机械天线阵列系统的伺服优化及调制方式

Optimal servo system and modulation method of mechanical antenna array

旋转永磁式机械天线(RMBMA)作为一种全新的超低频电磁通信模式,可以显著降发信机的尺寸和功耗,但其存在远距离辐射场强弱、通讯波特率和准确率低等问题,不利于实际应用。为此提出了基于永磁同步电机直驱式的旋转永磁式机械天线阵列系统,并针对机械天线信号调制的瞬态大电流和转速频繁切换的工况,提出了基于无差拍电流预测模型的机械天线位置差协调控制策略,提高了系统的伺服性能且满足应用需求。对所提位置差协调控制参数进行设计,理论验证系统的伺服性、稳定性及鲁棒性,实现机械天线调制信号的高传输速率与低误码率。最后,搭建了机械天线阵列系统的实验测试平台,并对其近区磁场场强分布和驱动系统的伺服性能进行了实验测试,系统的近区场强相比于单磁源实现了翻倍,有效解决了场强弱的问题。电机伺服系统转速无超调且调节时间≤0.25 s,达到了伺服控制指标。

As a new communication pattern,the Rotating Magnet-Based Mechanical Antenna(RMBMA)can signifi⁃cantly reduce both the size and the power consumption of the super-low frequency electromagnetic transmitter.How⁃ever,it has the problems of weak radiated magnetic field intensity and low communication baud,limiting its practical applications.To solve these problems,this paper proposes a RMBMA array system based on the direct drive of per⁃manent magnet synchronous motor.For the working conditions of high transient current and frequent speed switching of mechanical antenna signal modulation,a position difference coordinated-control strategy based on the deadbeat current prediction model is proposed,which improves the servo performance of the system and meets the application requirements.The proposed position difference coordinated-control parameters are designed,and the servo perfor⁃mance,stability and robustness of the system are theoretically verified.The high transmission rate and low bit error rate of the modulation signal of the mechanical antenna are realized.Finally,an experimental test platform for the me⁃chanical antenna array system is built,and the distribution of the magnetic field strength in the near area and the servo performance of the drive system are tested experimentally.Compared with the single magnetic source,the magnetic field intensity in the near area of the system is doubled,showing that the problem of weak radiated magnetic field in⁃tensity can be effectively solved.The speed of the motor servo system has no overshoot and the adjustment time is≤0.25 s,reaching the servo control index.