Research And Design Of Antenna Tracking Servo Control System

As the process of social informatization continues to accelerate,efficient and stable satellite communications are increasingly becoming people's needs.The key technology in the satellite communication system is to maintain the real-time alignment of the antenna on the ground and the satellite,so that the satellite and the ground can maintain stable communication.This technology is the antenna tracking servo control technology,which can also be called " SOTM(Satellite communication on-the-move)" technology.Through the research on the antenna tracking system at home and abroad,an antenna tracking servo control system based on the STM32F405 micro-control chip is designed,in which the attitude detection of the carrier and the motion control of the turntable are the key and difficult points.In view of the low accuracy of the MEMS sensor's attitude detection of the carrier and the poor anti-interference ability,combined with the environment of the antenna tracking system,this paper improves the existing complementary filtering algorithm and proposes a complementary filtering data fusion for MEMS devices Carrier attitude calculation algorithm.Aiming at the requirement of rotary table motion control that the motor can respond quickly and accurately,the PID derivative algorithm and the intelligent optimization algorithm are combined,and a fractional order PID stepper motor position control algorithm based on particle swarm optimization is proposed,which meets the control requirements of the antenna turntable.The main research work and innovation of the paper are as follows:(1)Research and design a set of vehicle-mounted antenna tracking servo control system,and design the corresponding software and hardware according to the system requirements.The hardware design mainly includes the selection of components such as control chips,power chips,GPS chips,MEMS chips,stepper motor drive chips,and the design of peripheral circuits of these devices.The software design mainly includes the design of the driver program of each part,the attitude calculation,the control algorithm and the design of the overall working program of the system.(2)Research and analysis of the working principle of each MEMS device and the cause of the error.For the gyroscope,there are problems of angular random walk error,the accelerometer is susceptible to vehicle acceleration and deceleration interference,and the magnetometer is susceptible to random interference magnetic fields.A carrier attitude solution algorithm for complementary filtering data fusion is proposed.The accelerometer is used to correct the horizontal inclination,the magnetometer is used to correct the heading angle,and the error compensation weight of the accelerometer is adjusted in real time during the movement to reduce the vehicle.Movement interferes with the accelerometer.(3)The control method of the car antenna turntable is studied.For the high nonlinearity of the stepper motor model,it is difficult for the classic PID controller to obtain a satisfactory response speed.A particle swarm optimized fractional order PID stepper motor control algorithm is proposed.By introducing two other fractional calculus parameters to the conventional PID to achieve more efficient control of the motor,and using particle swarm optimization algorithm to adjust the controller parameters,to ensure that the antenna turntable can run quickly and accurately.The attitude calculation algorithm measured in the implementation environment has good dynamic performance and static performance,and the carrier attitude angle can be accurately within ± 0.1 °.It can be seen from the modeling and simulation of the stepper motor that the control algorithm increases the system response speed to within 1 millisecond.In this way,an efficient and stable tracking satellite for the antenna tracking servo control system can be realized.