天线自动换馈系统运动控制器设计研究

Research on Motion Controller Design of Antenna Automatic Feed Control System

天线自动换馈系统主要用于多馈源天线的自动切换,运动控制器是其核心部分。文章基于国产GD32微处理器,设计了一款新型运动控制器。该新型运动控制器采用梯形加减速算法以及位置环PI调节算法,实现了换馈机构的精准控制;通过采集国产绝对值编码器并对国产伺服驱动器进行控制,实现了对原进口运动控制器的替换。经工程实践验证,采用自研运动控制器的天线自动换馈系统,具有性能稳定、自主可控、性价比高的特点。

The automatic antenna feed control system is mainly used for automatic switching of multiple feed source antennas,and the motion controller is its core part.This article designed a new motion controller based on the domestic GD32 microprocessor.The new motion controller used trapezoidal acceleration,deceleration algorithms and position loop PI adjustment algorithms to achieve precise control of the feed-forward mechanism;and by collecting domestic absolute encoders and controlling domestic servo drives,replacing the original imported motion controller was realized.It was verified by engineering practice that the antenna automatic feed control system using a self-developed motion controller has the characteristics of stable performance,autonomous controllability,and high cost performance.