JPS6226904A - Directivity control system - Google Patents

Abstract

PURPOSE:To obtain a mobile station with small size and light weight while the directive angle change due to drift is corrected by directing always the directing direction of an electromagnetic wave directive device in the direction of a fixed station regardless of the movement of a mobile frame. CONSTITUTION:When a fixed station 21 uses a tracking device 32 to track a mobile station 23, a device generating a pulse at each prescribed angle is fitted to a turning shaft 31' of a tracking antenna 31 receiving a radio wave from a mobile station 22 or 23 to send a command pulse at each angle DELTAA sufficiently smaller than a directivity half angle of a transmission antenna 1. The mobile station 23 uses a receiver 35 to receive a command signal Sc and applies the result to an elevation torquer 15 and in giving a constant torque T to a gyro 4 for a prescribed time >=t, the directing angle DELTAB of the antenna 1 is rotated by DELTAB=(T/H)DELTAt to the inertial system. Thus, the conditions of the opposition of the directing angle between the fixed station 21 and the mobile station 23 is satisfied by selecting T, DELTAt and H (gyro angular momentum) and the encoder included in a transmitter 34 sending a command and a decoder included in the receiver 35 are simplified remarkably.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a pointing control system for an electromagnetic wave pointing device installed in a mobile station.

[Conventional technology]

When radiating directional electromagnetic waves from a mobile (transmitting) station to a fixed (receiving) station using an electromagnetic wave directing device such as a directional antenna or optical device, the fixed station uses the incoming electromagnetic waves to determine the direction of the mobile station. Although automatic tracking is possible, it is difficult to perform such tracking with a mobile station. For this reason, conventionally, fixed stations use the above-mentioned tracking method to orient the receiving antenna to the direction in which the electromagnetic waves arrive, measure the angle of that direction from the preparation direction (for example, north), and then move the antenna. The mobile station receives this, creates an angle (instep → -180°), and moves in the same reference direction (
The pointing direction of the electromagnetic wave directing device was controlled so that it was from ('P+180°) to ('P+180°).

[Problem that the invention seeks to solve]

However, in such conventional pointing control methods, the desired pointing angle precision can be obtained by selecting the number of bits and data rate of the angle signal A to the required values; This method requires a direction reference device, and also requires an angle/digital signal encoder and decoder for transmitting and receiving angle signals, so the device has the disadvantage of being heavy and large.

[Means for Solving the Problems] The present invention has been made by focusing on such conventional problems. An electromagnetic wave directing device (1) mounted on a moving frame (14)-H, an angular motion detection device (4) for the inertial frame, and a command device (15) for angular motion relative to the inertial frame based on an external signal. 16), and the electromagnetic wave directing device (11 is an angular motion detecting device (11) with respect to an inertial system).
The fixed station (21 ), the mobile station (22) or (23) seen from the fixed station.
) is sent to the mobile station -F as a signal every time there is a constant angle change, and the mobile station receives the signal and sends it to the angular movement command device (15).

According to (16), - the electromagnetic wave directing device (1
), this is a pointing control method in which the pointing direction of the electromagnetic wave directing device (1) is always directed in the direction of the fixed station (21) regardless of the movement of the movable frame (14).

[Effect]

According to the pointing control method of the electromagnetic wave pointing device ill, the mobile station (22) or (2) receives the signal from the fixed station (21).
A signal corresponding to the direction change of (3) is sent to the mobile station (22) or (
23), and fixes the pointing direction of the electromagnetic wave directing device (11) of the mobile station (22) or (23) without being affected by the movement of the mobile base (14) on which the electromagnetic wave directing device (11) is mounted. This is to face the station (2I).

〔Example〕

Embodiments of the present invention will be described below based on the drawings. 1st
The figure is a schematic perspective view showing an embodiment of the present invention.

In the figure, (1) is the directional antenna or optical device as the electromagnetic wave directing device of the mobile station, (2) is the azimuth axis of the gimbal (G) on which the directional antenna (11 is mounted), and (3) is the elevator. (4) is a gyro as an angular motion detection device with respect to the inertial frame connected to the antenna (1), (5)
) is the rotor of gyro (4), (6) is the rotor of gyro (4)
azimuth pickoff, (7) is an azimuth amplifier that amplifies its output, (8) is a gain compensator connected to its output terminal, (9) is a servo motor on the azimuth axis (2) that receives the output, and 001 is a gyro. (4) is the elevation pickoff, (11) is the elevation amplifier that amplifies the output, and (12) is the gimbal (Gimbal) that receives the output.
) elevation servo motor, (13) is the elevation pink-off provided on the Nirevage Gin axis (31) of the gimbal (G), (14) is the movable frame that supports the azimuth axis (2), (I5) is the gyro (4 ) shows the elevation torquer, and (16) shows the azimuth torquer of the gyro (4), respectively.

In the example shown in FIG. 1, the directional antenna (1) is moved around the azimuth axis +2) and the elevation axis (3) with rotational degrees of freedom by the gimbal (G). 4) mounted above and follows the gyro (4). That is, as is well known, since the gyro rotor (5) is rotating at high speed, the direction of its rotation (spin) axis (4a) is kept in a constant direction with respect to inertial space due to the law of conservation of angular momentum. . The relative angles of the antenna +11 and the gyro (4) around the azimuth axis (2) are detected by the gyro azimuth big-off (6), and the detection signal is passed through the azimuth increaser 11@f7+ and the gain compensator (8). ζ Azimuth axis - added to motor (9), azimuth axis (2
) is rotated, and the output of gyro azimuth pickoff (6) is feedhacked back to the cello. Immediately, the azimuth of the antenna (1) follows the gyro (4). Similarly, regarding the elevation axis (3),
The relative angles of the antenna +11 and the gyro (4) around the elevation axis are detected by the gyro elevation pinkoff α0), and the detection signal is sent to the elevation servo motor (12) through the elevation amplifier (11). , the elevation shaft (3) is rotated, and the output of the gyro elevation pink off (00) is feedhacked to zero. Therefore, the movable frame (14) is connected to the azimuth axis (2) and the elevation axis (
3), the directional direction (D) of the antenna (1) follows the spin axis (4a) direction of the gyro (4), so the directional direction of the antenna (1) (D) is stabilized with respect to inertial space, and a torque is applied to the gyro (4) by an azimuth torquer (16) or an elevation torquer (15), and the gyro (4)
The pointing direction (D) of the antenna (1) does not change until preset occurs.

Next, the command-based operations around the azimuth axis (2) will be described, but the same applies to the operations around the elevation axis (3). In FIG. 2, (21) is a fixed station, (22) and (23) are mobile stations before and after movement, that is, (22) is the initial position, and (23) is the position after movement. If the transmitting/receiving antennas (31) and (11) of the fixed station (21) and mobile station (22) are made to face each other at the initial position, the transmitting/receiving antennas (31) and (11) of the fixed station (21) and mobile station (23) will be the same at the position after movement. (31).

In order for fi+ to be facing each other, zA=lB There is a need for

In the present invention, this condition is specified in the embodiment shown in FIG. 1 as follows.

In FIG. 3, when a fixed station (21) tracks a mobile station (23) with a tracking device (32), the tracking antenna (21) receives radio waves from the mobile station (22) or (23) of the fixed station (21). A device that generates pulses at each fixed angle, such as an incremental rotary encoder (33), is attached to the rotating shaft (31') of the mobile station (23), and from this the direction of the transmitting antenna +11 of the mobile station (23) is adjusted. Command pulses in the forward or reverse direction are transmitted from the transmitter (34) through the summing point (37) at every angle ΔA that is sufficiently smaller than the half-power angle. Note that the step track circuit (36) will be described later. The mobile station (23) receives this command signal (Sc) with its receiver (35) and determines whether to take the azimuth (1
In addition to 5), this applies a constant torque T to the gyro (4).
If ΔB is involved for a certain period of time, then the directivity angle ΔB of the antenna (1) will be ΔB due to the presetting of the gyro (4).
= (T/H) Δt Rotates relative to the inertial frame.

Therefore, by selecting T, Δ, and H (gyro angular momentum) so that ΔB−−ΔA, the fixed station (2I) and mobile station (2I) shown in FIG.
3) is satisfied, and the command has three values: forward (right), reverse (left), or zero, that is, the number of bits is 2.
The following results, and the encoder included in the transmitter (34) and the decoder included in the receiver (35) are greatly simplified.

As explained above, since the present invention utilizes the properties of the gyro in an inertial frame, apparent drift due to the earth's rotation as well as drift due to imperfections in the manufacturing of the gyro occur on the earth, and the mobile station (23) antenna (
The pointing direction in 1) may gradually deviate from the facing relationship with the fixed station. The magnitude of this drift is about the same as the earth's rotational angular velocity (15°/h), and the correction speed can be relatively slow, so we observe long-term fluctuations in the reception level at the fixed station (21) as described below. Correct according to circumstances.

That is, a pulse similar to the command pulse is sent from the fixed station (21) to the addition point (37) from the step track circuit (36).
The command pulse is sent from the transmitter (34) separately from the normal command pulse. The mobile station (23) receives this signal (St) with its receiver (35) and changes the pointing direction of its antenna (1). Therefore, this changes the reception level of the tracking antenna (31) of the fixed station (21), which is detected by the tracking device (32), and the detection signal is input to the step track circuit (36). The step track circuit (36) stores the previous value, and if the average received level increases, it outputs further command pulses in the same direction, and if it decreases, it outputs command pulses in the opposite direction. Therefore, these mobile stations (2
The antenna (1) of the fixed station (21) swings its pointing direction around the pointing direction of the datenna full of the mobile station (23) where the receiving antenna (31) of the fixed station (21) reaches its maximum reception level. 21).

FIG. 4 shows another embodiment of the mobile station of the present invention.

In this example, the motion around the elevation axis (3) is stabilized with respect to the horizontal plane, and if an elevation command is entered, the direction of the elevation angle will also be controlled by the command, but the elevation angle relative to the horizontal plane is If a constant value is sufficient, there is an advantage that an elevation command is not required. In FIG. 4, parts having the same functions as those in FIG.

In this example, a liquid level (41) is attached to the horizontal axis (4) of the gyro (4) as a horizontal detector, and when the rotation axis (4a) of the gyro rotor (5) is tilted from the horizontal plane, the liquid level The level (41) produces an output proportional to its slope. This output is applied to the torquer (9) through the amplifier (7), and the gyro (
4) is bresetted around its horizontal axis and fed banked so that the inclination becomes zero. Therefore, if the output of the reversible counter (42) to which the elevation command is supplied is zero, the pink off Ol.

The servo loop by the amplifier (II) and the elevation torquer (12) follows the horizontal axis of the gyro (4) around the elevation axis (3) and is kept horizontal. The azimuth command is added to the azimuth torquer (15) as in FIG.

The elevation command is given to a reversible counter (42). That is, the received elevation command pulses are counted by the reversible counter (42), for example, incrementing for positive pulses and decreasing for reverse pulses. Therefore, the output of the reversible counter (42) corresponds to the integrated value of 11 mantle pulses, that is, the servant in FIG.
Since this is added to the application W point (43), the servo loop is activated so that the output of the pink off Ol, which is added to the former there, has an angle of exactly the opposite polarity, and the elevation axis (
Regarding 3), the condition that the fixed station (21) and the mobile station (23) are opposite in direction angle is also satisfied.

Figures 1 and 4 both show the case of two-axis control, but the inclination of the movable pedestal (14) from the horizontal plane is small, and the straight line between the fixed station (21) and the mobile station (23) is There are cases where only azimuth control is necessary and elevation angle control is not necessary, such as when the change in distance is small.

In this case as well, the present invention is universally applicable. In the case of Fig. 1, the elevation axis (3) is fixed, and the output of the amplifier (11) is input to the torquer (16) instead of the elevation command to control the gyro (4). The servo motor (
12) The big-off (I3) may be unnecessary (or a 1-axis rate gyro or a 1-axis rate integral gyro may be used in place of the 2-axis gyro (4)).

In addition, in the case of Fig. 4, the elevation axis (3)
, and remove the big off 00), amplifier (11), torquer (12), reversible counter (42), and adjustment point (43).

Still another embodiment of the present invention will be described with reference to FIG. 5 in comparison with FIG. 1. In the case of Figure 1, the gyro (the so-called free gyro) uses displacement angle output,
In FIG. 5, the corresponding gyro pickoff f6),
Connect the OI and Torca (15) and (16) with amplifiers (50) and (51), and connect the gyro (4) with amplifiers (50) and (51).
By constraining the direction of the spin axis (4a) of the r'-tor (5) to the pointing direction (D) of the electromagnetic wave directing device W (1), the current of the torquers (15) and (16), and therefore the signal (Wa).

(Wp) is proportional to the angular velocity of the electromagnetic wave directing device (1) in inertial space. A difference between the azimuth command and the angular velocity signal (Wa) is created at the addition point (52), and the difference signal is sent to the proportional calculator (54).

The output goes to the integral calculator (55) and the output goes to the addition point (55).
6), and the summed output is added to the amplifier (7),
It passes through a gain compensator (8) and is sent to a servo motor (9). If the azimuth command is zero, the proportional calculator (
The output of the electromagnetic wave directing device f (11) is an angular velocity component about the azimuth axis (2), and the output of the integral calculator (55) is a displacement angle component about the azimuth axis (2).

Regarding the elevation axis (3), (integral operator (5)
7), proportional calculator (5B), addition point (53),
(59) etc.) is the same as the azimuth axis (2) except that there is no gain compensator (8), and therefore, as in the case of FIG. 14) is stabilized around the azimuth axis (2) and the elevation axis (3), and when a command signal is given, the azimuth axis (2) or the elevator tion axis (3
) to achieve exactly the same effect as in Figure 1. Therefore, in the above explanation, the gyro was explained as a mechanical rotation type, but even if an angular motion detector for an inertial system such as a laser gyro or an optical fiber gyro is used,
The invention can be applied without changing the spirit of the invention. Furthermore, in the embodiments shown in FIGS. 1 and 4, the gyro (4) is mounted directly on the antenna (1), but the gyro (4) is moved to a movable stand (14), and the gyro (4) and antenna are mounted directly on the antenna (1). The relative angle around each axis with fil is set by normal synchro CX, CT,
By detecting with a resolver or potentiometer, the present invention can be applied without changing the purpose.
An example in this case is shown in FIG.

Figure 6 shows a gyro (
4) on the moving table (14), and its azimuth axis (2)
This is an example of one-axis control around the gyro (4).
) is the azimuth axis (2'), and the servo motor around that axis is (2').
9'), and is distinguished from the azimuth axis (2) of the electromagnetic wave directing device (1') (this figure shows the case of a horn antenna) and the servo motor (9) around the axis (2). In the figure, (61) and (62) are detectors for the angle of the angular movement of the gyro (4) around the azimuth axis (2') with respect to the movable frame (14). The gyro (4) has the same configuration as in FIG. 4, and the spin axis (4a) of the gyro rotor (5) is kept at a constant azimuth with respect to the inertial frame in the horizontal plane. The directional direction of the directional pressure antenna +11 is around the azimuth axis (2) and the spin axis (5) of the gyro rotor (5).
4a) direction, but in this case, since it is uniaxial control, the azimuth angle of the gyro rotor (5) with respect to the inertial frame and the azimuth angle of the directional antenna (11 with respect to the inertial frame) do not necessarily have to match. , may have a certain angular difference. Therefore, an incremental rotary encoder is sufficient for the angle detectors (61) and (62). It is a disk with slits (61a) along its circumference at every angle ΔC that is sufficiently small compared to , detects the angle change and direction of the gyro (4) with respect to the movable frame (14), and outputs a pulse for each angle ΔC.The outputs of the angle detectors (61) and (62) are as follows.
It is added to a command pulse signal sent from a fixed station (not shown) and received by a receiver (35) at a summing point (63), and the output thereof is input to a motor controller (64).

The motor controller (64) operates the servo motor (9) as a step motor. Therefore, the motor (9) moves the directional antenna fil stepwise along the azimuth axis (2) in accordance with the number and direction of pulses given to the motor controller (64).
). Therefore, the angle detector (61)
, (62), the angle and direction around the azimuth axis (2') of the gyro (4), and the azimuth axis (11) of the directional antenna (11) by the motor controller (64) and motor (9). 2) By making the angle and direction of each pulse equal, the directional direction of the directional antenna (1) is stabilized with respect to the inertial frame with respect to the angular movement of the movable frame (14) around the azimuth axis. Ru.

Regarding the command signal sent from the fixed station, the angle ΔA per pulse of the angle signal generated from the rotary encoder (33) attached to the antenna of the fixed station as described in the explanation of FIG. ) by taking the angle per pulse equal to ΔC, the movable frame (
14), the direction of the directional antenna (11) can always be directed toward the fixed station.

〔Effect of the invention〕

With a simple configuration, the pointing direction of the electromagnetic wave directing device such as the antenna or optical device of the mobile station is always automatically directed toward the fixed station in response to the angular movement of the movable frame and the change in the direction of the mobile station as seen from the fixed station. I can do things. In addition, a gyro can be used by sending a signal corresponding to changes in the reception level of the fixed station to the mobile station, changing the pointing angle of the mobile station's electromagnetic wave directing device in steps, and directing the average pointing direction toward the fixed station. This makes it possible to obtain a small and lightweight mobile station that compensates for changes in directivity angle caused by drift, which is common in devices that are

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a first embodiment of a mobile station according to the present invention, and FIG. 2 shows electromagnetic wave controllers for a fixed station and a mobile station, respectively. 3 is a functional block diagram of a fixed station and a mobile station according to the present invention; FIG. 4 is a perspective view showing a second embodiment of a mobile station according to the present invention; FIG. The figure is a block diagram showing the configuration of a third embodiment of the mobile station according to the present invention,
FIG. 6 is a perspective view showing a fourth embodiment of a mobile station according to the present invention. In the figure, (11 is an electromagnetic wave directing device, (2) is an azimuth axis, (3) is an elevation axis, (4) is a gyro,
(6) is gyro azimuth pickoff, (9) is servo motor, OQI is elevation pinkoff, (12)
is the elevation servo motor, (13) is the elevation pink-off, (14) is the moving frame, (15) is the elevation torquer, (16) is the azimuth torquer, (21)
) is a fixed station, (22), (23) are mobile stations, (3
1) is a tracking antenna, (32) is a tracking device, (33) is a rotary encoder, (34) is a transmitter, (35) is a receiver, (36) is a step track circuit, (41) is a liquid level, ( 42) is a reversible counter, (54). (58) is a proportional calculator, (55) and (57) are integral calculators, (61) and (62) are angle detectors, (
64) is 7-agent Sada Ito;, 16゛1゛Figure 8 = 271

Claims (1)

[Claims] 1. In a mobile station, there is an electromagnetic wave directing device mounted on a movable frame with a degree of freedom of rotation, an angular motion detecting device with respect to an inertial frame, and an angular motion detecting device with respect to an inertial frame based on an external signal. Equipped with a command device, the electromagnetic directing device is stabilized against the angular motion of the movable platform by following the angular motion detection device with respect to the inertial frame, and changes the pointing direction stepwise at a constant angle in response to the command signal. The fixed station sends a change in the direction of the mobile station as seen from the fixed station as a signal to the mobile station every time the angle changes, and the mobile station receives this and issues an angular movement command. By giving the electromagnetic wave directing device an angular change that is equal in absolute value and opposite to the angular change at the fixed station by the device, the pointing direction of the electromagnetic wave directing device is always directed to the fixed station without being influenced by the movement of the movable frame. Directional control method characterized by pointing in a direction. 2. In claim 1, in addition to the transmission signal corresponding to a change in the direction angle of the mobile station as seen from the fixed station, in response to a change in the average reception level of the fixed station,
If the average reception level increases, a signal in the same direction as the previously transmitted signal is sent to the mobile station, and if it decreases, a signal in the opposite direction is sent to the mobile station, and the angular movement command device of the mobile station causes the pointing direction of the electromagnetic wave directing device to be stepped. A pointing control method characterized in that the pointing direction of the electromagnetic wave directing device of the mobile station is averagely directed toward the fixed station by changing the direction.