships only has one feedback compensation mechanism, that is, it cannot perform corresponding displacement compensation according to the specific situation of the bumps. As a result, problems such as overcompensation or high energy consumption may occur when the bump displacement is small, and undercompensation or low reliability may occur when the bump displacement is large. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a compatible stabilization system for a phased array radar antenna system for shipborne use, so as to solve the technical problem that the existing stabilization system cannot perform targeted compensation for various bump displacements.

[0006] To achieve the above object, the utility model proposes the following technical solution:

[0007] A compatible stabilization system for a phased array radar antenna system for shipborne use, comprising a compensation selection module, and a passive compensation module and an active compensation module that cooperate with the compensation selection module;

[0008] The compensation selection module includes: a first ground connection, a second ground connection, a third ground connection, a fourth ground connection, a first elastic member, and a second elastic member; the first ground connection and the second ground connection are arranged at a relative interval, the third ground connection and the fourth ground connection are arranged at a relative interval, the first elastic member is fixed to the end face of the first ground connection away from the second ground connection, the second elastic member is fixed to the end face of the third ground connection away from the fourth ground connection, and the free ends of the first elastic member and the second elastic member are fixedly connected to the ship's hull; wherein, the distance between the first ground connection and the second ground connection is less than the distance between the third ground connection and the fourth ground connection; the elastic modulus of the first elastic member is greater than the elastic modulus of the second elastic member;

[0009] The passive compensation module includes: a first hydraulic pump and a first hydraulic cylinder; wherein, the piston of the first hydraulic cylinder is fixedly connected to the phased array radar antenna system; wherein, when the ship sways, the first elastic member deforms, the first ground connection displaces and comes into electrical contact with the second ground connection, and the electrical signal is transmitted to the first hydraulic pump to pump hydraulic oil into the first hydraulic cylinder to displace the piston of the first hydraulic cylinder, and is transmitted to the phased array radar antenna system for displacement compensation;

[0010] The active compensation module includes: a first motion parameter sensor, a second motion parameter sensor, a second hydraulic cylinder, a first subtractor, a second subtractor, an adaptive fuzzy PID controller, a proportional servo valve, and a user terminal; the fourth ground connection is electrically connected to the first motion parameter sensor and the second motion parameter sensor at the same time; the input end of the first motion parameter sensor is fixedly connected to the ship's hull, and the output end is communicatively connected to the first input end of the first subtractor; the input end of the second motion parameter sensor is fixedly connected to the phased array radar antenna system, and the output end is communicatively connected to the second input end of the first subtractor; the output end of the first subtractor is communicatively connected to the first input end of the second subtractor, and the user terminal is communicatively connected to the second input end of the second subtractor; the output end of the second subtractor, the adaptive fuzzy PID controller, and the proportional servo valve are communicatively connected in sequence; the proportional servo valve is also movably matched with the second hydraulic cylinder; the ship's hull is fixedly connected to the cylinder block of the second hydraulic cylinder, and the phased array radar antenna system is fixedly connected to the piston of the second hydraulic cylinder; wherein, the user terminal is used to input the user's desired following error.

[0011] Further, both the first elastic member and the second elastic member are elastic springs.

[0012] Further, the second hydraulic cylinder includes a plurality of sub-hydraulic cylinders arranged in parallel.

[0013] Further, it includes a first switch and a second switch;

[0014] The first switch is electrically connected between the second ground and the first hydraulic pump; the second switch is electrically connected between the fourth ground, the first motion parameter sensor and the second motion parameter sensor.

[0015] Further, the proportional servo valve includes a first oil port, a second oil port and a third oil port;

[0016] The first oil port is communicated with the second hydraulic pump, the second oil port is communicated with the rodless cavity of the second hydraulic cylinder, and the third oil port is communicated with the rod cavity of the second hydraulic cylinder.

[0017] Further, the model of the adaptive fuzzy PID controller is KCM-91A.

[0018] Further, it includes a first hydraulic parameter sensor and a second hydraulic parameter sensor;

[0019] The input end of the first hydraulic parameter sensor is communicatively connected with the first hydraulic pump, and the output end is communicatively connected with the user end;

[0020] The input end of the second hydraulic parameter sensor is communicatively connected with the second hydraulic pump, and the output end is communicatively connected with the user end.

[0021] Further, the first hydraulic parameter sensor includes a first flow sensor and a first pressure sensor; the second hydraulic parameter sensor includes a second flow sensor and a second pressure sensor.

[0022] Further, it includes a first signal lamp and a second signal lamp;

[0023] The first signal lamp is connected between the second ground and the first hydraulic pump; the second signal lamp is electrically connected between the fourth ground, the first motion parameter sensor and the second motion parameter sensor.

[0024] Further, the first motion parameter sensor includes: a first displacement sensor, a first speed sensor, and a first angle sensor; the second motion parameter sensor includes: a second displacement sensor, a second speed sensor, and a second angle sensor.

[0025] Beneficial effects:

[0026] As can be seen from the above, the present technical solution provides a compatible stable system for a phased array radar antenna system on a ship to improve the technical defect that the existing stable system cannot perform targeted displacement compensation, resulting in various defects in actual compensation.

[0027] In the present technical solution, the stabilization system includes a compensation selection module, a passive compensation module and an active compensation module that cooperate with the compensation selection module. During the displacement compensation process, when the bump displacement is small, the passive compensation module will be triggered. Specifically, the bump of the ship will cause the first elastic member to deform, so that during the compression deformation process, the first grounding will be displaced and come into electrical contact with the second grounding. Subsequently, the corresponding electrical signal will be transmitted to the first hydraulic pump to pump the external hydraulic oil into the first hydraulic cylinder. At this time, the first hydraulic cylinder will cooperate with the accumulator and the load, so that the piston of the first hydraulic cylinder will be displaced and transmitted to the phased array radar antenna system for displacement compensation. When the bump displacement is large, the active compensation module will be triggered. Specifically, when the bump displacement is large, the bump of the ship will cause the second elastic member to deform, so that during the compression deformation process, the third grounding will be displaced and come into electrical contact with the fourth grounding. Subsequently, the electrical signal will continue to be transmitted to the first motion parameter sensor and the second motion parameter sensor to obtain the displacement of the ship and the displacement of the phased array radar antenna system, and the actual following error will be obtained after passing through the first subtractor. At this time, the actual following error and the expected following error input by the user will be output to the second subtractor for subtraction and then input to the adaptive fuzzy PID controller to control the proportional servo valve, and then control the piston movement of the second hydraulic cylinder, and finally achieve the purpose of displacement compensation for the phased array radar antenna system. At this time, the stabilization system will perform targeted compensation for different bump conditions.

[0028] As can be seen from the above, when the displacement is small, since the influence on the phased array radar antenna system is small, the compensation accuracy requirement is relatively low. The passive compensation module triggered at this time has a simple structure and does not require additional power drive, and has the technical advantages of energy saving and high reliability while meeting the displacement compensation requirements. When the displacement is large, since the influence on the phased array radar antenna system is large, the compensation accuracy requirement is relatively high. The active compensation module triggered at this time will minimize the influence on the phased array radar antenna system by performing high-precision compensation.

[0029] It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered part of the inventive subject matter of the present disclosure as long as such concepts do not contradict each other.

[0030] The foregoing and other aspects, embodiments and features of the teachings of the present invention can be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the present invention, such as the features and / or beneficial effects of exemplary embodiments, will be apparent from the following description or will be learned through practice of the specific embodiments according to the teachings of the present invention. Description of the Drawings

[0031] The accompanying drawings are not intended to be drawn to scale. In the accompanying drawings, each identical or nearly identical component shown in each figure may be denoted by the same reference numeral. For the sake of clarity, not every component is labeled in each figure. Now, embodiments of various aspects of the present utility model will be described by way of example and with reference to the accompanying drawings, wherein:

[0032] Figure 1 It is a schematic structural diagram of a compatible stabilization system of a phased array radar front-end system for shipborne use described in this embodiment. Detailed implementation manners

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present utility model without creative efforts shall fall within the scope of protection of the present utility model. Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings as understood by those of ordinary skill in the art to which the present utility model pertains.

[0034] The "first", "second", and similar terms used in the specification and claims of the patent application of the present utility model do not denote any order, quantity, or importance, but are only used to distinguish different components. Similarly, unless the context clearly indicates otherwise, singular forms such as "a", "an", or "the" do not denote a quantity limitation, but rather indicate the presence of at least one. The terms "including" or "comprising" and the like are intended to mean that the elements or items appearing before "including" or "comprising" cover the features, wholes, steps, operations, elements, and / or components listed after "including" or "comprising", and do not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations. The terms "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0035] In the prior art, a stabilization system based on a hydraulic system is installed on a ship to compensate for the displacement of the phased array radar array system, thereby reducing the adverse effects of the ship's turbulence on the phased array radar array system. However, the inventors have found that the stabilization system of the phased array radar array system on the existing ship has only one feedback compensation mechanism, that is, it is unable to perform corresponding displacement compensation according to the specific conditions of the turbulence, which may cause problems such as over-compensation or high energy consumption when the turbulence displacement is small, and under-compensation or low reliability when the turbulence displacement is large. Based on this, the present embodiment aims to provide a compatible stabilization system for a shipborne phased array radar array system to improve the above technical defects.

[0036] The compatible stabilization system of the shipborne phased array radar array system disclosed in the utility model is further specifically introduced below in conjunction with the embodiments shown in the accompanying drawings.

[0037] like Figure 1 As shown, the system includes three major modules, namely: a compensation selection module, and a passive compensation module and an active compensation module that cooperate with the compensation selection module.

[0038] In terms of specific structural settings, the compensation selection module includes: a first ground, a second ground, a third ground, a fourth ground, a first elastic member and a second elastic member; the first ground and the second ground are relatively spaced apart, the third ground and the fourth ground are relatively spaced apart, the first elastic member is fixed to the end face of the first ground away from the second ground, the second elastic member is fixed to the end face of the third ground away from the fourth ground, and the remaining ends of the first elastic member and the second elastic member are both fixedly connected to the hull; wherein, the distance between the first ground and the second ground is smaller than the distance between the third ground and the fourth ground; the elastic modulus of the first elastic member is greater than the elastic modulus of the second elastic member. In specific implementation, the first elastic member and the second elastic member selected in this embodiment are both elastic springs.

[0039] The passive compensation module includes: a first hydraulic pump, a first hydraulic cylinder, an accumulator and a load. The ship body is fixedly connected to the cylinder body of the first hydraulic cylinder, and the phased array radar array system is fixedly connected to the piston of the first hydraulic cylinder. Among them, the accumulator and the load are common structures used in conjunction with the hydraulic cylinder in the hydraulic system, so they are not described in detail here.

[0040] The active compensation module includes: a first motion parameter sensor, a second motion parameter sensor, a second hydraulic cylinder, a first subtractor, a second subtractor, an adaptive fuzzy PID controller, a proportional servo valve and a user terminal; the fourth ground connection is electrically connected to the first motion parameter sensor and the second motion parameter sensor simultaneously; the input end of the first motion parameter sensor is fixedly connected to the ship hull, and the output end is communicatively connected to the first input end of the first subtractor; the input end of the second motion parameter sensor is fixedly connected to the phased array radar antenna system, and the output end is communicatively connected to the second input end of the first subtractor; the output end of the first subtractor is communicatively connected to the first input end of the second subtractor, and the user terminal is communicatively connected to the second input end of the second subtractor; the output end of the second subtractor, the adaptive fuzzy PID controller, and the proportional servo valve are communicatively connected in sequence; the proportional servo valve is also movably matched with the second hydraulic cylinder; the ship hull is fixedly connected to the cylinder body of the second hydraulic cylinder, and the phased array radar antenna system is fixedly connected to the piston of the second hydraulic cylinder; wherein, the user terminal is used to input the user's desired following error. Specifically, in order to facilitate the input of the required desired displacement compensation range, the user terminal is specifically a touch screen.

[0041] Specifically, for the proportional servo valve, it includes a first oil port, a second oil port and a third oil port. At this time, for the connection structure of the proportional servo valve, the first oil port is communicated with the second hydraulic pump, the second oil port is communicated with the rodless cavity of the second hydraulic cylinder, and the third oil port is communicated with the rod cavity of the second hydraulic cylinder.

[0042] At this time, based on the stabilization system, when the bump displacement is small, the passive compensation module will be triggered. Specifically, the bump of the ship will cause the first elastic member to deform, so that during the compression deformation process, the first ground connection will be displaced and come into electrical contact with the second ground connection. Subsequently, the corresponding electrical signal will be transmitted to the first hydraulic pump to pump the external hydraulic oil into the first hydraulic cylinder. At this time, the first hydraulic cylinder will cooperate with the accumulator and the load (specifically, when the cylinder body of the first hydraulic cylinder rises synchronously with the ship hull, under the action of inertia, the phased array radar antenna system tends to maintain its initial position, and the oil in the rodless cavity of the first hydraulic cylinder is pressed back into the accumulator, causing the gas in the accumulator to shrink to compensate for the rising displacement; similarly, when the cylinder body sinks with the ship, under the action of inertia, the phased array radar antenna system tends to maintain its initial position, and the gas in the accumulator begins to expand, and the oil is sucked into the rodless cavity from the accumulator to compensate for the sinking displacement of the warship. In the above process, the load force of the load is also required to compress and release the compressed air in the accumulator), so that the piston of the first hydraulic cylinder is displaced and transmitted to the phased array radar antenna system to perform displacement compensation on it.

[0043] When the jolting displacement is relatively large, the active compensation module will be triggered. Specifically, when the jolting displacement is relatively large, the jolting of the ship will cause the second elastic member to deform, so that during the compression deformation process, the third grounding electrode will be displaced and come into electrical contact with the fourth grounding electrode. Subsequently, the electrical signal will continue to be transmitted to the first motion parameter sensor and the second motion parameter sensor to obtain the displacement of the ship and the displacement of the phased array radar antenna system, and after passing through the first subtractor, the actual following error will be obtained. At this time, the actual following error and the expected following error input by the user will be output to the second subtractor for subtraction and then input to the adaptive fuzzy PID controller to control the proportional servo valve, thereby controlling the piston movement of the second hydraulic cylinder, and finally achieving the purpose of compensating the displacement of the phased array radar antenna system.

[0044] In summary, when the displacement is small, since the influence on the phased array radar antenna system is small, the requirement for compensation accuracy is relatively low. At this time, the triggered passive compensation module has a simple structure and does not require additional power drive, and has the technical advantages of energy saving and high reliability while meeting the displacement compensation requirements. When the displacement is large, since the influence on the phased array radar antenna system is large, the requirement for compensation accuracy is relatively high. At this time, the triggered active compensation module is used to perform high-precision compensation to minimize the influence on the phased array radar antenna system.

[0045] Specifically, in this embodiment, the model of the adaptive fuzzy PID controller is KCM-91A.

[0046] As a preferred implementation manner, since the active compensation module needs to compensate for a relatively large displacement, the second hydraulic cylinder is provided with a plurality of sub-hydraulic cylinders arranged in parallel to ensure the effectiveness of displacement compensation.

[0047] Considering that it may be necessary to manually judge which compensation method to adopt for different scenario requirements, such as high compensation accuracy requirements, or routine maintenance of a certain compensation module, etc. Therefore, the system is provided with a first switch and a second switch. Specifically, the first switch is electrically connected between the second grounding electrode and the first hydraulic pump; the second switch is electrically connected between the fourth grounding electrode, the first motion parameter sensor and the second motion parameter sensor. At this time, the compensation module to be used can be manually selected by closing the first switch and the second switch.

[0048] Further, to ensure the normal operation of the corresponding compensation module and facilitate an intuitive understanding of which compensation module is operating, the system is further provided with a first signal lamp and a second signal lamp; the first signal lamp is connected between the second ground wire and the first hydraulic pump; the second signal lamp is electrically connected between the fourth ground wire, the first motion parameter sensor and the second motion parameter sensor. At this time, the operating states of the compensation modules can be obtained through the lighting states of the signal lamps.

[0049] To monitor the hydraulic drive parameters to ensure the reliability of displacement compensation based on the hydraulic system, the system is provided with a first hydraulic parameter sensor and a second hydraulic parameter sensor. Specifically, the input end of the first hydraulic parameter sensor is communicatively connected to the first hydraulic pump, and the output end is communicatively connected to the touch screen; the input end of the second hydraulic parameter sensor is communicatively connected to the second hydraulic pump, and the output end is communicatively connected to the touch screen. Further, in specific implementation, the first hydraulic parameter sensor is provided to include a first flow sensor and a first pressure sensor; the second hydraulic parameter sensor includes a second flow sensor and a second pressure sensor. Thus, effective monitoring and acquisition of various hydraulic parameters are achieved.

[0050] In specific implementation, it is also considered that the motion parameters of the phased array radar front system not only include displacement, but also include angle, speed, etc. Therefore, in the high-precision compensation module of the active compensation module, the first motion parameter sensor is provided to include: a first displacement sensor, a first speed sensor, and a first angle sensor; the second motion parameter sensor includes: a second displacement sensor, a second speed sensor, and a second angle sensor. At this time, not only can the displacement amount be compensated, but also other various parameters of the phased array radar front system can be synchronously compensated, better ensuring the stability of the radar.

[0051] Although the present utility model has been disclosed above with preferred embodiments, it is not intended to limit the present utility model. Those with ordinary knowledge in the technical field to which the present utility model pertains can make various modifications and refinements without departing from the spirit and scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to that defined by the claims.

Claims

1. A compatible stabilization system for a shipborne phased array radar array system, characterized in that: It includes a compensation selection module, and a passive compensation module and an active compensation module matched with the compensation selection module; The compensation selection module includes: a first ground, a second ground, a third ground, a fourth ground, a first elastic member and a second elastic member; the first ground and the second ground are arranged at a relative interval, the third ground and the fourth ground are arranged at a relative interval, the first elastic member is fixed to an end face of the first ground away from the second ground, the second elastic member is fixed to an end face of the third ground away from the fourth ground, and the remaining ends of the first elastic member and the second elastic member are both fixedly connected to the hull; wherein, the distance between the first ground and the second ground is smaller than the distance between the third ground and the fourth ground; the elastic modulus of the first elastic member is greater than the elastic modulus of the second elastic member; The passive compensation module comprises: a first hydraulic pump and a first hydraulic cylinder; wherein the piston of the first hydraulic cylinder is fixedly connected to the phased array radar array system; wherein the first elastic member is deformed by the turbulence of the ship, so that the first grounding iron is displaced and electrically connected to the second grounding iron, and the corresponding electrical signal is transmitted to the first hydraulic pump to pump the hydraulic oil into the first hydraulic cylinder so that the piston of the first hydraulic cylinder is displaced, and then transmitted to the phased array radar array system for displacement compensation; The active compensation module includes: a first motion parameter sensor, a second motion parameter sensor, a second hydraulic cylinder, a first subtractor, a second subtractor, an adaptive fuzzy PID controller, a proportional servo valve and a user end; the fourth ground is electrically connected to the first motion parameter sensor and the second motion parameter sensor at the same time; the input end of the first motion parameter sensor is fixedly connected to the ship body, and the output end is communicatively connected to the first input end of the first subtractor; the input end of the second motion parameter sensor is fixedly connected to the phased array radar array system, and the output end is communicatively connected to the second input end of the first subtractor; the output end of the first subtractor is communicatively connected to the first input end of the second subtractor, and the user end is communicatively connected to the second input end of the second subtractor; the output end of the second subtractor, the adaptive fuzzy PID controller, and the proportional servo valve are communicatively connected in sequence; the proportional servo valve also cooperates with the second hydraulic cylinder; the ship body is fixedly connected to the cylinder body of the second hydraulic cylinder, and the phased array radar array system is fixedly connected to the piston of the second hydraulic cylinder; wherein, the user end is used to input the user's expected following error.

2. The compatible stabilization system of the shipborne phased array radar array system according to claim 1 is characterized in that: The first elastic member and the second elastic member are both elastic springs.

3. The compatible stabilization system of the shipborne phased array radar array system according to claim 1 is characterized in that: The second hydraulic cylinder includes a plurality of sub-hydraulic cylinders arranged in parallel.

4. The compatible stabilization system of the shipborne phased array radar array system according to claim 1, characterized in that: comprising a first switch and a second switch; The first switch is electrically connected between the second ground and the first hydraulic pump; the second switch is electrically connected between the fourth ground, the first motion parameter sensor and the second motion parameter sensor.

5. The compatible stabilization system of the shipborne phased array radar array system according to claim 1, characterized in that: The proportional servo valve comprises a first oil port, a second oil port and a third oil port; The first oil port is communicated with the second hydraulic pump, the second oil port is communicated with the rodless chamber of the second hydraulic cylinder, and the third oil port is communicated with the rod chamber of the second hydraulic cylinder.

6. The compatible stabilization system of the shipborne phased array radar array system according to claim 1, characterized in that: The model of the adaptive fuzzy PID controller is KCM-91A.

7. The compatible stabilization system of the shipborne phased array radar array system according to claim 5, characterized in that: including a first hydraulic parameter sensor and a second hydraulic parameter sensor; The input end of the first hydraulic parameter sensor is communicatively connected to the first hydraulic pump, and the output end is communicatively connected to the user end; The input end of the second hydraulic parameter sensor is communicatively connected to the second hydraulic pump, and the output end of the second hydraulic parameter sensor is communicatively connected to the user end.

8. The compatible stabilization system of the shipborne phased array radar array system according to claim 7, characterized in that: The first hydraulic parameter sensor includes a first flow sensor and a first pressure sensor; the second hydraulic parameter sensor includes a second flow sensor and a second pressure sensor.

9. The compatible stabilization system of the shipborne phased array radar array system according to claim 1, characterized in that: comprising a first signal light and a second signal light; The first signal light is connected between the second ground and the first hydraulic pump; the second signal light is electrically connected between the fourth ground, the first motion parameter sensor and the second motion parameter sensor.

10. The compatible stabilization system of the shipborne phased array radar array system according to claim 1, characterized in that: The first motion parameter sensor includes: a first displacement sensor, a first speed sensor, and a first angle sensor; the second motion parameter sensor includes: a second displacement sensor, a second speed sensor, and a second angle sensor.

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