CN109786967A - A kind of ship-board antenna attitude control system of high-precision real-time tracking - Google Patents
A kind of ship-board antenna attitude control system of high-precision real-time tracking Download PDFInfo
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- CN109786967A CN109786967A CN201910160061.7A CN201910160061A CN109786967A CN 109786967 A CN109786967 A CN 109786967A CN 201910160061 A CN201910160061 A CN 201910160061A CN 109786967 A CN109786967 A CN 109786967A
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Abstract
The present invention provides a kind of ship-board antenna attitude control systems of high-precision real-time tracking, mainly by outer layer protection shell, load-bearing rotating module and tracking adjustment module composition；The load-bearing rotating module includes stepper motor a, stepper motor b, rotation steelframe a, rotation steelframe b, supporting steel frame 3, rolling bearing and shaft；The tracking adjustment module is made of stepper motor a, stepper motor b, electronic compass, microprocessor, 3-axis acceleration sensor and three-axis gyroscope, the electronic compass, 3-axis acceleration sensor and the collected data of three-axis gyroscope are unidirectionally transmitted to microprocessor, microprocessor controls stepper motor a and stepper motor b rotation, and then active accommodation posture by handling.The present invention more accurately obtains deviation post using electronic compass, 3-axis acceleration sensor and three-axis gyroscope；The hysteresis quality of pose adjustment process is eliminated using the processing method that active predicting tracks, and is realized by the high-precision Direct Communication of ship and ground.
Description
Technical field
It is the invention belongs to form regulation system technical field, in particular to a kind of logical towards ship-ground communication or ship-ship
The form regulation system that can be automatically tracked emission source or receive source of news.
Background technique
Different from general relatively-stationary ground-plane antenna, ship-board antenna can be transported in actual working environment by ship course
Dynamic, hull fluctuating is jolted and various indefinite motions occur for strong wind airflow influence, so as to cause ship-board antenna off-target
Transmitting receives electromagnetic wave direction, therefore ship-board antenna needs to carry out pitching, orientation rotation adjusts run-home source.At present in patent
Main form regulation system is the form regulation system tracked to satellite, and communication is led between ship-ground between lacking ship-ship
The invention of the boat-carrying form regulation system of news designs, and is unable to satisfy without satellite directly by the need of ship and the Direct Communication on ground
It asks, such as: broadcasting live on landline connection ship.
Summary of the invention
To meet the needs of in technical background, the present invention provides a kind of ship-board antenna gesture stability of high-precision real-time tracking
System.
Technical solution of the present invention:
A kind of ship-board antenna attitude control system of high-precision real-time tracking mainly rotates mould by outer layer protection shell, load-bearing
Block and tracking adjustment module composition, load-bearing rotating module and tracking adjustment module are located inside outer layer protection shell；
The outer layer protection shell is made of corrosion-resistant plastic shell 2, can at sea high humility high salinity environment work for a long time
Make；
The load-bearing rotating module includes stepper motor a1, stepper motor b4, rotation steelframe a5, rotation steelframe b6, support
Steelframe 3, rolling bearing 7 and shaft 8；
The rotation steelframe a5, rotation steelframe b6 and supporting steel frame 3 are square structure, and surface is coated with corrosion resistant painting
Material, to adapt to the high humility in ship's navigation, high salinity environment；
The supporting steel frame 3 is following and shaft 8 is fixedly linked, 3 top of supporting steel frame and stepper motor a1 stationary phase
Even；Supporting steel frame 3 is set in outside rotation steelframe a5, and the rotation steelframe a5 is following and shaft 8 is movably connected, and is fixed on support
The stepper motor a1 output shaft of 3 top of steelframe and the rotation top steelframe a5 are movably connected, and rotation steelframe a5 can around the shaft 8 and stepping
Axis rotation where motor a1；The rolling bearing 7 is fixedly linked on one side with rotation steelframe a5, the stepper motor b4 and rotation
The another side steelframe a5 is fixedly linked；The rotation steelframe a5 is set in outside rotation steelframe b6, the one side the rotation steelframe b6 with
Rolling bearing 7 is movably connected, and the rotation another side steelframe b6 is movably connected with stepper motor b4, and rotation steelframe b6 can be around rolling bearing
Axis rotation where 7 and stepper motor b4；
The tracking adjustment module is mainly by stepper motor a1, stepper motor b4, electronic compass 9, microprocessor 10, three axis
Acceleration transducer 11 and three-axis gyroscope 12 form；The electronic compass 9, microprocessor 10,3-axis acceleration sensor 11
It is each attached to inside outer layer protection shell with three-axis gyroscope 12；
The stepper motor a1 and stepper motor b4 can be rotated when operating with 0.18 ° of step angle, stepper motor a1 work
Energy band turn moves steelframe a5 rotation, to adjust azimuth；Stepper motor b4 work energy band turn moves steelframe b6 rotation, to adjust
Save pitch angle；
Microprocessor 10 of the present invention is based on pid algorithm thought, formula used in the algorithm are as follows:
Y (i)=KP*e(i)+KD*(de(i)/dt)+KIΔy(i-1)
Wherein, KPIndicate proportional gain factor, KDIndicate differential gain coefficient, KIIndicate that integration gain factor, Y (i) indicate
The angular speed of i-th axis, e (i) indicate that the angular speed of i-th axis, de (i)/dt indicate the change of the angular speed of i-th axis
Rate, Δ y (i-1) indicate (i-1)-th deviation.
Angular speed e (i) is obtained by reading the data that three-axis gyroscope 12 is passed back when work starts, de is obtained by differential
(i)/dt, the value is for the prediction to Future movement, to realize that active accommodation posture eliminates hysteresis quality, then according to above-mentioned formula
The angular speed of i-th axis is acquired, wherein Δ y (i-1) indicates that return value Y (i-1) controls stepper motor a1 and stepper motor b4
Posture adjusted and initial attitude compare to obtain deviation, and the posture adjusted passes through electronic compass 9 and three-axis gyroscope
12 accurately measure, and the Δ y (i-1) indicates the deviation of active accommodation, and the reduction of adjustment algorithm error can be made by introducing the value.
Beneficial effects of the present invention: the present invention uses electronic compass, 3-axis acceleration sensor and three-axis gyroscope more
Accurately obtain deviation post；Wherein measured value of the 3-axis acceleration sensor in the long period is correct, and in the short period
The interior presence due to signal noise, and have error.Three-axis gyroscope is then relatively more accurate within a short period of time and the long period then can
There is error due to drift.3-axis acceleration sensor and three-axis gyroscope can mutually eliminate error, use electronic compass
The drift value of the gyroscope of calibration measurement yaw angle, three, which arranges in pairs or groups, to be adjusted using that can be accurately obtained from deviating from the position, to carry out
Accurate adjustment；The hysteresis quality of pose adjustment process is eliminated by using the processing method of active predicting tracking.
Detailed description of the invention
Fig. 1 is the main view of present system.
Fig. 2 is the top view of present system.
Fig. 3 is the side view of present system.
Fig. 4 is the program chart of the active predicting tracking processing method of present system.
Fig. 5 is that the tracking adjustment module electric current of present system links schematic diagram.
In figure: 1 stepper motor a；2 corrosion-resistant plastic shells；3 supporting steel frames；4 stepper motor b；5 rotation steelframe a；6 rotation steel
Frame b；7 rolling bearings；8 shafts；9 electronic compass；10 microprocessors；11 3-axis acceleration sensors；12 three-axis gyroscopes.
Specific embodiment
Below in conjunction with technical solution and Figure of description, a specific embodiment of the invention is further illustrated.
A kind of ship-board antenna attitude control system of high-precision real-time tracking mainly rotates mould by outer layer protection shell, load-bearing
Block and tracking adjustment module composition；
The outer layer protection shell is made of corrosion-resistant plastic shell 2；The load-bearing rotating module includes stepper motor a1, stepping
Motor b4, rotation steelframe a5, rotation steelframe b6, supporting steel frame 3, rolling bearing 7 and shaft 8；The rotation steelframe a5, rotation steel
Frame b6 and supporting steel frame 3 are square structure；The supporting steel frame 3 is following and shaft 8 is fixedly linked, on the supporting steel frame 3
Side and stepper motor a1 are fixedly linked；Supporting steel frame 3 be set in rotation steelframe a5 outside, the rotation steelframe a5 below and shaft
8 are movably connected, the stepper motor a1 and rotation the top steelframe a5 be movably connected, rotation steelframe a5 can around the shaft 8 and stepping electricity
Axis rotation where machine a1；The rolling bearing 7 is fixedly linked on one side with rotation steelframe a5, the stepper motor b4 and rotation steel
The another side frame a5 is fixedly linked；The rotation steel a5 is set in outside rotation steelframe b6, described one side rotation steelframe b6 and rotation
Bearing 7 is movably connected, and the rotation another side steelframe b6 is movably connected with stepper motor b4, and rotation steelframe b6 can be around 7 He of rolling bearing
Axis rotation where stepper motor b4；
The tracking adjustment module is mainly by stepper motor a1, stepper motor b4, electronic compass 9, microprocessor 10, three axis
Acceleration transducer 11 and three-axis gyroscope 12 form；The electronic compass 9, microprocessor 10,3-axis acceleration sensor 11
It is each attached to inside outer layer protection shell with three-axis gyroscope 12；Stepper motor a1, stepper motor b4, electronic compass 9, three axis accelerate
Degree sensor 11 and three-axis gyroscope 12 are connected with microprocessor 10, electronic compass 9,3-axis acceleration sensor 11 and three axis
The collected data of gyroscope 12 are unidirectionally transmitted to microprocessor 10, and microprocessor 10 handles data, to control stepping
Motor a1 and stepper motor b4 rotation, and then active accommodation posture.
Microprocessor 10 of the present invention is based on pid algorithm thought, formula used in the algorithm are as follows:
Y (i)=KP*e(i)+KD*(de(i)/dt)+KIΔy(i-1)
Wherein, KPIndicate proportional gain factor, KDIndicate differential gain coefficient, KIIndicate that integration gain factor, Y (i) indicate
The angular speed of i-th axis, e (i) indicate that the angular speed of i-th axis, de (i)/dt indicate the change of the angular speed of i-th axis
Rate, Δ y (i-1) indicate (i-1)-th deviation.
In practical work process, ship-board antenna is fixed in rotation steelframe b6 frame, when ship-board antenna is transported by ship course
When dynamic, hull fluctuating is jolted and various indefinite motions occur for strong wind airflow influence, electronic compass 9,3-axis acceleration sensing
Collected data are sent microprocessor 10 by device 11 and three-axis gyroscope 12, and microprocessor 10 moves ship-board antenna and carries out
Prediction further controls stepper motor a1 and stepper motor b4 rotation, so that active accommodation ship-board antenna posture, makes ship-board antenna
Relative target remains optimum orientation.
Claims (8)
1. a kind of ship-board antenna attitude control system of high-precision real-time tracking, which is characterized in that when the described high-precision real with
The ship-board antenna attitude control system of track is mainly made of outer layer protection shell, load-bearing rotating module and tracking adjustment module, load-bearing
Rotating module and tracking adjustment module are located inside outer layer protection shell；
The load-bearing rotating module include stepper motor a (1), stepper motor b (4), rotation steelframe a (5), rotation steelframe b (6),
Supporting steel frame (3), rolling bearing (7) and shaft (8)；The supporting steel frame (3) is following and shaft (8) is fixedly linked, the branch
Support steelframe (3) top is fixed with stepper motor a (1)；Supporting steel frame (3) is set in rotation steelframe a (5) outside, the rotation steel
Frame a (5) is following and shaft (8) is movably connected, and is fixed on stepper motor a (1) output shaft and rotation steel of supporting steel frame (3) top
Frame a (5) top is movably connected, and rotation steelframe a (5) can (8) and the axis rotation of the place stepper motor a (1) around the shaft；The rotation
Bearing (7) is fixedly linked on one side with rotation steelframe a (5), the stepper motor b (4) and rotation steelframe a (5) another side stationary phase
Even；The rotation steelframe a (5) is set in rotation steelframe b (6) outside, and the rotation steelframe b (6) is living with rolling bearing (7) on one side
Dynamic to be connected, rotation (6) another side steelframe b is movably connected with stepper motor b (4), rotate steelframe b (6) can around rolling bearing (7) and
Axis rotation where stepper motor b (4)；
The tracking adjustment module mainly by stepper motor a (1), stepper motor b (4), electronic compass (9), microprocessor (10),
3-axis acceleration sensor (11) and three-axis gyroscope (12) composition；The electronic compass (9), microprocessor (10), three axis add
Velocity sensor (11) and three-axis gyroscope (12) are each attached to inside outer layer protection shell, stepper motor a (1), stepper motor b
(4), electronic compass (9), 3-axis acceleration sensor (11) and three-axis gyroscope (12) are connected with microprocessor (10), electronics
Compass (9), 3-axis acceleration sensor (11) and three-axis gyroscope (12) collected data are unidirectionally transmitted to microprocessor (10),
Microprocessor (10) is further processed, and then controls stepper motor a (1) and stepper motor b (4) rotation, and then active accommodation appearance
State.
2. a kind of ship-board antenna attitude control system of high-precision real-time tracking according to claim 1, which is characterized in that
The microprocessor (10) is based on pid algorithm thought, formula used in the algorithm are as follows:
Y (i)=KP*e(i)+KD*(de(i)/dt)+KIΔy(i-1)
Wherein, KPIndicate proportional gain factor, KDIndicate differential gain coefficient, KIIndicate that integration gain factor, Y (i) indicate i-th
The angular speed of certain secondary axis, e (i) indicate that the angular speed of i-th axis, de (i)/dt indicate the variation of the angular speed of i-th axis
Rate, Δ y (i-1) indicate (i-1)-th deviation.
3. a kind of ship-board antenna attitude control system of high-precision real-time tracking according to claim 1 or 2, feature exist
In the stepper motor a (1) and stepper motor b (4) are rotated when operating with 0.18 ° of step angle, stepper motor a (1) work belt
Turn moves steelframe a (5) rotation, to adjust azimuth；Stepper motor b (4) work belt turn moves steelframe b (6) rotation, to adjust
Save pitch angle.
4. a kind of ship-board antenna attitude control system of high-precision real-time tracking according to claim 1 or 2, feature exist
In the rotation steelframe a (5), rotation steelframe b (6) and supporting steel frame (3) are square structure, and surface is coated with corrosion resistant
Coating, to adapt to the high humility in ship's navigation, high salinity environment.
5. a kind of ship-board antenna attitude control system of high-precision real-time tracking according to claim 3, which is characterized in that
The rotation steelframe a (5), rotation steelframe b (6) and supporting steel frame (3) are square structure, and surface is coated with corrosion resistant painting
Material, to adapt to the high humility in ship's navigation, high salinity environment.
6. according to claim 1, a kind of ship-board antenna attitude control system of high-precision real-time tracking, feature described in 2 or 5
It is, the outer layer protection shell is made of corrosion-resistant plastic shell (2).
7. a kind of ship-board antenna attitude control system of high-precision real-time tracking according to claim 3, which is characterized in that
The outer layer protection shell is made of corrosion-resistant plastic shell (2).
8. a kind of ship-board antenna attitude control system of high-precision real-time tracking according to claim 4, which is characterized in that
The outer layer protection shell is made of corrosion-resistant plastic shell (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910160061.7A CN109786967A (en) | 2019-03-04 | 2019-03-04 | A kind of ship-board antenna attitude control system of high-precision real-time tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910160061.7A CN109786967A (en) | 2019-03-04 | 2019-03-04 | A kind of ship-board antenna attitude control system of high-precision real-time tracking |
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| Publication Number | Publication Date |
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| CN109786967A true CN109786967A (en) | 2019-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910160061.7A Withdrawn CN109786967A (en) | 2019-03-04 | 2019-03-04 | A kind of ship-board antenna attitude control system of high-precision real-time tracking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114428475A (en) * | 2021-12-31 | 2022-05-03 | 青岛海研电子有限公司 | Shipborne angle tracking compensation system |
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| CN102214853A (en) * | 2011-03-31 | 2011-10-12 | 哈尔滨工程大学 | Four-axis frame antenna stabilization system and quick start method thereof |
| CN202692994U (en) * | 2012-07-27 | 2013-01-23 | 中国航空工业第六一八研究所 | Follow-up frame for inertial platform |
| CN203250853U (en) * | 2013-02-27 | 2013-10-23 | 宁波森富机电制造有限公司 | Three-axis stabilization mobile tracking mount of shipborne satellite antenna |
| CN106323282A (en) * | 2016-07-14 | 2017-01-11 | 中北大学 | Stable platform adaptive to various environments |
| CN108645425A (en) * | 2018-03-14 | 2018-10-12 | 东南大学 | Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system |
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2019
- 2019-03-04 CN CN201910160061.7A patent/CN109786967A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102214853A (en) * | 2011-03-31 | 2011-10-12 | 哈尔滨工程大学 | Four-axis frame antenna stabilization system and quick start method thereof |
| CN202692994U (en) * | 2012-07-27 | 2013-01-23 | 中国航空工业第六一八研究所 | Follow-up frame for inertial platform |
| CN203250853U (en) * | 2013-02-27 | 2013-10-23 | 宁波森富机电制造有限公司 | Three-axis stabilization mobile tracking mount of shipborne satellite antenna |
| CN106323282A (en) * | 2016-07-14 | 2017-01-11 | 中北大学 | Stable platform adaptive to various environments |
| CN108645425A (en) * | 2018-03-14 | 2018-10-12 | 东南大学 | Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114428475A (en) * | 2021-12-31 | 2022-05-03 | 青岛海研电子有限公司 | Shipborne angle tracking compensation system |
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