CN107885234A - A kind of calibration method and device for position control - Google Patents
A kind of calibration method and device for position control Download PDFInfo
- Publication number
- CN107885234A CN107885234A CN201610872998.3A CN201610872998A CN107885234A CN 107885234 A CN107885234 A CN 107885234A CN 201610872998 A CN201610872998 A CN 201610872998A CN 107885234 A CN107885234 A CN 107885234A
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- gyro
- calibration method
- driving
- satellite
- tracking
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
A kind of calibration method for the control of vehicle-mounted satellite antenna system position includes scanning satellite-signal, judge whether satellite-signal reaches point of maximum intensity, beacon signal is read into tracking mode, judge whether beacon signal reaches thresholding, continue tracking reading gyro to add table numerical value and judge that gyro adds whether table numerical value reaches given threshold, in two judgment steps, if it is not reaching to thresholding or gyro adds table numerical value to reach given threshold, then so that elevation axis of antenna driving arrives satellite theory angle to dead-center position and driving ", and then enter back into tracking and read data status, otherwise continue to track.The invention further relates to the calibration method and device in a kind of general position control, when meeting trigger condition, by position driving to zero and position is driven to target location from zero point, otherwise continues tracking position of object.The advantages of above method and device is not need encoder, reduces cost, reduces circuit trace, reduces small product size.
Description
【Technical field】
The present invention relates to a kind of control of position, in particular to a kind of calibration method and device for position control,
A kind of more particularly to calibration method for the control of vehicle-mounted satellite antenna system position.
【Background technology】
In the control process of position, because stepper motor has step-out phenomenon, driving error can be caused, in traditional control
, it is necessary to introduce encoder feedback so as to compensate step out of stepping motor error in journey.
In open-loop control system, because no encoder can have a step-out error accumulation phenomenon, error is over time
Growth can become big.
For this present invention is intended to provide a kind of calibration method of vehicle-mounted satellite antenna system position control, is solved because motor loses
Error caused by step.The present invention also aims to provide a kind of calibration method and device for position control, solution
Certainly during opened loop control the problem of error accumulation.
【The content of the invention】
It is an object of the invention to provide a kind of calibration method of vehicle-mounted satellite antenna system position control and offer one
A kind of calibration method and device for position control of kind, so as to solve to cause during opened loop control because of step out of stepping motor
Error.The purpose of the present invention is achieved by the following technical programs.
The technical scheme of the present invention provides a kind of calibration method of vehicle-mounted satellite antenna system position control, described
Method comprises the following steps：
Step 1：Scan satellite-signal；
Step 2：Judge whether satellite-signal reaches point of maximum intensity；
Step 3：Beacon signal is read into tracking mode；
Step 4：Judge whether beacon signal reaches thresholding；
Step 6：Continue tracking reading gyro and add table numerical value；
Step 8：Judge that gyro adds whether table numerical value reaches given threshold, if reaching given threshold, by antenna pitching
Axle driving arrives satellite theory angle to dead-center position and driving, and then performs step 4 again.
The calibration method provided according to the said one technical scheme of the present invention, wherein methods described are judging beacon signal
When being not reaching to thresholding, then elevation axis of antenna driving is caused to arrive satellite theory angle to dead-center position and driving, and then perform again
Step 4.
The calibration method provided according to the said one technical scheme of the present invention, wherein judging that gyro adds table numerical value not reach
To given threshold, then return to step 4.
According to the present invention said one technical scheme provide calibration method, wherein enter tracking read beacon signal and
Judge whether beacon signal reaches thresholding and read gyro with continuing tracking to add table numerical value and judge that gyro adds whether table numerical value reaches
The step of given threshold, can exchange.
The calibration method provided according to the said one technical scheme of the present invention, wherein vehicle-mounted satellite antenna system include day
Feedback device, beacon reception device, gyro add table sensor, computations device, servo tracking device and spacing standard apparatus, its
Middle antenna feeding device receives the electromagnetic wave from satellite and is converted into digitlization beacon signal, and beacon reception device is received and come from
The beacon signal of antenna feeding device, gyro add table sensor to be used for the attitude parameter for sensing servo tracking device, spacing standard apparatus
For generating the limit signal of limitation servo tracking device turned position, servo tracking device includes elevation axis of antenna, antenna feeder dress
Put via elevation axis of antenna drive rotate, computations device based on the beacon signal from beacon reception device, from gyro
Attitude parameter, the servosignal from servo tracking device and the limit signal from spacing standard apparatus for adding table to sense are true
Surely the rotational angle for driving servo tracking device to rotate, servo tracking device are rotated according to rotational angle driving antenna feeding device, made
The reflecting surface of antenna feeding device is obtained to satelloid.
The advantages of calibration method that the present invention controls for vehicle-mounted satellite antenna system position, is：In vehicle-mounted satellite antenna
In the control of system position, due to needing reading beacon signal and gyro to add table numerical value to judge whether to reach threshold value, so that
Elevation axis of antenna driving arrives satellite theory angle to dead-center position and driving, thus solves step-out error under conditions of open loop
The problem of accumulation.The calibration method that the present invention is used for the control of vehicle-mounted satellite antenna system position need not introduce encoder, by it
Feedback reduces cost so as to compensate step out of stepping motor error, while reduces circuit trace, reduces product body
Product.
The another technical scheme of the present invention provides a kind of calibration method for position control, wherein, methods described bag
Include following steps：
Step 1：Zero point is arrived into position driving；
Step 2：Position is driven to target location from zero point；
Step 3：Judge whether super to meet trigger condition；If it is determined that "Yes" then return to step 2, otherwise track target position
Put.
The calibration method provided according to another technical scheme of the present invention, wherein judging whether to meet that trigger condition refers to
Beacon signal is not reaching to thresholding or gyro tong-test ammeter numerical value reaches threshold value.
Another technical scheme of the present invention provides a kind of calibrating installation for position control, wherein, described device
Including：
First drive module, for position driving to be arrived into zero point；
Second drive module, for position to be driven to target location from zero point；And
Judge module, for judging whether to meet trigger condition, start the first drive module if trigger condition is met；
Otherwise start-up trace module.
Calibration method in the position control of the present invention subtracts in open ring position control using compared to corresponding closed-loop control
Part, cost-effective and improve reliability is lacked.Calibration method in the position control of the present invention uses model with spacing calibration
Enclose wide.Solves the error accumulation during position control or tracking.
【Brief description of the drawings】
Referring to the drawings, the disclosure will be easier to understand.Skilled addressee readily understands that be：This
A little accompanying drawings are used only for illustrating technical scheme, and are not intended to and protection scope of the present invention is construed as limiting.
In figure：
Fig. 1 shows the block diagram of the vehicle-mounted satellite antenna system according to one embodiment of the present invention.
Fig. 2 shows the flow chart of the calibration method for the vehicle-mounted satellite antenna system position control shown in Fig. 1.
Fig. 3 shows a kind of flow of calibration method controlled for position according to further embodiment of the present invention
Figure.
Fig. 4 shows a kind of block diagram of calibrating installation controlled for position according to further embodiment of the present invention.
【Embodiment】
Fig. 1-4 and the optional embodiment of the present invention is following description described to instruct how those skilled in the art implement
It is of the invention with reproducing.In order to instruct technical solution of the present invention, simplify or eliminate some conventional aspects.Those skilled in the art
It should be appreciated that modification or replacement from these embodiments will be within the scope of the present invention.Those skilled in the art should
The understanding following characteristics can combine to form multiple modifications of the present invention in a variety of ways.Thus, the invention is not limited in
Following optional embodiments, and only limited by claim and their equivalent.
In sheet, zero point refers to the reference position in a position control.Target location refers to it is expected the position driven.
Trigger condition refers to a kind of preparatory condition, wherein judging whether to meet that trigger condition refers to that beacon signal is not reaching to thresholding or top
Spiral shell tong-test ammeter numerical value reaches threshold value.
Fig. 1 shows the block diagram of the vehicle-mounted satellite antenna system according to one embodiment of the present invention.As shown in figure 1, should
Vehicle-mounted satellite antenna system includes antenna feeding device 10, beacon reception device 12, gyro and adds table sensor 14, computations device
16th, servo tracking device 18 and spacing standard apparatus 20, wherein antenna feeding device 10 receive the electromagnetic wave from satellite and become
Change digitlization beacon signal into, beacon reception device 12 receives the beacon signal from antenna feeding device 10, and gyro adds table sensor
14 attitude parameter for sensing servo tracking device 18, attitude parameter add table numerical computations to generate by gyro, spacing benchmark dress
Put 20 be used for generate limit the limit signal of servo tracking device 18 turned position, servo tracking device 18 includes antenna pitching
Axle, antenna feeding device 10 drive via elevation axis of antenna and rotated, and computations device 16 is based on the letter from beacon reception device 12
Mark signal, the attitude parameter for adding from gyro table sensing 14, the servosignal from servo tracking device 18 and from spacing
The limit signal of standard apparatus 20 determines the rotational angle that driving servo tracking device 18 rotates, and servo tracking device 18 is according to turning
Dynamic angle driving antenna feeding device 10 rotates so that the reflecting surface of antenna feeding device 10 is to satelloid.
Fig. 2 shows the flow chart of the calibration method for the vehicle-mounted satellite antenna system position control shown in Fig. 1.The school
Quasi- method comprises the following steps：
Step 100：Calibration method for the control of vehicle-mounted satellite antenna system position starts；
Step 102：Scan satellite-signal；
Step 104：Judge whether satellite-signal reaches point of maximum intensity；
Step 106：Beacon signal is read into tracking mode；
Step 108：Judge whether beacon signal reaches thresholding, if it is determined as no, then performing step 110 " by antenna
Pitch axis driving arrives satellite theory angle to dead-center position and driving ", and then step 106 is performed again；If it is determined that "Yes" is then
Perform step 112；
Step 112：Continue tracking reading gyro and add table numerical value；
Step 114：Judge that gyro adds whether table numerical value reaches given threshold, if it is determined that "Yes" then performs step 110
" elevation axis of antenna driving is arrived into satellite theory angle to dead-center position and driving ", and then step 106 is performed again.
It should be noted that enter tracking read beacon signal and judge beacon signal whether reach thresholding or continue with
Track, which reads gyro and added, table numerical value and judges that the step of gyro adds table numerical value whether to reach given threshold can exchange, and this also
In the protection domain of invention.
The advantages of calibration method that the present invention controls for vehicle-mounted satellite antenna system position, is：In vehicle-mounted satellite antenna
In the control of system position, due to needing reading beacon signal and gyro to add table numerical value to judge whether to reach threshold value, so that
Elevation axis of antenna driving arrives satellite theory angle to dead-center position and driving, thus solves step-out error under conditions of open loop
The problem of accumulation.The calibration method that the present invention is used for the control of vehicle-mounted satellite antenna system position need not introduce encoder, by it
Feedback reduces cost so as to compensate step out of stepping motor error, while reduces circuit trace, reduces product body
Product.
Fig. 3 shows a kind of flow of calibration method controlled for position according to further embodiment of the present invention
Figure.As shown in figure 3, the calibration method in a kind of position control comprises the following steps：
Step 200：A kind of calibration method in position control starts；
Step 202：Zero point is arrived into position driving；
Step 204：Position is driven to target location from zero point；
Step 206：Judge whether to meet trigger condition；If it is determined that "Yes" then return to step 202, otherwise perform step
208：Tracking position of object.
In above-mentioned steps 206, in the example of the present invention, judge whether to meet that trigger condition refers to beacon signal
It is not reaching to thresholding or gyro tong-test ammeter numerical value reaches threshold value.It should be noted that calibration trigger condition can be according to being actually needed
Modify, and this also falls within the scope of this invention.
Fig. 4 shows a kind of block diagram of calibrating installation controlled for position according to further embodiment of the present invention.
As shown in figure 4, the calibrating installation in a kind of position control includes the first drive module 20, the second drive module 22, judge module
24 and tracking module 26, wherein the first drive module 20 is used to position driving arriving zero point；Second drive module 22 is used for position
Put from zero point driving to target location；Judge module 24 is used to judge whether to meet trigger condition, if trigger condition is met
Start the first drive module 20；Otherwise then start-up trace module 26.
In the example of the present invention, judge whether to meet that trigger condition refers to that beacon signal is not reaching to thresholding or top
Spiral shell tong-test ammeter numerical value reaches threshold value.It should be noted that calibration trigger condition can modify according to being actually needed, and this also falls
Within the scope of this invention.
Calibration method in the position control of the present invention subtracts in open ring position control using compared to corresponding closed-loop control
Part, cost-effective and improve reliability is lacked.Calibration method in the position control of the present invention uses model with spacing calibration
Enclose wide.Solves the error accumulation during position control or tracking.
Method is not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.It is various logical
It can also be used together with system with teaching based on this.As described above, the structure required by this kind of system is constructed
It is obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that various programming languages can be utilized
Speech realizes the content of invention described herein, and the description done above to language-specific is to disclose the reality of the present invention
Apply mode.
In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description to the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The application claims of shield features more more than the feature being expressly recited in each claim.It is more precisely, such as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
Separate embodiments all as the present invention.
Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, summary and accompanying drawing) disclosed in each feature can be by providing identical, equivalent or similar purpose alternative features come generation
Replace.
Calibration method in the control of the position of the present invention can be implemented by computer program product, the computer
Program product includes being used to perform when the computer program controlling to implement the position of the present invention
The software code partition of calibration method in system.
The present invention can be implemented by recording a kind of computer program in computer readable recording medium storing program for performing, the computer
Program includes being used for performing when running the computer program on computers to implement the school in the control of the position of the present invention
The software code partition of quasi- method.Calibration method i.e. in the control of the position of the present invention can be with computer-readable medium
Instruction form and various other forms distribution, perform the particular type of the signal bearing medium of distribution but regardless of actually.
The example of computer-readable medium includes such as EPROM, ROM, tape, paper, floppy disk, hard disk drive, RAM and CD-ROM Jie
Matter and such as numeral and the transmission type media for simulating concentric link.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
One of meaning mode can use in any combination.
Claims (8)
1. a kind of calibration method of vehicle-mounted satellite antenna system position control, the described method comprises the following steps：
Step 1：Scan satellite-signal；
Step 2：Judge whether satellite-signal reaches point of maximum intensity；
Step 3：Beacon signal is read into tracking mode；
Step 4：Judge whether beacon signal reaches thresholding；
Step 6：Continue tracking reading gyro and add table numerical value；
Step 8：Judge that gyro adds whether table numerical value reaches given threshold, if reaching given threshold, elevation axis of antenna is driven
Move dead-center position and drive and arrive satellite theory angle, and then perform step 4 again.
2. calibration method as claimed in claim 1, wherein, methods described is when judging that beacon signal is not reaching to thresholding, then
So that elevation axis of antenna driving arrives satellite theory angle to dead-center position and driving, and then step 4 is performed again.
3. calibration method as claimed in claim 1, wherein, judge that gyro adds table numerical value to be not reaching to given threshold, then return
Step 4.
4. calibration method as claimed in claim 1, wherein, read beacon signal into tracking and judge whether beacon signal reaches
To thresholding and continue tracking and read gyro to add table numerical value and judge that the step of gyro adds table numerical value whether to reach given threshold can
Exchange.
5. calibration method as claimed in claim 1, wherein, vehicle-mounted satellite antenna system includes antenna feeding device, beacon reception fills
Put, gyro adds table sensor, computations device, servo tracking device and spacing standard apparatus, wherein antenna feeding device reception come
From the electromagnetic wave of satellite and digitlization beacon signal is converted into, beacon reception device receives the beacon letter from antenna feeding device
Number, gyro adds table sensor to be used for the attitude parameter for sensing servo tracking device, and spacing standard apparatus is used to generate limitation servo
The limit signal of tracks of device turned position, servo tracking device include elevation axis of antenna, and antenna feeding device is via elevation axis of antenna
Driving rotates, and computations device adds the posture ginseng that table senses based on the beacon signal from beacon reception device, from gyro
Number, the servosignal from servo tracking device and the limit signal from spacing standard apparatus determine driving servo tracking dress
The rotational angle of rotation is put, servo tracking device rotates according to rotational angle driving antenna feeding device so that the reflection of antenna feeding device
In face of satelloid.
6. a kind of calibration method for position control, wherein, it the described method comprises the following steps：
Step 1：Zero point is arrived into position driving；
Step 2：Position is driven to target location from zero point；
Step 3：Judgement is to meet trigger condition；If it is determined that "Yes" then return to step 2, otherwise tracking position of object.
7. calibration method as claimed in claim 6, wherein judging whether to meet that trigger condition refers to that beacon signal is not reaching to
Thresholding or gyro tong-test ammeter numerical value reach threshold value.
8. a kind of calibrating installation for position control, wherein, described device includes：
First drive module, for position driving to be arrived into zero point；
Second drive module, for position to be driven to target location from zero point；And
Judge module, for judging whether to meet trigger condition, start the first drive module if trigger condition is met；Otherwise
Start-up trace module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610872998.3A CN107885234A (en) | 2016-09-30 | 2016-09-30 | A kind of calibration method and device for position control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610872998.3A CN107885234A (en) | 2016-09-30 | 2016-09-30 | A kind of calibration method and device for position control |
Publications (1)
| Publication Number | Publication Date |
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| CN107885234A true CN107885234A (en) | 2018-04-06 |
Family
ID=61769985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610872998.3A Pending CN107885234A (en) | 2016-09-30 | 2016-09-30 | A kind of calibration method and device for position control |
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| CN102412436A (en) * | 2011-07-13 | 2012-04-11 | 北京爱科迪信息通讯技术有限公司 | Ship-borne satellite antenna system and control method thereof |
| CN104122531A (en) * | 2014-07-18 | 2014-10-29 | 零八一电子集团有限公司 | Self-adaptive radar antenna position oscillation treating method |
| CN105680665A (en) * | 2016-03-22 | 2016-06-15 | 佛山市南海区欧谱曼迪科技有限责任公司 | System for eliminating stepper motor accumulative error and control method therefor |
-
2016
- 2016-09-30 CN CN201610872998.3A patent/CN107885234A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08271604A (en) * | 1995-03-31 | 1996-10-18 | Toyota Central Res & Dev Lab Inc | Tracking antenna device |
| US20100045526A1 (en) * | 2008-08-21 | 2010-02-25 | Samsung Electronics Co., Ltd. | Method for acquiring signal of satellite |
| CN101893902A (en) * | 2010-07-07 | 2010-11-24 | 北京爱科迪信息通讯技术有限公司 | Satellite antenna control system and satellite finding method |
| CN102412436A (en) * | 2011-07-13 | 2012-04-11 | 北京爱科迪信息通讯技术有限公司 | Ship-borne satellite antenna system and control method thereof |
| CN104122531A (en) * | 2014-07-18 | 2014-10-29 | 零八一电子集团有限公司 | Self-adaptive radar antenna position oscillation treating method |
| CN105680665A (en) * | 2016-03-22 | 2016-06-15 | 佛山市南海区欧谱曼迪科技有限责任公司 | System for eliminating stepper motor accumulative error and control method therefor |
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Application publication date: 20180406 |