One-dimensional radar servo turntable based on moving platform

Abstract

The utility model discloses a one-dimensional radar servo turntable based on a moving platform, which comprises a base, a shell arranged on the base and an azimuth table surface arranged on the shell, and a speed sensor is arranged on the azimuth table surface and is used for directly measuring the speed of the azimuth table surface facing the ground; the torque motor is arranged in the shell, the torque motor is installed in a sleeve shaft mode and directly drives the azimuth rotating shaft to further drive the radar load to rotate, and two high-precision angular contact ball bearings are adopted for supporting the azimuth rotating shaft. According to the utility model, the gyroscope is directly arranged on the azimuth table surface, when the rotary table rotates, the gyroscope can sense the angular velocity change of the rotary table around the axial direction of the gyroscope, the angular velocity is converted into an electric signal to be output through an internal sensor of the gyroscope, and the DSP data processing circuit acquires the velocity feedback of the gyroscope so as to adjust the horizontal rotating speed of the radar servo rotary table. According to the invention, the control precision and the anti-interference capability of the speed loop can be improved, the speed null drift is inhibited, and the servo design is modularized and miniaturized.

Description

Technical Field

[0001] This utility model relates to the field of radar turntable technology, and in particular to a one-dimensional radar servo turntable based on a dynamic platform. Background Technology

[0002] Currently, one-dimensional radar turntables are integrated onto large rotating antenna servo turntables according to application scenarios. During operation, the one-dimensional radar turntable rotates together with the large rotating servo turntable, which requires precise speed measurement and closed-loop control. A common design approach is to use an analog speed loop for the servo turntable, superimposing the speeds of the servo turntable and the moving platform. This requires determining the rotation direction and speed magnitude of each component at any given moment, and calculating the direction and rotational speed relative to the ground. The entire calculation process involves logical judgments and calculations, which introduces errors, reducing speed accuracy and causing delays in speed response.

[0003] While the aforementioned method is technically mature and easy to implement, it involves mounting a tachometer at the end of the motor spindle via a flange or coupling. This ensures the tachometer can directly detect the motor's speed, thus obtaining the turntable's rotational speed. However, the installation of the tachometer requires high mechanical concentricity, and the mechanical components are prone to wear, resulting in a slow dynamic response. Furthermore, the one-dimensional radar servo turntable mounted on the moving platform needs to calculate its own speed while simultaneously receiving and superimposing the rotational speed of the moving platform in real time. This adds external interfaces and communication links, increasing the computational steps and the complexity of the speed loop closed-loop control. The speed error of the moving platform is directly added to the final speed error, causing a delay in the final speed response and reducing speed accuracy. Utility Model Content

[0004] The purpose of this invention is to provide a one-dimensional radar servo turntable based on a dynamic platform, which can improve the control accuracy and anti-interference capability of the speed loop, suppress speed zero drift, and make the servo design modular and miniaturized.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A one-dimensional radar servo turntable based on a dynamic platform includes a base, a housing mounted on the base, and an azimuth platform mounted on the housing. A velocity sensor is installed on the azimuth platform, which rotates with the azimuth rotation axis to directly measure the velocity of the azimuth platform towards the ground. A torque motor is installed inside the housing and mounted on a shaft to directly drive the azimuth rotation axis, thereby driving the radar load to rotate. The azimuth rotation axis is supported by two high-precision angular contact ball bearings, which are arranged back-to-back.

[0007] The aforementioned manifold is installed inside the cavity of the azimuth rotation shaft and is installed through the shaft; the angle sensor is also installed on the shaft and is set to rotate synchronously with the azimuth rotation shaft.

[0008] It also includes a DSP data processing circuit and a power supply circuit. The output terminals of the speed sensor and the angle sensor are connected to the input terminals of the DSP data processing circuit. The output terminals of the DSP data processing circuit drive the azimuth motor through the azimuth driver. The power supply circuit is used to supply power to the DSP data processing circuit, the speed sensor, the angle sensor, and the azimuth motor.

[0009] The speed sensor is a gyroscope, specifically model DF-20B.

[0010] The angle sensor is a photoelectric encoder, specifically model TH7838-16.

[0011] It also includes a protective cover, which is located above the azimuth platform. This protective cover is used for environmental adaptability protection, signal protection, and to improve the electromagnetic compatibility characteristics of the gyroscope.

[0012] It also includes a load mounting bracket, which is fixed above the oriented platform and fastened to the platform by screws on the left and right sides. The load mounting bracket has built-in lock-up screws for quick installation and removal of the load.

[0013] This invention directly mounts a gyroscope (generated by a high-speed rotating rotor) on the azimuth platform. When the turntable rotates, the gyroscope senses changes in the turntable's angular velocity around its axis and converts this angular velocity into an electrical signal output via an internal sensor. The DSP data processing circuit collects the gyroscope's velocity feedback to adjust the horizontal rotation speed of the radar servo turntable. This gyroscope can be directly mounted on the azimuth platform of the turntable, occupying little space, while a tachometer needs to be mounted at the end of the shaft or connected to the shaft via a coupling, occupying external space for the motor and requiring high mechanical concentricity. The gyroscope is resistant to mechanical vibration interference, has no contact wear, and high accuracy, making it suitable for high-speed, complex dynamic control, while the tachometer's mechanical components are prone to wear, are greatly affected by ambient temperature, and have a slower dynamic response. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the cross-sectional structure of the present invention;

[0017] Figure 3 This is a block diagram illustrating the electrical principle of this utility model. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figure 1 , 2 As shown in Figure 3, this utility model includes a base, a housing mounted on the base, and an azimuth platform mounted on the housing. A velocity sensor is installed on the azimuth platform, which rotates with the azimuth rotation shaft to directly measure the velocity of the azimuth platform towards the ground. A torque motor is installed inside the housing, mounted on a shaft sleeve, and directly drives the azimuth rotation shaft, thereby driving the radar load to rotate. This method offers high precision, simple design, and convenient installation. The azimuth rotation shaft is supported by two high-precision angular contact ball bearings, capable of withstanding radial force, axial force, and overturning moment. The "back-to-back" installation method increases the effective support distance between the two support points, improving support rigidity.

[0020] The manifold is installed inside the cavity of the azimuth rotation axis, with a through-shaft design to make full use of space; the angle sensor is also mounted on the shaft and rotates synchronously with the azimuth rotation axis, providing high angle measurement accuracy and facilitating installation and maintenance.

[0021] The DSP data processing circuit receives control commands from the radar host, and in real time acquires speed values ​​sent by the speed sensor and angle values ​​sent by the angle sensor via the serial port. After calculation and analysis, it sends the correct speed command to the drive circuit. Then, it controls the direction and speed of the motor rotation by controlling the drive circuit. The drive circuit receives the control signal from the DSP data processing circuit and generates a power-driven torque motor to perform the corresponding action according to the prescribed program. The power supply circuit provides the required voltage to the DSP data processing circuit and the drive circuit. All three circuit boards are placed on the wall of the servo base.

[0022] In practical use, it also includes a host computer, which can be used to control the DSP data processing circuit for data processing, and can also receive real-time status information sent by the DSP data processing circuit for easy overall control. The gyroscope is specifically model DF-20B, and the angle sensor is a photoelectric encoder, specifically model TH7838-16. It also includes a protective cover, which is located above the azimuth platform and serves for environmental adaptability protection, signal protection, and improving its electromagnetic compatibility characteristics. It also includes a load mounting bracket, which is fixed above the azimuth platform and securely connected to the platform by screws on both sides. The load mounting bracket has built-in lock-up screws for quick installation and removal of the load.

[0023] The angle sensor, i.e., the photoelectric encoder, of this application is mounted on a sleeve shaft. During installation, it must be ensured that it is coaxial with the azimuth rotation. Figure 3 The gyroscope, i.e. the velocity sensor, is installed on the orientation platform, and a certain level of accuracy must be ensured during installation; the DSP data processing circuit, orientation driver, and power supply circuit are placed on the wall of the servo base.

[0024] This invention employs a high-precision speed sensor mounted on an azimuth platform. The azimuth platform requires high horizontal precision during fabrication, and installation must maintain a certain level of accuracy to ensure speed measurement accuracy. Furthermore, an angle sensor is mounted below the azimuth rotation axis. During installation, its rotating portion must rotate coaxially with the azimuth rotation axis to ensure accurate measurement position. Then, when the DSP data processing circuit receives the speed data from the speed sensor, it first performs smoothing filtering to determine if there are significant jumps in the speed value. Abnormal data is discarded. The aforementioned smoothing filtering and comparison are common program processing methods and are not key technical features of this application; therefore, there are no improvements to the design method. Similarly, the DSP data processing circuit collects the angle information from the angle sensor and the speed information from the gyroscope and performs closed-loop control on the rotation speed and position of the radar servo turntable to improve rotation speed accuracy and achieve automatic control. These are all existing control technologies and are not the core invention of this invention. The core of this invention lies in the structure and the cooperation between components. By superimposing calculations without needing to receive the rotation speed of the moving platform itself in real time, external interfaces and communication links are reduced, the calculation steps are simplified, and the problems of large size, complex circuits, and zero drift of previous analog speed loops are solved, thereby improving speed response and speed accuracy.

[0025] The fiber optic encoder used in this invention is installed below the azimuth rotation shaft and coaxially with it to ensure accurate position measurement. The encoder uses grating or magnetic grating pulse counting to monitor the actual angular position of the radar servo turntable in real time, thereby enabling precise position control.

[0026] The torque motor used in this invention is directly installed coaxially with the rotating shaft without using gear transmission. After receiving the control signal, the output torque directly drives the turntable to rotate, thus improving the transmission accuracy.

[0027] This invention employs a busbar with its fixed ring fixed to the stationary part (turntable base) of the radar servo turntable, and its rotating ring securely connected to the rotating shaft of the radar servo turntable. It is used for transmitting power, control signals, and other data between the rotating and stationary parts of the radar servo turntable. This avoids cable tangling and ensures reliable power supply and communication for the radar servo turntable during continuous rotation. In practical use, this invention can be combined with digital speed loop technology, employing optimized structural settings to improve the speed loop's control accuracy and anti-interference capability, suppress speed zero drift, and modularize and miniaturize the servo circuit design, providing more options for radar servo turntables based on dynamic platforms.

[0028] In the description of this invention, it should be noted that for directional terms, such as "center," "lateral," and "vertical," the appropriate terms may be used.

[0029] The directions and positional relationships indicated by symbols such as "direction", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present invention.

[0030] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification and claims of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0031] Note that the above description is merely a preferred embodiment and application of the technical principles of the present invention. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the specific embodiments described herein, and may include many other effective embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A one-dimensional radar servo turntable based on a dynamic platform, characterized in that, The system includes a base, a housing mounted on the base, and an azimuth platform mounted on the housing. A velocity sensor is installed on the azimuth platform, which rotates with the azimuth rotation shaft to directly measure the velocity of the azimuth platform towards the ground. A torque motor is installed inside the housing and mounted on a shaft sleeve, directly driving the azimuth rotation shaft and thus rotating the radar load. The azimuth rotation shaft is supported by two high-precision angular contact ball bearings, which are arranged "back to back". The manifold is installed inside the cavity of the azimuth rotation shaft and is installed through the shaft; the angle sensor is also installed on the shaft and is set to rotate synchronously with the azimuth rotation shaft. It also includes a DSP data processing circuit and a power supply circuit. The output terminals of the speed sensor and the angle sensor are connected to the input terminals of the DSP data processing circuit. The output terminals of the DSP data processing circuit drive the azimuth motor through the azimuth driver. The power supply circuit is used to supply power to the DSP data processing circuit, the speed sensor, the angle sensor, and the azimuth motor.

2. The one-dimensional radar servo turntable based on a moving platform according to claim 1, characterized in that: The speed sensor is a gyroscope, specifically model DF-20B.

3. The one-dimensional radar servo turntable based on a moving platform according to claim 2, characterized in that: The angle sensor is a photoelectric encoder, specifically model TH7838-16.

4. The one-dimensional radar servo turntable based on a moving platform according to claim 1, characterized in that: It also includes a protective cover, which is located above the azimuth platform. This protective cover is used for environmental adaptability protection, signal protection, and to improve the electromagnetic compatibility characteristics of the gyroscope.

5. The one-dimensional radar servo turntable based on a moving platform according to claim 1, characterized in that: It also includes a load mounting bracket, which is fixed above the oriented platform and fastened to the platform by screws on the left and right sides. The load mounting bracket has built-in lock-up screws for quick installation and removal of the load.

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