一种新型船载卫星通信天线控制器研究与应用
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摘要
“动中通”通信系统要求天线能够克服载体运动对天线波束指向的扰动，保证天线波束始终能够稳定地对准卫星，以实现连续的卫星通信。这就要求“动中通”通信系统应具有一个良好的天线控制系统，即该控制系统除了实现跟踪对星的任务外，还具有隔离载体扰动，稳定空间指向的能力。综合成本、性能、实用性等多种因素，本课题研究的天线控制系统采用的是在惯性测量装置与GPS组合方案基础上实现圆锥扫描自动跟踪控制。
本文是以“Ku频段0.6米船载动中通天线”项目为研究基础。论文首先简要描述了船载“动中通”天线系统的组成和工作方式；重点描述了船用站天线控制系统的软硬件设计，主要包括：C8051F120核心处理器的优化配置，确保了船载天线控制器高效的运作；电子罗盘、GPS、陀螺平台等姿态敏感元件的优化配置，提高了天线控制器较好的隔离载体运动的性能；船载站天线伺服驱动控制模块的改进，有效的驱动无刷直流电机执行伺服补偿；系统控制软件的模块化设计，确保了控制系统执行的高效性和精确性；提出了一种基于大载波和信标信号的新型跟踪判别方法，解决了一般系统可能出现的误跟踪卫星信号的弊端。此外，论文中新提出了几种优化的软件算法，克服了一般陀螺零点漂移的问题，提高了系统捕获速度和跟踪精度。经过对所设计系统的跟踪性能的实际测试，结果表明，本船载式卫星通信地球站天线控制系统的研发是成功的。
“Communication in Moving”system requires the antenna can segregate the influence ofthe moving carrier to the gesture of antenna and make the antenna stably aim at the satellite tocarry out the continuous communication with the satellite. This requires“Communication inMoving”system should have a good antenna control system, that is the control system notonly achieving the task of tracking satellite, but also having the ability of isolating theinfluence of the moving carrier and pointing to space stably. Synthesizing cost, performance,practicality and other factors, the control system researched in the project achievesconical-scanning automatic tracking based on the inertial measurement unit and GPScombination scheme.
This article based on "Ku-band 0.6m ship-borne satellite communication in moving "project.Firstly, the article briefly describes the components and working methods ofship-borne“Communication in Moving”system. And then the article emphatically describesthe software & hardware design of ship-borne satellite mobile communication antenna controlsystem. Primary includes: the optimization of C8051F120-core processors to ensure that theefficient operation of the ship-borne antenna controller; the optimization of electroniccompass,GPS,gyro and other gesture-sensitive components get the better performance of theantenna controller isolated the influence of the moving carrier;the improvements of theship-borne antenna servo drive control module drive the brushless DC motor servo executivecompensation effectively; The modular design of system control software ensure that theimplementation efficiency and accuracy of the control system; A new tracking method isproposed which can overcome situations of tracking satellite signal mistakenly. That is thetrack technology which is based on the larger carrier and beacon signals. In addition ,thispaper puts forward several optimization of the software algorithm. It mainly can overcome thezero-point drift of gyro so as to improve the speed of system which captures satellite signaland enhance tracking accuracy. After a testing of designing system for tracking performance,the testing results show that design of ship-borne satellite mobile communication earth stationantenna control system is success.
本文是以“Ku频段0.6米船载动中通天线”项目为研究基础。论文首先简要描述了船载“动中通”天线系统的组成和工作方式；重点描述了船用站天线控制系统的软硬件设计，主要包括：C8051F120核心处理器的优化配置，确保了船载天线控制器高效的运作；电子罗盘、GPS、陀螺平台等姿态敏感元件的优化配置，提高了天线控制器较好的隔离载体运动的性能；船载站天线伺服驱动控制模块的改进，有效的驱动无刷直流电机执行伺服补偿；系统控制软件的模块化设计，确保了控制系统执行的高效性和精确性；提出了一种基于大载波和信标信号的新型跟踪判别方法，解决了一般系统可能出现的误跟踪卫星信号的弊端。此外，论文中新提出了几种优化的软件算法，克服了一般陀螺零点漂移的问题，提高了系统捕获速度和跟踪精度。经过对所设计系统的跟踪性能的实际测试，结果表明，本船载式卫星通信地球站天线控制系统的研发是成功的。
“Communication in Moving”system requires the antenna can segregate the influence ofthe moving carrier to the gesture of antenna and make the antenna stably aim at the satellite tocarry out the continuous communication with the satellite. This requires“Communication inMoving”system should have a good antenna control system, that is the control system notonly achieving the task of tracking satellite, but also having the ability of isolating theinfluence of the moving carrier and pointing to space stably. Synthesizing cost, performance,practicality and other factors, the control system researched in the project achievesconical-scanning automatic tracking based on the inertial measurement unit and GPScombination scheme.
This article based on "Ku-band 0.6m ship-borne satellite communication in moving "project.Firstly, the article briefly describes the components and working methods ofship-borne“Communication in Moving”system. And then the article emphatically describesthe software & hardware design of ship-borne satellite mobile communication antenna controlsystem. Primary includes: the optimization of C8051F120-core processors to ensure that theefficient operation of the ship-borne antenna controller; the optimization of electroniccompass,GPS,gyro and other gesture-sensitive components get the better performance of theantenna controller isolated the influence of the moving carrier;the improvements of theship-borne antenna servo drive control module drive the brushless DC motor servo executivecompensation effectively; The modular design of system control software ensure that theimplementation efficiency and accuracy of the control system; A new tracking method isproposed which can overcome situations of tracking satellite signal mistakenly. That is thetrack technology which is based on the larger carrier and beacon signals. In addition ,thispaper puts forward several optimization of the software algorithm. It mainly can overcome thezero-point drift of gyro so as to improve the speed of system which captures satellite signaland enhance tracking accuracy. After a testing of designing system for tracking performance,the testing results show that design of ship-borne satellite mobile communication earth stationantenna control system is success.
引文
[1]王秉钧，王少勇，田宝玉.现代卫星通信系统.北京:电子工业出版社.2004
[2]仲富兰.“应急预案”与信息源管理.上海信息化，2006年02期
[3]张帅.一种新型的船用移动卫星通信系统.南京邮电大学硕士论文.2008
[4]阮晓刚.“动中通”卫星天线技术及产品的应用.技术与应用.2006
[5]高刚.从海事卫星通信发展看世界海上通信发展趋势航海技术.1995年第2期
[6]张照炎.卫星通信的Ku频段及其优缺点.通讯世界，1996年第十一期
[7]丁华众.船用卫通信终端的研究与应用南京邮电大学硕士论文.2010
[8]田华.船载动中通定向天线控制系统的研究与开发.西安电子科技大学硕士学位论文.2008
[9]张迎新，雷文，姚静波.C8051F系列SOC单片机原理及应用.北京：国防工业出版社.2005
[10]Ziegler G,Nicoles N B.Optimum settings for automatic controllers,Trans.ASME,1942,64:759~768
[11]Tomihiko Yoshida Kohei Ohata,Masazumi Ueba.Hightly Accurate and Cost-effectiveAuto-tracking Antenna System for Satellite Broadband Communication onVessels[J].NTT Technical Review.2005,3(9):60-71
[12]张智永.移动载体稳定跟踪平台测控技术研究.国防科技技术大学硕士论文.2002
[13]G Lu,G Lachapelle,M.E.Cannon.Perfermace Analysis of A Shipborne Gyrocompass WithA Multi-Antenna GPS System[J].IEEE PLANS.1994(4):1-7
[14]孙华伟.移动卫星信号跟踪伺服系统的研究.国防科技技术大学硕士论文.2003
[15]顾晓强.一种新型的车载式卫星通信地球站.南京邮电大学硕士论文.2007
[16]邢攸卿.一种智能的便携式卫星通信地球站的应用与研究.南京邮电大学硕士论文.2010
[17]Gosalia, K.Hoferer, R.A. ,Patel, S, Beadle, M. A dual band (C/Ku) feed system withtransmit and receive capability. Antennas and Propagation Society InternationalSymposium 2006, IEEE 9-14 July 2006 Pages(s)：343 - 346
[18]严武升,刘宏.基于前馈补偿的舰载雷达三轴稳定跟踪的研究西安电子科技大学学报.1998年10月第25劵第5期
[19]Tai J.Design and analysis of pulse width modulated amplifiers for DC servosysterms[J].IEEE.Trans.on.IECI,1976
[20]于航基于计算机控制的直流伺服系统算法研究及仿真大连交通大学硕士学位论文
[21]邹小兵.移动机器人原型的控制系统设计与环境建模研究中南大学博士论文.2005
[22]F.J.Lin.R.J.Wai,C.C.Lee.Fuzzy neural network position controller for ultrasonic motordrive using push-pull DC-DC converter.IEE Proc.-Control Theory Appl.1999(1):99-107
[23]戚鹏.基于模糊控制的无刷直流电动机调速系统研究.西北工业大学硕士论文.2007
[24]Eaves J L,Reedy E K.Principles of modern radar[M].New York：Van Nostrand ReinholdCopany.1987
[25]刘勇,李泽莉,吕志清.CS6A-60型压电陀螺动态校零研究.压电与声光.2000(10)
[26]赵文博.单片机语言C51程序设计.北京：人民邮电出版社.2005
[27]陈序.移动卫星天线稳定跟踪系统的设计及工程实现.南京理工大学硕士论文.2007
[28]G Lu,G Lachapelle,M.E.Cannon.Perfermace Analysis of A Shipborne Gyrocompass WithA Multi-Antenna GPS System[J].IEEE PLANS.1994(4):1-7
[29]曹志刚.移动卫星通信天线自动跟踪方法.重庆大学硕士论文.2005
[30]季鸿宇.船载卫星通信地球站的圆锥扫描技术[D].南京邮电大学.2006
[31]Ray E. Sheriff, Y. Fun Hu. Mobile Satellite Communication Networks. Chichester：JohnWiley and Sons Inc.2001
[32]王继东.移动载体稳定跟踪平台测控关键技术研究.国防科学技术大学.2003
[2]仲富兰.“应急预案”与信息源管理.上海信息化，2006年02期
[3]张帅.一种新型的船用移动卫星通信系统.南京邮电大学硕士论文.2008
[4]阮晓刚.“动中通”卫星天线技术及产品的应用.技术与应用.2006
[5]高刚.从海事卫星通信发展看世界海上通信发展趋势航海技术.1995年第2期
[6]张照炎.卫星通信的Ku频段及其优缺点.通讯世界，1996年第十一期
[7]丁华众.船用卫通信终端的研究与应用南京邮电大学硕士论文.2010
[8]田华.船载动中通定向天线控制系统的研究与开发.西安电子科技大学硕士学位论文.2008
[9]张迎新，雷文，姚静波.C8051F系列SOC单片机原理及应用.北京：国防工业出版社.2005
[10]Ziegler G,Nicoles N B.Optimum settings for automatic controllers,Trans.ASME,1942,64:759~768
[11]Tomihiko Yoshida Kohei Ohata,Masazumi Ueba.Hightly Accurate and Cost-effectiveAuto-tracking Antenna System for Satellite Broadband Communication onVessels[J].NTT Technical Review.2005,3(9):60-71
[12]张智永.移动载体稳定跟踪平台测控技术研究.国防科技技术大学硕士论文.2002
[13]G Lu,G Lachapelle,M.E.Cannon.Perfermace Analysis of A Shipborne Gyrocompass WithA Multi-Antenna GPS System[J].IEEE PLANS.1994(4):1-7
[14]孙华伟.移动卫星信号跟踪伺服系统的研究.国防科技技术大学硕士论文.2003
[15]顾晓强.一种新型的车载式卫星通信地球站.南京邮电大学硕士论文.2007
[16]邢攸卿.一种智能的便携式卫星通信地球站的应用与研究.南京邮电大学硕士论文.2010
[17]Gosalia, K.Hoferer, R.A. ,Patel, S, Beadle, M. A dual band (C/Ku) feed system withtransmit and receive capability. Antennas and Propagation Society InternationalSymposium 2006, IEEE 9-14 July 2006 Pages(s)：343 - 346
[18]严武升,刘宏.基于前馈补偿的舰载雷达三轴稳定跟踪的研究西安电子科技大学学报.1998年10月第25劵第5期
[19]Tai J.Design and analysis of pulse width modulated amplifiers for DC servosysterms[J].IEEE.Trans.on.IECI,1976
[20]于航基于计算机控制的直流伺服系统算法研究及仿真大连交通大学硕士学位论文
[21]邹小兵.移动机器人原型的控制系统设计与环境建模研究中南大学博士论文.2005
[22]F.J.Lin.R.J.Wai,C.C.Lee.Fuzzy neural network position controller for ultrasonic motordrive using push-pull DC-DC converter.IEE Proc.-Control Theory Appl.1999(1):99-107
[23]戚鹏.基于模糊控制的无刷直流电动机调速系统研究.西北工业大学硕士论文.2007
[24]Eaves J L,Reedy E K.Principles of modern radar[M].New York：Van Nostrand ReinholdCopany.1987
[25]刘勇,李泽莉,吕志清.CS6A-60型压电陀螺动态校零研究.压电与声光.2000(10)
[26]赵文博.单片机语言C51程序设计.北京：人民邮电出版社.2005
[27]陈序.移动卫星天线稳定跟踪系统的设计及工程实现.南京理工大学硕士论文.2007
[28]G Lu,G Lachapelle,M.E.Cannon.Perfermace Analysis of A Shipborne Gyrocompass WithA Multi-Antenna GPS System[J].IEEE PLANS.1994(4):1-7
[29]曹志刚.移动卫星通信天线自动跟踪方法.重庆大学硕士论文.2005
[30]季鸿宇.船载卫星通信地球站的圆锥扫描技术[D].南京邮电大学.2006
[31]Ray E. Sheriff, Y. Fun Hu. Mobile Satellite Communication Networks. Chichester：JohnWiley and Sons Inc.2001
[32]王继东.移动载体稳定跟踪平台测控关键技术研究.国防科学技术大学.2003