CN113258290B - Control method, control device and system of communication-in-motion antenna - Google Patents
Control method, control device and system of communication-in-motion antenna Download PDFInfo
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- CN113258290B CN113258290B CN202110594634.4A CN202110594634A CN113258290B CN 113258290 B CN113258290 B CN 113258290B CN 202110594634 A CN202110594634 A CN 202110594634A CN 113258290 B CN113258290 B CN 113258290B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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Abstract
The application relates to the field of communication, and provides a control method, a control device and a system for a communication-in-motion antenna, wherein the control method comprises the following steps: the method comprises the steps that a main controller obtains first attitude information, first position information and position information of a target of a carrier of the communication-in-motion antenna, calculates pointing information of the communication-in-motion antenna, and sends the pointing information to an auxiliary controller through a router; the auxiliary controller performs control law calculation according to the pointing information from the main controller to obtain a first control instruction, and sends the first control instruction to the driving system. Because the task amount of the main controller and the auxiliary controller is less than that of the centralized controller, the main controller and the auxiliary controller can adopt cheaper microprocessors to realize corresponding functions, and the development and maintenance cost of the controllers is further reduced.
Description
Technical Field
The present application relates to the field of communications, and in particular, to a method, a device, and a system for controlling a mobile communication antenna.
Background
It is known that a mobile communication system (i.e., a mobile satellite ground station communication system) can establish an efficient communication link by automatically searching and tracking satellites to meet various emergency communication and multimedia mobile communication needs. The current communication-in-motion antenna control system generally adopts a sensor, an actuator and a controller to control the direction of an antenna, wherein the sensor is used for acquiring attitude information, position information and the like of a carrier; the controller performs data processing, attitude calculation, control law calculation and other processing based on information acquired by the sensor, generates a control instruction for controlling the direction of the antenna, and sends the control instruction to the actuator; and the actuator adjusts the attitude of the antenna according to the control command so that the antenna points to the satellite.
The controller needs to execute complex operation processing in the process of generating the control instruction, so that different hardware circuits and software codes are needed to cooperate to generate the control instruction. If part of hardware circuit or software code needs to be upgraded, the rest parts which do not need to be upgraded also need to be adaptively adjusted, thereby increasing the development and maintenance cost of the controller.
Disclosure of Invention
The application provides a control method, a control device and a system of a communication-in-motion antenna, which can reduce the development and maintenance cost of a controller.
In a first aspect, a method for controlling a mobile communication antenna is provided, where the method includes: the method comprises the steps that a main controller obtains first posture information and first position information of a carrier of a communication-in-motion antenna and position information of a target, directional information of the communication-in-motion antenna is calculated according to the first posture information, the first position information and the position information of the target, and the directional information is sent to an auxiliary controller through a router; the pointing information comprises one or more of azimuth angle information and pitch angle information of the mobile communication antenna; the auxiliary controller performs control law calculation according to the pointing information from the main controller to obtain a first control instruction, and sends the first control instruction to a driving system; the driving system adjusts one or more of an azimuth angle and a pitch angle of the communication-in-motion antenna according to the first control instruction, so that the communication-in-motion antenna is aligned to the target in a first pointing direction.
The application provides a control method of a communication-in-motion antenna, wherein a main controller acquires first attitude information and first position information of a carrier of the communication-in-motion antenna and position information of a target (such as position information of a satellite), and calculates pointing information of the communication-in-motion antenna according to the first attitude information, the first position information and the position information of the target; then, the main controller sends the pointing information to the auxiliary controller through the router, and the auxiliary controller performs control law calculation after receiving the pointing information to obtain a first control instruction and sends the first control instruction to the driving system; the driving system adjusts one or more of the azimuth angle and the pitch angle of the communication-in-motion antenna according to the first control instruction, so that the communication-in-motion antenna is aligned to the target in a first direction (such as at least one of the azimuth angle and the pitch angle of the antenna). In the embodiment of the application, a distributed architecture is adopted, namely the main controller calculates to obtain the pointing information, and then the auxiliary controller obtains the first control instruction according to the pointing information, so that when a hardware circuit or a software code for resolving the pointing information needs to be upgraded, the hardware circuit or the software code for controlling the antenna does not need to be adaptively adjusted, and the development and maintenance cost of the controller is reduced. In addition, because the task amount of the main controller and the auxiliary controller is smaller than that of the centralized controller (namely, the same controller not only calculates the pointing information of the communication-in-motion antenna, but also calculates the control instruction), the main controller and the auxiliary controller can adopt cheaper microprocessors to realize corresponding functions, and the development and maintenance cost of the controllers is further reduced. Therefore, the scheme reduces the development and maintenance cost of the controller while not affecting the data forwarding efficiency.
Optionally, the control method further includes: under the condition that the tracking receiver successfully receives antenna data of the communication-in-motion antenna, the auxiliary controller determines a first angle of the communication-in-motion antenna, wherein the first angle is an angle of the communication-in-motion antenna deviating from the target when the communication-in-motion antenna is aligned to the target in the first direction; when the first angle is larger than a second threshold and smaller than a first threshold, the auxiliary controller calculates the deviation of the communication-in-motion antenna pointing to the target; the auxiliary controller obtains a second control instruction according to the deviation and sends the second control instruction to the driving system; the driving system adjusts one or more of an azimuth angle and a pitch angle of the communication-in-motion antenna according to the second control instruction, so that the communication-in-motion antenna is aligned to the target in a second direction; when the communication-in-motion antenna is aligned to the target in the second direction, the angle of the communication-in-motion antenna deviating from the target is a second angle, and the second angle is smaller than the first angle. The scheme can realize fine adjustment of the communication-in-motion antenna, namely, the angle of the communication-in-motion antenna deviating from a target is reduced when the communication-in-motion antenna is aligned with the target.
Optionally, when the first angle of the communication-in-motion antenna deviating from the target is greater than or equal to the first threshold, the master controller controls the communication-in-motion system to re-enter the star finding and coarse alignment states; or, in the case that the tracking receiver does not successfully receive the antenna data, the master controller controls the communication-in-motion control system to re-enter the star finding and coarse alignment states.
Optionally, when the mobile communication system is aligned with the target in the first orientation, the master controller establishes a communication link with the target through the router and receives control data from the target through the router; when the communication-in-motion system aims at the target in the second direction, the main controller establishes a communication link with the target through the router and transmits and receives user data from the target through the router.
When the communication-in-motion system is aimed at a target (such as a satellite) in a first direction, namely when the communication-in-motion system is aimed at the target in a star finding and coarse direction, the router receives control data from the satellite to provide communication service for the communication-in-motion control system (the communication-in-motion control system is a part of the communication-in-motion system); when the communication-in-motion system aims at the target in a second direction, namely when the communication-in-motion system accurately aims at and tracks the target, the router transmits data (such as video data) between the satellite and the user so as to provide network service for the user; because the time when the router provides communication service for the communication-in-motion system is different from the time when the router provides network service for users, the calculation and storage pressure of the router at the same time is not increased, and the utilization rate of the router can be improved.
Optionally, the acquiring, by the master controller, first attitude information and first position information of a carrier of the mobile communication antenna and position information of the target includes: the main controller acquires first attitude information and first position information of a carrier of the communication-in-motion antenna and position information of the target through a sensing system.
Optionally, the driving system adjusts one or more of an azimuth angle and a pitch angle of the mobile communication antenna according to the first control instruction, including: the azimuth driving system of the driving system controls the azimuth of the communication-in-motion antenna to change according to a first preset rule according to the first control instruction generated by the azimuth controller of the auxiliary controller; and the pitching driving system of the driving system controls the pitching angle of the communication-in-motion antenna to change according to a second preset rule according to the first control instruction generated by the pitching controller of the auxiliary controller.
Optionally, the azimuth driving system controls the azimuth angle of the mobile communication antenna to change according to a first preset rule according to an internal stability condition of an azimuth closed-loop control loop; the pitching driving system controls the pitching angle of the communication-in-motion antenna to change according to a second preset rule according to the internal stability condition of the pitching closed-loop control circuit;
wherein the internal stability condition of the azimuth closed-loop control circuit is as follows:
the internal stability condition of the pitching closed-loop control circuit is as follows:
wherein the content of the first and second substances,
is a mathematical model of the orientation controller,
is a mathematical model of the pitch controller,
for the nominal of the azimuth drive systemThe model is a model of a human body,
for a nominal model of the pitch drive system,
the equivalent delay time for the object is,
and
are arbitrarily small positive real numbers.
In a second aspect, a control device for a mobile communication antenna is provided, including: the main controller and the auxiliary controller are connected to a router through a network, the auxiliary controller is in communication with the driving system, and the main controller, the auxiliary controller and the driving system are used for executing the control method of any one of the first aspects, so that the communication-in-motion antenna is aligned to the target in a first direction.
In a third aspect, a computer-readable medium is provided, the computer-readable medium storing program code comprising instructions for performing any of the methods of the second aspect.
In a fourth aspect, a communication-in-motion system is provided, including: the control device of the second aspect, a router, and a sensing system for providing the control device with first attitude information and first position information of a carrier of a mobile antenna and position information of an object.
In a fifth aspect, a computer program product is provided which, when run on a computer, causes the computer to perform the method as described in the second aspect and various implementations of the second aspect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a block diagram of a mobile communication system according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a method for controlling a mobile communication antenna according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a communication-in-motion system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an azimuth control closed loop of the communication-in-motion system in the star finding and coarse alignment states according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a pitch control closed loop of the communication-in-motion system in the star finding and coarse alignment states according to the embodiment of the present invention;
fig. 6 is a schematic diagram illustrating different functions of a router in different communication-in-motion system states according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a star finding and coarse alignment process of the communication-in-motion system according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a precise alignment and satellite tracking process of the communication-in-motion system according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The present application will now be described in further detail with reference to the accompanying drawings and specific examples.
In recent years, a communication-in-motion system has been widely used for various emergency communications as well as multimedia mobile communications, since it is possible to establish an efficient communication link by automatically searching and tracking a satellite. However, the current communication-in-motion antenna control system generally adopts a sensor, an actuator and a controller to control the direction of an antenna, wherein the sensor is used for collecting attitude information, position information and the like of the antenna; the controller performs data processing, attitude calculation, control law calculation and other processing based on information acquired by the sensor, generates a control instruction for controlling the direction of the antenna, and sends the control instruction to the actuator; and the actuator adjusts the attitude of the antenna according to the control command so that the antenna points to the satellite. Since the controller needs to perform complex operation in the process of generating the control command, different hardware circuits and software codes are needed to cooperate to generate the control command. If part of hardware circuit or software code needs to be upgraded, the rest parts which do not need to be upgraded also need to be adaptively adjusted, thereby increasing the development and maintenance cost of the controller. Therefore, in order to further reduce the development and maintenance costs of the controller, it is necessary to improve the control method of the existing controller.
Fig. 1 shows a mobile communication system 100 provided by the present application, in which an antenna of a sea, land, air, etc. mobile carrier points to a satellite in real time during a motion process, so as to implement various military and civil multimedia communications. The communication-in-motion system 100 comprises five parts, namely a sensing system 101, a main controller 102, a router 103, an auxiliary controller 104 and a driving system 105, wherein the communication modes between the sensing system 101 and the main controller 102 and between the auxiliary controller 104 and the driving system 105 are point-to-point communication or bus communication, and the communication mode between the main controller 102 and the auxiliary controller 104 is data communication through a network (such as an ethernet network), wherein a central forwarding node of the network is the router 103, namely, information transmission between the main controller 102 and the auxiliary controller 104 is mutual forwarding through the router. The sensing system 101 sends first attitude information and first position information of a carrier (carrier for short) of the communication-in-motion antenna and position information of a target (such as a satellite) to the main controller 102; the main controller 102 performs carrier attitude and position information calculation according to the received first attitude information and first position information, and calculates pointing information of the satellite communication in motion antenna (namely azimuth angle information and pitch angle information of the satellite communication in motion antenna) according to the position information of the target. The main controller 102 sends the pointing information to the auxiliary controller 104 through the router 103, the auxiliary controller 104 generates a first control instruction according to the pointing information received from the router 103, and sends the first control instruction to the driving system 105, the driving system 105 adjusts the pointing target of the communication-in-motion antenna according to the first control instruction, in addition, the driving system 105 feeds back a result (namely an adjustment result) of adjusting the pointing target of the communication-in-motion antenna to the main controller 102 through the router 103, and the main controller 102 is informed that the communication-in-motion antenna is aligned to the target at the moment.
Quiet well expert equipment: a satellite communication device, which may be understood as stationary, refers to a communication connection established between satellite sites at a fixed location via a satellite access network; or a communication connection is established with the opposite-end satellite communication device.
The communication-in-motion equipment comprises: the mobile satellite communication device is understood to mean that the satellite communication device is installed on a mobile carrier, and during the process of moving along with the mobile carrier, the position of the satellite is tracked in real time, and the satellite is used as a relay station to forward signals, so that communication connection is established between the satellite communication device and other communication devices. The application carrier is, for example, a vehicle, a ship, an aircraft, and the like.
The following describes a method for controlling a mobile communication antenna provided by the present application. The control method is applied to a control device of a communication-in-motion system, and the control device comprises the following steps: a main controller 102, an auxiliary controller 104 and a driving system 105, wherein the main controller 102 and the auxiliary controller 104 are connected to a router 103 through a network, and the auxiliary controller 104 communicates with the driving system 105, as shown in fig. 2 in conjunction with fig. 1, the method includes:
s201, the main controller 102 acquires first posture information and first position information of a carrier of the communication-in-motion antenna and position information of a target, calculates pointing information of the communication-in-motion antenna according to the first posture information, the first position information and the position information of the target, and sends the pointing information to the auxiliary controller 104 through the router 103.
Wherein the pointing information comprises one or more of azimuth angle information and pitch angle information of the mobile communication antenna.
For example, the pointing information may be azimuth angle information of the satellite communication in motion antenna, and may also be pitch angle information of the satellite communication in motion antenna. Alternatively, the pointing information includes both azimuth information and elevation information of the mobile communication antenna.
As an example, the target may be a satellite or other object or device that needs to be aligned.
For example, the main controller 102 acquires the first posture information and the first position information of the carrier of the communication-in-motion antenna and the position information of the target from the sensing system 101. The first attitude information of the carrier of the communication-in-motion antenna comprises angular velocity, acceleration and azimuth information of the carrier, and the first position information comprises longitude and latitude and height information of the carrier. Taking the target as a satellite as an example, the position information of the satellite includes longitude and latitude and altitude information of the satellite.
As an example, the sensing system 101 described above includes one or more of an accelerometer, a gyroscope, a positioning unit, and an electronic compass. As shown in fig. 3, the gyroscope, the accelerometer, and the electronic compass respectively measure angular velocity, acceleration, and azimuth information of the carrier, and the positioning unit measures longitude and latitude and altitude information of the carrier or the satellite, for example, the electronic compass measures a heading angle of the carrier relative to a true south direction, the gyroscope measures a roll angle of the carrier relative to a horizontal plane, and the positioning unit measures geographical position coordinates of the carrier.
The sensing system 101 may transmit the acquired first attitude information and first position information of the carrier and the position information of the satellite to the main controller 102 when a preset condition is satisfied. For example, the preset conditions are: a preset period is reached or a request is received from the main controller 102.
The main controller 102 performs attitude calculation and position information calculation of the carrier according to the first attitude information and the first position information of the carrier, and calculates pointing information of a satellite communication antenna (hereinafter referred to as an antenna) according to the position information of the satellite.
S202, the auxiliary controller 104 performs control law calculation according to the pointing information from the main controller 102 to obtain a first control instruction, and sends the first control instruction to the driving system 105.
As an example, the secondary controller 104 in the embodiment of the present application includes an orientation controller and a pitch controller, and the secondary controller 104 generates a first control instruction including at least one of an orientation control instruction and a pitch control instruction according to the orientation information. For example, the azimuth controller may generate an azimuth control command according to the azimuth information in the pointing information, for example, the azimuth control command is used to instruct the driving system 105 to adjust the azimuth of the mobile antenna. For example, the pitch controller may generate a pitch control command according to the pitch angle information in the pointing information, for example, the pitch control command is used to instruct the driving system 105 to adjust the pitch angle of the mobile antenna. Optionally, the pitch control instruction may carry a target pitch angle calculated by the pitch controller, and the azimuth control instruction may carry a target azimuth angle calculated by the azimuth controller.
As one example, the pitch controller sends pitch control instructions to drive system 105. As one example, the position controller sends position control instructions to the drive system 105.
S203, the driving system 105 adjusts one or more of an azimuth angle and a pitch angle of the communication-in-motion antenna according to the first control instruction, so that the communication-in-motion antenna is aligned to the target in the first direction.
As a possible implementation, S203 may be implemented by: the driving system 105 adjusts the pitch angle of the communication-in-motion antenna according to the pitch control instruction so as to align the communication-in-motion antenna with the satellite. The driving system 105 adjusts the azimuth of the communication-in-motion antenna according to the azimuth controller to align the communication-in-motion antenna with the satellite.
In the embodiment of the present application, the stage of aligning the mobile communication antenna to the target in the first direction may be referred to as: star finding and coarse alignment status.
The driving system 105 comprises an azimuth driving system, a pitch driving system, a tracking receiver and a (communication-in-motion) antenna, wherein the azimuth driving system is used for adjusting the azimuth angle of the communication-in-motion antenna. The pitching driving system is used for adjusting the pitching angle of the communication-in-motion antenna.
Illustratively, when the pointing information is azimuth information of an antenna, the main controller 102 sends the azimuth information of the antenna to a position controller in the auxiliary controller 104 through the router 103, the position controller generates a position control command (i.e., a first control command) according to the azimuth information of the antenna, the position controller sends the position control command to a position driving system, the position driving system outputs the azimuth information of the antenna and changes the azimuth of the antenna, and simultaneously, a result of aligning the changed azimuth (i.e., a first pointing direction) of the antenna with a satellite (i.e., an adjustment result of the azimuth of the antenna) is fed back to the main controller 102 through the router 103 to notify the main controller 102 that the azimuth of the communication-in-motion antenna at this time is already coarsely aligned with the satellite, i.e., the communication-in-motion system completes satellite finding and coarse alignment.
Illustratively, when the pointing information is pitch angle information of the antenna, the main controller 102 sends the pitch angle information of the antenna to a pitch controller in the auxiliary controller 104 through the router 103, the pitch controller generates a pitch control command (i.e., a first control command) according to the pitch angle information of the antenna, the pitch controller sends the pitch control command to a pitch driving system, the pitch driving system outputs the pitch angle information of the antenna and changes the pitch angle of the antenna, and simultaneously, a result of changing the pitch angle (i.e., the first pointing direction) of the antenna to align with the satellite (i.e., a result of adjusting the pitch angle of the antenna) is fed back to the main controller 102 through the router 103 to inform the main controller 102 that the pitch angle of the satellite in motion antenna at the moment is roughly aligned with the satellite, i.e., the satellite finding and rough alignment are completed by the satellite in motion system.
Illustratively, when the pointing information is azimuth angle information of an antenna and pitch angle information of the antenna, the main controller 102 sends the azimuth angle information of the antenna and the pitch angle information of the antenna to an azimuth controller and a pitch controller (as shown in fig. 3) in the sub controller 104 through the router 103, respectively; the azimuth controller generates an azimuth control instruction (namely a first control instruction) according to the azimuth information of the antenna, and meanwhile, the pitch controller generates a pitch control instruction (namely the first control instruction) according to the pitch angle information of the antenna, namely the first control instruction comprises both the azimuth control instruction and the pitch control instruction; the position controller sends the position control instruction to a position driving system, and meanwhile, the pitching controller sends the pitching control instruction to a pitching driving system; the azimuth driving system outputs azimuth information of the antenna and changes the azimuth of the antenna, and simultaneously feeds back a result of aligning the changed azimuth (i.e. the first direction) of the antenna with the satellite (i.e. an adjustment result of the azimuth of the antenna) to the main controller 102 through the router 103 so as to inform the main controller 102 that the azimuth of the communication-in-motion antenna is roughly aligned with the satellite at the moment; meanwhile, the pitch driving system outputs pitch angle information of the antenna and changes the pitch angle of the antenna, and simultaneously, a result of changing the pitch angle of the antenna (i.e., a first direction) to align with the satellite (i.e., an adjustment result of the pitch angle of the antenna) is fed back to the main controller 102 through the router 103 to notify the main controller 102 that the pitch angle of the communication-in-motion antenna is roughly aligned with the satellite at the moment.
Therefore, the main controller 102 calculates the first attitude information and the first position information of the carrier and the position information of the target received from the sensing system 101 to obtain the pointing information of the antenna, and sends the pointing information to the auxiliary controller 104 through the router 103, and the auxiliary controller 104 performs control law calculation according to the pointing information to obtain a first control instruction and sends the first control instruction to the driving system 105; the drive system 105 adjusts the mobile antenna to aim at the target (i.e., the satellite) in a first heading (i.e., one or more of azimuth and elevation of the antenna) based on the first control command. In the embodiment of the application, a distributed architecture is adopted, that is, the main controller 102 calculates to obtain the pointing information, and then the auxiliary controller 104 obtains the first control instruction according to the pointing information, so that when a hardware circuit or a software code for resolving the pointing information needs to be upgraded, the hardware circuit or the software code for controlling the antenna does not need to be adaptively adjusted, and thus, the development and maintenance cost of the controller is reduced. In addition, since the task load of the main controller 102 and the auxiliary controller 104 is less than that of a centralized controller, the main controller 102 and the auxiliary controller 104 can adopt cheaper microprocessors to realize corresponding functions, and the development and maintenance cost of the controllers is further reduced. Therefore, the scheme reduces the development and maintenance cost of the controller while not affecting the data forwarding efficiency.
After the satellite finding and the coarse alignment are completed by the communication-in-motion system, the communication-in-motion system enters a precise alignment and satellite tracking stage. At this time, the task of controlling the antenna by the communication-in-motion system is mainly completed by an azimuth closed-loop control loop and a pitching closed-loop control loop, as shown in fig. 3, the azimuth controller, the azimuth driving system, the antenna (i.e. the communication-in-motion antenna) and the tracking receiver form an azimuth closed-loop control loop, and the azimuth angle of the antenna is controlled by the azimuth closed-loop control loop according to a first preset rule; the pitching controller, the pitching driving system, the antenna and the tracking receiver form a pitching closed-loop control circuit, and the pitching closed-loop control circuit controls the pitching angle of the antenna to change according to a second preset rule. And the azimuth closed-loop control circuit and the pitching closed-loop control circuit respectively adjust and control the azimuth angle and the pitching angle of the antenna in real time according to the antenna data of the communication-in-motion antenna of the tracking receiver so as to enable the antenna to point and track the satellite in real time. The first preset rule may be a specific parameter for adjusting the azimuth angle of the antenna; the second preset rule may be a specific parameter for adjusting the pitch angle of the antenna, and the application does not limit the specific contents of the first preset rule and the second preset rule.
Illustratively, when the main controller 102 judges that the tracking receiver has successfully received the antenna data of the satellite communication-in-motion antenna, i.e., when the satellite communication-in-motion antenna has been aimed at with a first pointing direction, the secondary controller 104 determines that the satellite communication-in-motion antenna deviates from a first angle of the satellite, and when the first angle is smaller than a first threshold value and is larger than a second threshold value, the secondary controller 104 calculates a deviation of the satellite communication-in-motion antenna pointing to the satellite, wherein the first angle is an angle of the satellite communication-in-motion antenna deviating from the direction of the satellite; the first threshold and the second threshold are both angle thresholds of the communication-in-motion antenna deviating from the satellite direction, when the first angle is smaller than the first threshold, the satellite is in the satellite searching range of the communication-in-motion antenna, and when the first angle is larger than the second threshold, the communication-in-motion antenna is roughly aligned with the satellite.
For example, the first threshold is 30 deg., the second threshold is 5 deg., when the secondary controller 104 determines that the on-going antenna is at a first angle of 20 deg. from the satellite, the first angle (20 °) is less than a first threshold (30 °) and the first angle (20 °) is greater than a second threshold (5 °), the secondary controller 104 calculates the deviation of the satellite pointed by the satellite in motion, the deviation is at least one of an azimuth angle of the antenna and a pitch angle of the antenna, the auxiliary controller 104 performs control law calculation according to the deviation to obtain a second control command, the second control command is at least one of an azimuth control command and a pitch control command, the secondary controller 104 sends the second control command to the drive system 105, the drive system 105 adjusts the mobile antenna to aim at the satellite in a second direction according to the second control command, the second direction including at least one of an azimuth angle of the antenna and a pitch angle of the antenna. When the communication-in-motion antenna is aligned with the satellite in the second direction, that is, the communication-in-motion system is now in the precise alignment and satellite tracking phase, the secondary controller 104 determines that the angle of the communication-in-motion antenna from the satellite is a second angle, wherein the second angle is the angle of the communication-in-motion antenna from the satellite, and at this moment, the second angle (for example, the second angle is 3 °) of the communication-in-motion antenna from the satellite is smaller than the first angle (for example, the first angle is 20 °).
Illustratively, for example, when the deviation of the satellite pointed by the satellite of the control of the satellite of the. When the deviation of the communication-in-motion antenna pointing to the satellite is the pitching angle of the antenna, the operation of the pitching closed-loop control circuit for controlling the antenna to align with the satellite is similar to the operation of the azimuth closed-loop control circuit for controlling the antenna to align with the satellite, and the description is omitted here.
Exemplarily, taking an example that an azimuth closed-loop control circuit and a pitching closed-loop control circuit simultaneously control a communication antenna in motion to align a satellite, when the deviation of the communication antenna in motion to point to the satellite is the azimuth angle of the antenna and the pitch angle of the antenna, the auxiliary controller 104 performs control law calculation according to the azimuth angle of the antenna to obtain an azimuth control instruction (i.e., a second control instruction), and performs control law calculation according to the pitch angle of the antenna to obtain a pitching control instruction (i.e., a second control instruction); the auxiliary controller 104 sends the azimuth control instruction to the azimuth driving system, and simultaneously sends the pitching control instruction to the pitching driving system; the azimuth driving system adjusts the communication-in-motion antenna to align to the satellite according to the azimuth angle (namely, the second direction) of the antenna according to the azimuth control instruction, and meanwhile, the pitching driving system adjusts the communication-in-motion antenna to align to the satellite according to the pitching control instruction; at this time, the auxiliary controller 104 determines that the angle of the communication-in-motion antenna deviating from the satellite is the second angle, and if the second angle is 2 ° and the first angle is 12 °, obviously, the second angle is smaller than the first angle, and compared with the first angle of the communication-in-motion antenna deviating from the satellite (i.e., the communication-in-motion antenna roughly aligns to the satellite in the first direction), the accuracy of the communication-in-motion antenna deviating from the satellite in the second angle (i.e., the communication-in-motion antenna finely aligns to the satellite in the second direction) is higher.
In the embodiment of the present application, the stage of aligning the satellite communication-in-motion antenna to the target in the second direction may be referred to as: precise alignment and satellite tracking state.
Illustratively, when the first angle of the communication-in-motion antenna deviating from the target (i.e. the satellite) is greater than or equal to a first threshold, the communication-in-motion system re-enters the star finding and coarse alignment state; for example, the first angle is 40 °, the first threshold is 30 °, and obviously, the first angle is greater than the first threshold (i.e. 40 ° > 30 °), which indicates that the satellite has deviated from the satellite search range of the satellite communication-in-motion antenna, the satellite communication-in-motion system needs to re-enter the satellite search and coarse alignment, that is, the auxiliary controller 104 sends the result of the satellite deviation from the satellite search range to the main controller 102 through the router 103 (as shown in fig. 1), the main controller 102 acquires the first attitude information and the first position information of the carrier of the satellite communication-in-motion antenna and the position information of the target from the sensing system 101 again, and performs calculation again according to the first attitude information, the first position information and the position information of the satellite to obtain new pointing information.
For example, if the auxiliary controller 104 determines that the tracking receiver does not successfully receive the antenna data, which indicates that the satellite is not in the tracking range of the tracking receiver at this time, the tracking receiver feeds back a result of unsuccessfully receiving the antenna data to the auxiliary controller 104, the auxiliary controller 104 sends the result to the main controller 102 through the router 103 (as shown in fig. 1), the main controller 102 acquires the first attitude information and the first position information of the carrier of the antenna in motion and the position information of the target again from the sensing system 101, and performs calculation again according to the first attitude information, the first position information and the position information of the satellite to obtain new pointing information.
In addition, due to the perturbation characteristic of the data transmission of the router 103, when the data is forwarded among the main controller 102, the position controller and the pitch controller, a certain network delay (hereinafter referred to as delay) is caused, and the delay is perturbed. Aiming at the perturbation time delay, when a communication-in-motion control system is designed, a certain condition is required to be met if an azimuth closed-loop control circuit and a pitching closed-loop control circuit are required to be stable internally. The method comprises the following specific steps:
if the total communication delay of the communication-in-motion control system is as follows:
wherein the content of the first and second substances,
in order to achieve the nominal delay of the system,
the system is time-delay perturbation. Because the position closed-loop control circuit and the pitching closed-loop control circuit both adopt closed-loop control structures, the communication delay and position controller, the forward path of the position drive system in the position closed-loop control circuit, the communication delay and pitching controller, and the forward path of the pitching drive system in the pitching closed-loop control system can be respectively combined with the communication delay and position drive system and the communication delay and pitching drive system, and the obtained equivalent mathematical models of the position drive system and the pitching drive system with the delay are respectively as follows:
wherein the content of the first and second substances,
for a nominal model of the azimuth-driven system, i.e. a model without taking into account the time delay,
for a nominal model of the pitch drive system,
is the object equivalent delay.
Due to the perturbation of the time delay, the time delay is uniformly used in the equivalent mathematical models of the azimuth driving system and the pitching driving system
And (4) showing.
Because of the existence of the time delay perturbation, the uncertainty of the time delay described by the product perturbation model of the object considering the time delay perturbation is established, the following set object equivalent model is used,
wherein the content of the first and second substances,
for the perturbation model of the orientation drive system,
for the pitch drive system perturbation model,
in order to drive the scale factor of the system for azimuth,
for the pitch drive system scale factor to be,
for the purposes of the azimuth-drive-system weight function,
as a function of the weight of the pitch drive system,
、
、
and
is stable and is
And
is tolerable.
According to the time delay characteristic, order
Wherein the content of the first and second substances,
and
are arbitrarily small positive real numbers.
The internal stability conditions of the two closed-loop control loops are:
wherein the content of the first and second substances,
in order to be a mathematical model of the orientation controller,
a pitch controller mathematical model. The conditions for stability in the azimuth closed-loop control loop and the pitch closed-loop control loop are obtained. Therefore, only when the delay time meets the preset condition, for example, when the delay time is within the time threshold range, the azimuth closed-loop control circuit and the pitch closed-loop control circuit can adjust the antenna to be aligned with the satellite according to the pointing information sent by the main controller 102 through the router 103; if the delay time does not meet the preset condition, that is, the delay time exceeds the time threshold range, due to the excessively long delay time, when the azimuth closed-loop control circuit and the pitch closed-loop control circuit receive the pointing information forwarded by the router (the pointing information is the pointing information that is solved by the main controller 102 before the delay time), the satellite may have already deviated from the satellite search range of the satellite communication in motion, and obviously, the azimuth closed-loop control circuit and the pitch closed-loop control circuit cannot adjust the satellite communication in motion according to the pointing information at this time.
Illustratively, as shown in FIG. 4, output 1 of the master controller is the reference input of the position controller; 5 is the feedback information of the antenna azimuth angle output by the azimuth driving system, i.e. the result of the azimuth driving system changing the azimuth angle of the antenna to align the satellite (i.e. the adjustment result of the antenna azimuth angle); 2 is the difference value of the reference input 1 of the orientation controller and the feedback information 5 of the antenna orientation angle output by the orientation driving system, namely the feedback error, wherein the feedback error 2 is forwarded to the orientation controller through the router in a delayed manner; 3 is the input of the orientation controller; and 4 is an output of the orientation controller, namely an orientation control command. If the maximum time threshold value allowing the router to delay is 1000ms, when the communication-in-motion system is in a satellite finding and coarse alignment state, the main controller calculates first attitude information and first position information of a carrier of the communication-in-motion antenna and position information of a satellite to obtain an azimuth angle of the communication-in-motion antenna (namely reference input 1 of the azimuth controller), sends a feedback error 2 to the router (process 1), the router forwards the feedback error 2 to the azimuth controller (process 2), if the total consumed time of the process 1 and the process 2 is 800ms (< 1000 ms), the azimuth controller performs control law calculation according to input 3 of the azimuth controller to generate an azimuth control command 4 and sends the azimuth control command 4 to an azimuth driving system, the azimuth driving system outputs antenna azimuth angle information to change the azimuth angle of the antenna and feeds back feedback information 5 of the antenna azimuth angle output by the azimuth driving system to an output end of the main controller, to form an azimuth closed-loop control circuit; if the total time consumed by the process 1 and the process 2 is 1200ms (> 1000 ms), the main controller needs to re-solve the first attitude information and the first position information of the carrier of the communication-in-motion antenna and the position information of the satellite.
Illustratively, as shown in FIG. 5, output 1 of the master controller is the reference input of the pitch controller; 5, feedback information of the antenna pitch angle output by the pitch driving system, namely a result of the pitch driving system changing the pitch angle of the antenna to align the satellite (namely an adjustment result of the antenna pitch angle); 2 is a difference value between the reference input 1 of the pitch controller and feedback information 5 of the pitch angle of the antenna output by the pitch driving system, namely a feedback error, wherein the feedback error 2 is forwarded to the pitch controller through a router in a delayed manner; 3 is the input of the pitch controller; and 4 is the output of the pitch controller, namely the pitch control command. If the maximum time threshold value allowing the router to delay is 1000ms, when the communication-in-motion system is in a satellite finding and coarse alignment state, the main controller calculates first attitude information and first position information of a carrier of the communication-in-motion antenna and position information of a satellite to obtain a pitch angle of the communication-in-motion antenna (namely reference input 1 of the pitch controller), sends a feedback error 2 to the router (process 1), the router forwards the feedback error 2 to the pitch controller (process 2), if the total time consumed by the process 1 and the process 2 is 800ms (< 1000 ms), the pitch controller performs control law calculation according to an input 3 of the pitch controller to generate a pitch control instruction 4 and sends the pitch control instruction 4 to the pitch driving system, the pitch driving system outputs antenna pitch angle information to change the pitch angle of the antenna, and feeds back feedback information 5 of the antenna pitch angle output by the pitch driving system to an output end of the main controller, to form a pitching closed-loop control circuit; if the total time consumed by the process 1 and the process 2 is 1200ms (> 1000 ms), the main controller needs to re-solve the first attitude information and the first position information of the carrier of the communication-in-motion antenna and the position information of the satellite.
In addition, when the communication-in-motion system is in the star finding and coarse alignment state, the router provides data communication service for the communication-in-motion system, which is a part of a control device of the communication-in-motion antenna, and does not provide communication service for the user terminal at this time; when the communication-in-motion system is in a precise alignment and satellite tracking state, the router provides communication service for the user terminal, which is not part of the control device of the communication-in-motion antenna, but part of the user communication service system and is specially used for providing network communication service for the user. For example, as shown in fig. 6, state 1 represents that the communication-in-motion system is in the star finding and coarse alignment state, and state 2 represents that the communication-in-motion system is in the precise alignment and satellite tracking state. Service 1 denotes that the router provides communication service for the mobile communication system, and service 2 denotes that the router provides communication service for the user terminal. As can be seen from fig. 6, the router does not provide services for the control device of the mobile communication antenna and the user terminal at the same time in the same time period, and from a time perspective, the router is in a working state in the entire operation cycle of the control device of the mobile communication antenna, and only when the control device of the mobile communication antenna is in different states, the objects of the services are different, that is, the functions of the router are different in different mobile communication system states, thereby improving the utilization rate of the router.
For ease of understanding, the overall flow steps of the control method for the mobile communication antenna provided in the present application are exemplarily described below with reference to fig. 7 to 8. First, a star finding and coarse alignment flow of the mobile communication system provided by the present application is introduced, and fig. 7 shows the star finding and coarse alignment flow of the mobile communication system, which includes the following specific flows:
when the communication-in-motion system is powered on and initialized, the communication-in-motion system enters a star finding and coarse alignment state, and the specific communication-in-motion system flow is as follows:
step 1: starting the process;
step 2: sensors (namely the sensing system 101) such as a gyroscope, an accelerometer, an electronic compass and a positioning unit acquire data (for example, first attitude information and first position information of a carrier of a communication-in-motion antenna and position information of a target) and send the data to the main controller;
and step 3: the main controller carries out attitude and position information resolving on the carrier of the communication-in-motion antenna according to the received sensor data (namely attitude information and position information of the carrier of the communication-in-motion antenna and position information of a target);
and 4, step 4: the main controller carries out resolving on the pointing information of the communication-in-motion antenna according to the resolved attitude and position information of the carrier of the communication-in-motion antenna and the resolved physical position information (namely satellite position information) of the satellite;
and 5: the main controller sends the resolved pointing information, such as the azimuth angle and the pitch angle information of the communication-in-motion antenna, to the router;
step 6: the router forwards the pointing information to the auxiliary controller, namely the router forwards the azimuth angle information of the communication-in-motion antenna to the azimuth controller, and forwards the pitch angle information of the communication-in-motion antenna to the pitch controller;
and 7: the direction controller and the pitching controller judge whether data (namely the azimuth angle and the pitching angle of the communication-in-motion antenna) forwarded by the router are received, if the data are successfully received, the step 8 is carried out, and if the data are not successfully received, the step 6 is returned;
and 8: the azimuth closed-loop control circuit changes the azimuth angle of the antenna according to the received azimuth angle of the communication-in-motion antenna; the pitching closed-loop control circuit changes the pitching angle of the antenna according to the received pitching angle of the communication-in-motion antenna, so that the communication-in-motion antenna roughly aligns to the satellite;
and step 9: the auxiliary controller judges whether the signal received by the tracking receiver is greater than a threshold value
(namely a first threshold value), if the judgment result is negative, the step 2 is carried out; if the judgment result is yes, the process is ended, and the precise alignment and satellite tracking process is carried out.
After a communication-in-motion system is powered on and initialized, when a satellite finding and coarse alignment process is finished, the communication-in-motion system enters a precise alignment state and a satellite tracking state; the specific communication-in-motion system flow is as follows:
step 1: starting the process;
step 2: the auxiliary controller judges whether the tracking receiver successfully receives the antenna data, if the tracking receiver does not successfully receive the antenna data, the communication-in-motion system enters a star finding and coarse alignment state again, and if the tracking receiver successfully receives the antenna data, the step 3 is carried out;
and step 3: the auxiliary controller carries out angle calculation of the antenna deviating from the satellite;
and 4, step 4: the auxiliary controller judges whether the angle of the antenna deviating from the satellite is smaller than a threshold value
(namely a first threshold value), if the judgment result is negative, the communication-in-motion system reenters the star finding and coarse alignment state, and if the judgment result is positive, the step 5 is carried out;
and 5: the auxiliary controller judges whether the angle of the antenna deviating from the satellite is larger than a threshold value
(namely a second threshold), if the judgment result is yes, the step 6 is carried out, if the judgment result is no, the antenna is accurately aligned with the satellite, and the process is ended;
step 6: the auxiliary controller calculates the deviation of the antenna aligned with the satellite;
and 7: the position controller and the pitching controller perform respective control law calculation;
and 8: the azimuth driving system receives the azimuth control instruction and adjusts the azimuth angle of the antenna according to the azimuth control instruction; and (3) the pitching driving system receives the pitching control instruction and adjusts the pitching angle of the antenna according to the pitching control instruction, and then the step (2) is carried out.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the above-described embodiments, or equivalents may be substituted for some of the features of the embodiments, and such modifications or substitutions are not to be construed as essential to the spirit and scope of the embodiments of the present invention.
Claims (8)
1. A control method for a communication-in-motion antenna is characterized by comprising the following steps: the method comprises the steps that a main controller obtains first posture information and first position information of a carrier of a communication-in-motion antenna and position information of a target, directional information of the communication-in-motion antenna is calculated according to the first posture information, the first position information and the position information of the target, and the directional information is sent to an auxiliary controller through a router; the pointing information comprises one or more of azimuth angle information and pitch angle information of the mobile communication antenna;
the auxiliary controller performs control law calculation according to the pointing information from the main controller to obtain a first control instruction, and sends the first control instruction to a driving system;
the driving system adjusts one or more of an azimuth angle and a pitch angle of the communication-in-motion antenna according to the first control instruction, so that the communication-in-motion antenna is aligned to the target in a first direction;
under the condition that a tracking receiver successfully receives antenna data of the communication-in-motion antenna, the auxiliary controller determines a first angle of the communication-in-motion antenna, wherein the first angle is an angle of the communication-in-motion antenna deviating from the target when the communication-in-motion antenna is aligned to the target in the first direction;
when the first angle is larger than a second threshold and smaller than a first threshold, the auxiliary controller calculates the deviation of the communication-in-motion antenna pointing to the target;
the auxiliary controller obtains a second control instruction according to the deviation and sends the second control instruction to the driving system;
the driving system adjusts one or more of an azimuth angle and a pitch angle of the communication-in-motion antenna according to the second control instruction, so that the communication-in-motion antenna is aligned to the target in a second direction;
when the communication-in-motion antenna is aligned to the target in the second direction, the angle of the communication-in-motion antenna deviating from the target is a second angle, and the second angle is smaller than the first angle.
2. The control method according to claim 1, characterized by further comprising:
when the first angle of the communication-in-motion antenna deviating from the target is larger than or equal to the first threshold, the main controller controls the communication-in-motion system to re-enter a star finding and coarse alignment state;
or, in the case that the tracking receiver does not successfully receive the antenna data, the master controller controls the communication-in-motion system to re-enter the star finding and coarse alignment states.
3. The control method according to any one of claims 1 or 2, characterized by further comprising:
when the communication-in-motion system is aligned with the target in the first direction, the main controller establishes a communication link with the target through the router and receives control data from the target through the router;
when the communication-in-motion system aims at the target in the second direction, the main controller establishes a communication link with the target through the router and transmits and receives user data from the target through the router.
4. The control method according to any one of claims 1 or 2,
the main controller acquires first attitude information and first position information of a carrier of the communication-in-motion antenna and position information of a target, and comprises the following steps:
the main controller acquires first attitude information and first position information of a carrier of the communication-in-motion antenna and position information of the target through a sensing system.
5. The control method according to any one of claims 1 or 2,
the driving system adjusts one or more of an azimuth angle and a pitch angle of the communication-in-motion antenna according to the first control instruction, and the method comprises the following steps:
the azimuth driving system of the driving system controls the azimuth of the communication-in-motion antenna to change according to a first preset rule according to the first control instruction generated by the azimuth controller of the auxiliary controller;
and the pitching driving system of the driving system controls the pitching angle of the communication-in-motion antenna to change according to a second preset rule according to the first control instruction generated by the pitching controller of the auxiliary controller.
6. The control method according to claim 5, characterized by further comprising:
the azimuth driving system controls the azimuth angle of the communication-in-motion antenna to change according to a first preset rule according to the internal stability condition of the azimuth closed-loop control circuit;
the pitching driving system controls the pitching angle of the communication-in-motion antenna to change according to a second preset rule according to the internal stability condition of the pitching closed-loop control circuit;
wherein the internal stability condition of the azimuth closed-loop control circuit is as follows:
the internal stability condition of the pitching closed-loop control circuit is as follows:
wherein the content of the first and second substances,
is a mathematical model of the orientation controller,
is a mathematical model of the pitch controller,
for a nominal model of the orientation drive system,
for a nominal model of the pitch drive system,
the equivalent delay time for the object is,
and
are arbitrarily small positive real numbers.
7. A control device of a communication-in-motion antenna is characterized by comprising: the auxiliary controller comprises an orientation controller and a pitching controller, the driving system comprises an orientation driving system and a pitching driving system, wherein the main controller and the auxiliary controller are connected to a router through a network, the auxiliary controller is communicated with the driving system,
the main controller, the auxiliary controller and the driving system are used for executing the control method of any one of claims 1 to 6, so that the communication-in-motion antenna is aligned to the target in a first direction.
8. A mobile communication system, comprising: the control device of claim 7, a router, and a sensing system to provide the control device with first attitude information and first position information of a carrier of a mobile antenna and position information of an object.
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