CN114895721A - Rapid orientation setting recovery control method for large-scale azimuth turntable - Google Patents
Rapid orientation setting recovery control method for large-scale azimuth turntable Download PDFInfo
- Publication number
- CN114895721A CN114895721A CN202210538986.2A CN202210538986A CN114895721A CN 114895721 A CN114895721 A CN 114895721A CN 202210538986 A CN202210538986 A CN 202210538986A CN 114895721 A CN114895721 A CN 114895721A
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- Prior art keywords
- turntable
- speed
- deceleration
- setting
- recovery
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- 238000011084 recovery Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims abstract description 16
- 238000011217 control strategy Methods 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 238000004064 recycling Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
- H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
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- Engineering & Computer Science (AREA)
- Computer Security & Cryptography (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
A rapid directional setting and recovery control method for a large-scale azimuth turntable comprises the steps of firstly decelerating the turntable to a certain rotation speed, then judging the current angular position of the turntable, and then using different control strategies, respectively adopting uniform motion, deceleration motion, acceleration and deceleration motion and PI control to achieve the purpose of rapid setting of the turntable. When the azimuth turntable moves to the zero position to meet the precision requirement and is stable, the lodging mechanism controls the motor of the azimuth turntable to brake, cut off the power and recover the antenna. The invention avoids the problem of jitter of the positioning point when the large azimuth turntable directly uses PID control, realizes the fastest positioning by adopting different control methods, meets the stability requirement and the time requirement of the shutdown recovery of the whole machine, and ensures the safety of the lodging recovery antenna.
Description
Technical Field
The invention belongs to the technology of azimuth turntables, and particularly relates to a rapid directional setting and recovery control method for a large azimuth turntable.
Background
On-vehicle radar etc. equipment rises and expandes at the during operation antenna, for making things convenient for the carrier operation when equipment is out of work, needs retrieve the position antenna through lodging. The system generally requires the maximum time for the azimuth antenna to be stopped and recovered, and for a large-scale vehicle-mounted turntable, the stability of the azimuth antenna during acceleration and deceleration is also considered during the stopping and recovery. Therefore, the antenna is stopped and positioned as fast as possible under the condition that the acceleration is not large, and the requirement of orientation precision during recovery is met. Meanwhile, the safety is considered, and the equipment is prevented from being damaged by accidental rotation of the azimuth turntable during lodging and recovery. However, it is difficult for the current recovery methods to satisfy these requirements at the same time.
Disclosure of Invention
The invention provides a quick directional setting and recycling control method for a large azimuth turntable.
The technical scheme for realizing the invention is as follows: a large-scale azimuth turntable fast directional setting recovery control method comprises the following steps:
after the rotary table is decelerated to a set rotating speed, judging the current angular position of the rotary table, and using different control strategies to realize quick setting of the rotary table according to the angular position, wherein the different control strategies comprise uniform motion, deceleration motion, acceleration and deceleration motion and PI control;
when the azimuth turntable moves to the zero position, meets the precision requirement and is stable, the lodging mechanism controls the motor of the azimuth turntable to brake, cut off the power supply and recover the antenna.
Preferably, the specific method for judging the current angular position of the turntable and using different control strategies to realize the rapid setting of the turntable according to the angular position comprises the following steps:
(1) when the angle S of the current rotary table is less than or equal to 60 degrees or S is more than 300 degrees, continuing to decelerate until the speed is 0;
carrying out uniform acceleration and uniform deceleration movement to a zero-speed zero position;
finally, PI control is adopted to ensure that the antenna precision meets the requirement of shutdown setting;
(2) when S is less than or equal to 300 degrees at 60 degrees, keeping the current speed to move to 60 degrees at a constant speed, then performing uniform deceleration movement to zero speed, and finally adopting PI control to ensure that the antenna precision meets the requirement of shutdown and setting;
wherein when | S | <0.05 °, and the current actual speed is less than 0.05RPM, the speed command is set to 0 directly.
Preferably, when the current turntable angle S is less than or equal to 60 degrees or S>At 300 deg., continuing to make deceleration movement to 0 deg., in which the deceleration of deceleration movement is 30 deg./s 2 。
Preferably, the acceleration and deceleration time of the uniform acceleration and uniform deceleration movement to the zero-speed zero position in the step (1) is all
Preferably, the uniform deceleration movement in (2) is carried out to zero speed, wherein the deceleration is 30 °/s 2 。
Preferably, the speed command is set to 0 directly when | S | <0.05 °, and the current actual speed is less than 0.05 RPM.
Compared with the prior art, the invention has the following remarkable advantages: the invention can stop the large-inertia antenna and set the large-inertia antenna as fast as possible under the condition of not very large acceleration, avoids the problem of jitter at a set point when PID control is directly used, and meets the requirements of orientation precision and rapidity in recovery. Meanwhile, the safety of the antenna during lodging and recovery is ensured by multiple protection mechanisms, and the equipment is prevented from being damaged by accidental rotation of the azimuth turntable.
Drawings
Fig. 1 is a schematic view of an azimuth turntable structure.
Fig. 2 is a setting control strategy diagram.
FIG. 3 is a lodging recovery flow chart.
Detailed Description
As an inventive concept, a rapid orientation setting and recycling control method for a large-scale azimuth turntable is characterized in that the current turntable angle is judged after deceleration, and then different control strategies are used to achieve the purpose of rapid setting of the turntable. When the position rotary table moves to the zero position to meet the precision requirement and is stable, the position rotary table control equipment sends a mark with good position directional stop and setting to the lodging mechanism, the lodging mechanism judges whether the Hall sensor signal of the zero position is normal or not and controls the motor of the position rotary table to brake and cut off strong current, and finally the antenna is recovered, so that the safety of the antenna is ensured when the antenna is recovered by lodging, as shown in figure 1.
As an embodiment, the setting control strategy is shown in figure 2, the normal working state of the azimuth turntable is rotation, the maximum rotating speed is 60RPM, after the stop command is received, the turntable is decelerated, and the maximum deceleration is set to be 30 degrees/s considering that the turntable is heavy in load 2 . And after the speed is reduced to 5RPM, judging the current angular position S of the rotary table.
When S is less than or equal to 60 degrees or S degrees>At 300 deg. C, the speed is reduced to 0 and the deceleration is 30 deg./s 2 The angular position S of the current turntable becomes S-60. Then carrying out uniform acceleration and uniform deceleration movement to a zero-speed zero position, wherein the acceleration and deceleration speeds are both 30 DEG/s 2 The acceleration and deceleration time is all
The antenna azimuth should then be near the null. And finally, PI control is adopted to ensure that the antenna precision meets the requirements of shutdown and setting.
When 60 degree<When the S is less than or equal to 300 degrees, keeping the current 5RPM (revolutions per minute) to move at a constant speed until the S is 60 degrees, and then carrying out uniform deceleration movement until the speed is zero, wherein the deceleration is 30 degrees/S 2 Time 2s, when the antenna azimuth should be near the null. And finally, PI control is adopted to ensure that the antenna precision meets the requirement of shutdown setting.
To reduce jitter at the zero position, it is judged that when | S | <0.05 °, and the current actual speed is less than 0.05RPM, the speed command is set to 0 directly.
As an embodiment, the lodging recovery process is shown in fig. 3, when the azimuth turntable moves to a zero position, the speed is zero, and the positioning accuracy meets the requirement, the azimuth turntable control device sends an azimuth-oriented halt set good mark to the lodging mechanism through a serial port, the lodging mechanism receives the halt set good signal and then judges whether a hall position sensor signal installed at the zero position of the turntable is normal, if the hall position sensor signal is normal, the motor band-type brake of the azimuth turntable is controlled to be powered on and braked, and meanwhile, the 380V power supply and power failure of the azimuth turntable are controlled through a contactor, so that the safety when the antenna is recovered is ensured, and finally, the lodging mechanism works to fall the antenna to complete the recovery.
The invention avoids the problem of jitter of the positioning point when the large azimuth turntable directly uses PID control, realizes the fastest positioning by adopting different control methods, meets the stability requirement and the time requirement of the shutdown recovery of the whole machine, and ensures the safety when the antenna is lodged and recovered by multiple protection.
Claims (6)
1. A large-scale azimuth turntable fast directional setting recovery control method is characterized by comprising the following steps:
after the rotary table is decelerated to a set rotating speed, judging the current angular position of the rotary table, and using different control strategies to realize quick setting of the rotary table according to the angular position, wherein the different control strategies comprise uniform motion, deceleration motion, acceleration and deceleration motion and PI control;
when the azimuth turntable moves to the zero position, meets the precision requirement and is stable, the lodging mechanism controls the motor of the azimuth turntable to brake, cut off the power supply and recover the antenna.
2. The recovery control method for the rapid orientation setting of the large-scale azimuth turntable according to claim 1, wherein the specific method for judging the angular position of the current turntable and using different control strategies according to the angular position to realize the rapid setting of the turntable comprises the following steps:
(1) when the angle S of the current rotary table is less than or equal to 60 degrees or S is more than 300 degrees, continuing to decelerate until the speed is 0;
carrying out uniform acceleration and uniform deceleration movement to a zero-speed zero position;
finally, PI control is adopted to ensure that the antenna precision meets the requirements of shutdown setting;
(2) when S is less than or equal to 300 degrees at 60 degrees, keeping the current speed to move to 60 degrees at a constant speed, then performing uniform deceleration movement to zero speed, and finally adopting PI control to ensure that the antenna precision meets the requirement of shutdown and setting;
wherein when | S | <0.05 °, and the current actual speed is less than 0.05RPM, the speed command is directly set to 0.
3. The method for controlling rapid orientation setting and recovery of a large-scale azimuth turntable according to claim 2, wherein when the current turntable angle S is less than or equal to 60 degrees or S>At 300 deg., continuing to make deceleration movement to 0 deg., in which the deceleration of deceleration movement is 30 deg./s 2 。
4. The method for controlling rapid orientation setting and recovery of a large-scale azimuth turntable according to claim 2, wherein the acceleration and deceleration time of the uniform acceleration and uniform deceleration movement to the zero-speed zero position in step (1) are all acceleration and deceleration time
5. The method for controlling rapid orientation setting and recovery of a large-scale orientation rotary table according to claim 2, wherein the uniform deceleration movement is carried out to zero speed in (2), wherein the deceleration is 30 °/s 2 。
6. The method for controlling rapid orientation setting and recycling of the large-scale orientation rotary table according to claim 2, wherein when | S | <0.05 °, and the current actual speed is less than 0.05RPM, the speed command is directly set to 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210538986.2A CN114895721B (en) | 2022-05-18 | 2022-05-18 | Rapid directional setting recovery control method for large-scale azimuth turntable |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210538986.2A CN114895721B (en) | 2022-05-18 | 2022-05-18 | Rapid directional setting recovery control method for large-scale azimuth turntable |
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| CN114895721A true CN114895721A (en) | 2022-08-12 |
| CN114895721B CN114895721B (en) | 2024-07-09 |
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| CN202210538986.2A Active CN114895721B (en) | 2022-05-18 | 2022-05-18 | Rapid directional setting recovery control method for large-scale azimuth turntable |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6313805B1 (en) * | 1999-09-30 | 2001-11-06 | Nec Corporation | Wide range azimuth driving system for satellite communication antenna |
| EP1610145A1 (en) * | 2004-06-22 | 2005-12-28 | Georges Doutrepont | Antenna orientation device |
| JP2009302660A (en) * | 2008-06-10 | 2009-12-24 | Mitsubishi Electric Corp | Stopper device for antenna turntable |
| 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 |
| CN105007012A (en) * | 2015-07-16 | 2015-10-28 | 湖北三江航天万峰科技发展有限公司 | On-vehicle turntable control system and control method thereof |
| PL2727180T3 (en) * | 2011-07-01 | 2016-03-31 | Thomas Neubauer | Method and apparatus for determining and storing the position and orientation of antenna structures |
| CN211295351U (en) * | 2019-11-28 | 2020-08-18 | 重庆彬田科技有限公司 | Electronic lodging mechanism of taking antenna level to revolve function |
| CN116247413A (en) * | 2023-02-10 | 2023-06-09 | 陕西航天技术应用研究院有限公司 | Antenna pedestal |
-
2022
- 2022-05-18 CN CN202210538986.2A patent/CN114895721B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6313805B1 (en) * | 1999-09-30 | 2001-11-06 | Nec Corporation | Wide range azimuth driving system for satellite communication antenna |
| EP1610145A1 (en) * | 2004-06-22 | 2005-12-28 | Georges Doutrepont | Antenna orientation device |
| JP2009302660A (en) * | 2008-06-10 | 2009-12-24 | Mitsubishi Electric Corp | Stopper device for antenna turntable |
| PL2727180T3 (en) * | 2011-07-01 | 2016-03-31 | Thomas Neubauer | Method and apparatus for determining and storing the position and orientation of antenna structures |
| 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 |
| CN105007012A (en) * | 2015-07-16 | 2015-10-28 | 湖北三江航天万峰科技发展有限公司 | On-vehicle turntable control system and control method thereof |
| CN211295351U (en) * | 2019-11-28 | 2020-08-18 | 重庆彬田科技有限公司 | Electronic lodging mechanism of taking antenna level to revolve function |
| CN116247413A (en) * | 2023-02-10 | 2023-06-09 | 陕西航天技术应用研究院有限公司 | Antenna pedestal |
Non-Patent Citations (1)
| Title |
|---|
| 田学光;吴玉彬;张德龙;邴玉霞;常丰吉;田兴志: "基于高精度密珠轴承的车载雷达转台方位轴系", 机械设计, no. 010, 31 December 2010 (2010-12-31) * |
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| CN114895721B (en) | 2024-07-09 |
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