阅读说明：本技术 一种雷达天线平台系统及其平台水平校准方法 (Radar antenna platform system and platform horizontal calibration method thereof ) 是由 卢辰 严诺 张安邦 赵琳 朱艮村 许笑 卫杨 卫浩 戴百安 于 2020-12-18 设计创作，主要内容包括：本发明公开了一种雷达天线平台系统及其平台水平校准方法,该系统包括车载平台、四根机电式支腿、天线平台、四根可伸缩式液压多级油缸、下平台水平传感器、下平台水平传感器、以及中央控制器,所述中央控制器用于采集下平台水平传感器的X轴方向的水平度、Y轴方向的水平度来控制四根机电式支腿的升降,以实现车载平台调平,所述中央控制器还用于采集上平台水平传感器的X轴方向的水平度、Y轴方向的水平度来控制四根可伸缩式液压多级油缸的伸缩,以实现天线平台的调平,并且在调平后控制所述可伸缩式液压多级油缸进行锁紧。本发明突破了传统的车载平台只进行一次水平校准,有效避免了传统雷达的测高和系统结构不稳定带来的不利影响。(The invention discloses a radar antenna platform system and a platform horizontal calibration method thereof, wherein the system comprises a vehicle-mounted platform, four electromechanical supporting legs, an antenna platform, four telescopic hydraulic multi-stage oil cylinders, a lower platform horizontal sensor and a central controller, wherein the central controller is used for collecting the levelness of the lower platform horizontal sensor in the X-axis direction and the levelness of the lower platform horizontal sensor in the Y-axis direction to control the lifting of the four electromechanical supporting legs so as to realize the leveling of the vehicle-mounted platform, and is also used for collecting the levelness of the upper platform horizontal sensor in the X-axis direction and the levelness of the upper platform horizontal sensor in the Y-axis direction to control the stretching of the four telescopic hydraulic multi-stage oil cylinders so as to realize the leveling of the antenna platform and control the telescopic hydraulic multi-stage oil cylinders to be locked after the leveling. The invention breaks through the situation that the traditional vehicle-mounted platform only carries out horizontal calibration once, and effectively avoids the adverse effects caused by the unstable height measurement and system structure of the traditional radar.)

1. A radar antenna platform system is characterized by comprising a vehicle-mounted platform, four electromechanical supporting legs for supporting the vehicle-mounted platform, an antenna platform, four telescopic hydraulic multi-stage oil cylinders for lifting the antenna platform, a lower platform level sensor arranged on the vehicle-mounted platform, a lower platform level sensor arranged on the antenna platform and a central controller,

the central controller is used for collecting the levelness of the lower platform level sensor in the X-axis direction and the levelness of the lower platform level sensor in the Y-axis direction to control the lifting of the four electromechanical supporting legs so as to realize the leveling of the vehicle-mounted platform and control the four electromechanical supporting legs to be locked after the leveling,

the central controller is also used for collecting the levelness of the upper platform level sensor in the X-axis direction and the levelness of the upper platform level sensor in the Y-axis direction to control the extension and retraction of the four telescopic hydraulic multi-stage oil cylinders so as to realize the leveling of the antenna platform, and controlling the telescopic hydraulic multi-stage oil cylinders to be locked after the leveling.

2. The radar antenna platform system of claim 1, wherein the motor of the electromechanical leg is a motor with an electromagnetic band-type brake function, and the motor locks a motor shaft after power loss.

3. The radar antenna platform system of claim 1, wherein the telescoping hydraulic multi-stage cylinder is locked via a hydraulic lock.

4. The radar antenna platform system of claim 1, wherein the telescoping hydraulic multi-stage cylinder is a two-stage telescoping cylinder.

5. The radar antenna platform system of claim 1, further comprising a three-area array antenna disposed on the antenna platform.

6. A platform level calibration method for a radar antenna platform system according to any one of claims 1 to 5, comprising the steps of:

after the four electromechanical supporting legs touch the ground, acquiring the levelness of a lower platform level sensor in the X-axis direction and the levelness of a lower platform level sensor in the Y-axis direction, leveling the vehicle-mounted platform by adjusting the extension of the four electromechanical supporting legs and locking the supporting legs; after the antenna platform is lifted in place, the levelness of the upper platform level sensor in the X-axis direction and the levelness of the upper platform level sensor in the Y-axis direction are collected, the antenna platform is leveled by adjusting the extension of the four telescopic hydraulic multi-stage oil cylinders, and the oil cylinders are locked.

Technical Field

The invention relates to a radar antenna platform system, in particular to a platform level calibration method of the radar antenna platform system.

Background

With the rapid development of modern radar technology, phased array radars are widely applied, especially the successful application of three-coordinate active phased array radars, and the detection of low-altitude and slow-flying small targets can be realized while an air warning task is executed in a complex environment by aiming at the special optimization of low-altitude detection.

The height measurement accuracy of the three-coordinate radar is an important index for measuring the performance of the radar, and a key factor influencing the height measurement accuracy is whether the antenna can work on a relatively horizontal working platform, and the higher the horizontal accuracy of the antenna working platform is, the higher the height measurement accuracy is.

The traditional radar vehicle-carrying platform only carries out horizontal calibration once in the process of antenna erection, the horizontal sensor is placed at the position in the middle of the vehicle-carrying platform, the antenna firstly carries out horizontal calibration on the vehicle-carrying platform before not lifting, and the antenna is lifted to a high position after the horizontal calibration is finished.

In the process of implementing the horizontal calibration of the radar antenna platform, the inventor finds that it is necessary to perform the horizontal calibration on the antenna platform independently after the antenna platform is lifted, otherwise, the high-speed operation of the antenna is not reliable.

Because the antenna is lifted to high-order back, receives lifting mechanism and barycenter skew's influence, antenna work platform has unsatisfied the requirement of horizontal accuracy and can't learn antenna work platform's actual levelness this moment at high-order, and radar is usually when the height finding, and acquiescence antenna work platform is absolute level, not only can influence the height finding precision of radar greatly like this, but also is unfavorable for stable in structure.

Especially, when the antenna rotates, the antenna working platform is eccentric because the antenna rotary table does not reach enough horizontal precision, the antenna can shake when the antenna rotates at a high speed, and the vehicle-mounted platform can overturn when the antenna rotates seriously.

Disclosure of Invention

The invention aims to provide a radar antenna platform system and a platform horizontal calibration method thereof, which can independently carry out automatic horizontal calibration on an antenna platform at a high position.

To achieve the above purpose, the present invention provides a radar antenna platform system, which includes a vehicle-mounted platform, four electromechanical supporting legs for supporting the vehicle-mounted platform, an antenna platform, four retractable hydraulic multi-stage cylinders for lifting the antenna platform, a lower platform level sensor disposed on the vehicle-mounted platform, a lower platform level sensor disposed on the antenna platform, and a central controller, wherein the central controller is configured to collect the levelness of the lower platform level sensor in the X-axis direction and the levelness of the lower platform level sensor in the Y-axis direction to control the lifting of the four electromechanical supporting legs, so as to realize the leveling of the vehicle-mounted platform, and control the four electromechanical supporting legs to be locked after the leveling, and the central controller is further configured to collect the levelness of the upper platform level sensor in the X-axis direction and the levelness of the upper platform level sensor in the Y-axis direction to control the retraction of the four retractable hydraulic multi, the leveling of the antenna platform is achieved, and the telescopic hydraulic multi-stage oil cylinder is controlled to be locked after the leveling.

According to another aspect of the present invention, there is provided a platform level calibration method of the radar antenna platform system according to the above description, comprising the steps of: after the four electromechanical supporting legs touch the ground, acquiring the levelness of a lower platform level sensor in the X-axis direction and the levelness of a lower platform level sensor in the Y-axis direction, leveling the vehicle-mounted platform by adjusting the extension of the four electromechanical supporting legs and locking the supporting legs; after the antenna platform is lifted in place, the levelness of the upper platform level sensor in the X-axis direction and the levelness of the upper platform level sensor in the Y-axis direction are collected, the antenna platform is leveled by adjusting the extension of the four telescopic hydraulic multi-stage oil cylinders, and the oil cylinders are locked.

The invention provides a structural form for horizontal calibration of a radar antenna platform, which not only can lift a radar antenna to a high position (10 meters), but also can independently perform automatic horizontal calibration on the antenna platform which is 10 meters.

The invention breaks through the situation that the traditional vehicle-mounted platform only carries out horizontal calibration once, and the software control algorithm is simple and easy to realize. The adverse effects caused by the unstable height measurement and system structure of the traditional radar are effectively avoided.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a radar antenna platform system according to the present invention, wherein the radar antenna is in a low position;

FIG. 2 is a schematic structural diagram of a radar antenna platform system according to the present invention, wherein the radar antenna is in an elevated position;

FIG. 3 is a flow chart of a radar antenna platform level calibration method according to the present invention; and

fig. 4 is a control schematic diagram of a radar antenna platform system according to the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

The invention improves the radar antenna platform system, and realizes the independent horizontal calibration of the vehicle-mounted platform and the antenna platform on the basis.

With reference to fig. 1, 2 and 4, the radar antenna lifting platform system of the present invention mainly comprises electromechanical support legs (four in total) 1, a lower platform level sensor 2, a vehicle-mounted platform 3, telescopic hydraulic multi-stage oil cylinders (four in total) 4, an antenna platform 5, an upper platform level sensor 6, a central controller, a three-array antenna 7 and a lodging oil cylinder 8.

Four electromechanical legs are used for the horizontal calibration of the vehicle platform. The lower platform level sensor is used for acquiring the horizontal angle of the vehicle-mounted platform in real time.

The detailed structure and principle of the electromechanical supporting leg are introduced in the electromechanical leveling supporting leg (CN 201998962U) disclosed by the electronics ltd of bovingan, china, and will not be described herein. On the basis, the motor of the electric landing leg is selected as the motor with the electromagnetic band-type brake function, after the motor is powered off, the electromagnetic band-type brake coil is powered off, and the motor shaft is locked, so that the leveling state of the vehicle-mounted platform 3 can be kept all the time without external interference.

The telescopic hydraulic multi-stage oil cylinders (four in all), such as a two-stage or three-stage telescopic hydraulic oil cylinder, are used for lifting the three-dimensional array antenna to a height of 10 meters, the purpose of lifting the three-dimensional array antenna is to avoid surrounding obstacles, and the switching between the lodging state and the standing state of the three-dimensional array antenna is realized through the inverted oil cylinder 8.

The upper platform level sensor 6 is used for acquiring the horizontal angle of the upper platform in real time. The structure form of the invention is not only suitable for the fixed antenna platform, but also suitable for the antenna platform rotating at high speed.

The central controller is composed of a central processing unit, a motor controller, an electromagnetic valve group and the like, is used for receiving signals of the lower platform level sensor, the upper platform level sensor, the lifting in-place proximity switch and the lodging in-place proximity switch, and controls the actions of the four electromechanical supporting legs, the four telescopic hydraulic multistage supporting legs and the lodging oil cylinder according to a software control procedure so as to realize multiple functions of lifting, lodging, vehicle-mounted platform leveling, antenna platform leveling and the like.

Referring to fig. 3, the central processing unit receives an automatic erection instruction, starts to execute the horizontal calibration of the lower platform, and controls the lifting of the four electromechanical supporting legs by acquiring the levelness of the lower platform horizontal sensor in the X-axis direction and the levelness of the lower platform horizontal sensor in the Y-axis direction, so as to finally meet the horizontal precision requirement of the lower vehicle-mounted platform.

After the horizontal calibration of the vehicle-mounted platform is finished, the motor is powered off, the coil of the electromagnetic band-type brake is powered off, and the supporting leg is locked.

The antenna platform starts to be lifted, after the antenna platform is lifted in place, the antenna platform starts to be horizontally calibrated, the central processing unit independently controls the telescopic hydraulic multistage oil cylinder by acquiring the levelness of the upper platform level sensor in the X-axis direction and the levelness of the upper platform level sensor in the Y-axis direction, and finally the requirement of the upper platform level precision is met. After the upper platform is horizontally calibrated, the multi-stage oil cylinder is locked through the hydraulic lock, pressure relief is prevented, and the effect of stabilizing the platform for a long time is achieved.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.