JPH0797724B2 - Antenna device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an antenna device, and more particularly to an antenna device in which a directional antenna used for satellite communication or the like is mounted on a moving body such as a ship or an aircraft that is subject to shaking. The directional antenna is supported on a horizontal stabilizer that is tiltable with respect to the directional antenna, the amount of tilt of the horizontal stabilizer is detected, and the center of gravity of the antenna device is moved to control the movement of the moving body. The present invention relates to an antenna device capable of effectively compensating for the fluctuation of a directional antenna due to the external disturbance.

Compared to other communication methods, satellite communication, in which communication is performed between radio stations on the earth using artificial satellites as a medium, enables stable and high-quality communication, and communication with mobiles such as ships and aircraft is also easy. Therefore, it tends to be widely used in recent years.

By the way, a directional antenna is mounted on a radio station on the earth for transmitting and receiving signals, and it is necessary to control the direction of the directional antenna so that it is always directed to a communication satellite. Therefore, the antenna device mounted on a moving body such as a ship is provided with a tracking mechanism for tracking a directional antenna on a communication satellite, and compensates for the sway caused by rolling or pitching of the moving body, thereby providing the directional antenna. A shake compensation mechanism is installed for maintaining the horizontal position. Here, as the tracking mechanism, for example, a monopulse system is known in which a azimuth error is detected by using a single-pulse electric wave, and the azimuth is corrected to track the communication satellite.

On the other hand, as the motion compensation mechanism, for example, the directional antenna is installed on a support mechanism configured to be rotatable about two axes orthogonal to each other via a horizontal stabilizing base, and a gyro effect and a physical effect caused by rotation of a flywheel are provided. A method of compensating for tilting of the horizontal stabilizer by the vibration control action of the pendulum is known.

Here, in the frictional force of the rotating shaft in the support mechanism, frictional torque is generated on the horizontal stabilizing table due to the shaking of the moving body and various vibrations. This friction torque acts to cause precession on the horizontal stabilizer due to the gyro effect of the flywheel. In this case, the precession of the horizontal stabilizer is suppressed by the damping action of the physical pendulum, and as a result, the horizontal stabilizer returns to the horizontal low state.

However, in such a motion compensation method using a combination of a flywheel and a physical pendulum, the horizontal stabilizer that has been subjected to disturbance moves spirally until it returns to a horizontal state, so it takes a long time to stabilize the horizontal stabilizer. The drawback is that it takes time. In addition, the horizontal stabilizing platform tilts in one direction due to the frictional force of the support mechanism that supports the horizontal stabilizing platform, the Coriolis force due to the rotation of the earth, or the acceleration generated when the moving body moves, and the oscillation period is complicated. In such a case, it becomes impossible to maintain the horizontal stabilizer in the horizontal state only by the gravitational acceleration of the physical pendulum.

The present invention has been made to overcome the above-mentioned inconvenience, and in an antenna device mounted on a swaying moving body, a directional antenna is installed on a horizontal stable base that can maintain a horizontal state, The amount of tilting of the horizontal stabilizing table due to disturbance from the moving body is detected, and the center of gravity position is moved and controlled on the basis of the tilting amount so that the horizontal stabilizing table can be quickly returned to the horizontal state, and transmission / reception of the directional antenna is performed. An object of the present invention is to provide an antenna device capable of maintaining the direction with high accuracy.

In order to achieve the above-mentioned object, the present invention provides an antenna device which has a directional antenna and is mounted on a swinging moving body such as a ship, and a horizontal stabilization for supporting the directional antenna; The horizontal stabilizer is provided with a first support body rotatable about an axis and a second support body rotatable about a Y-axis pivotally supported by the first support body. A gimbal support mechanism that tiltably supports the moving body, a flywheel mechanism that suppresses tilting of the horizontal stabilizer due to disturbance, and a first tilt detector that detects tilt of the horizontal stabilizer about the X axis. And a second inclination detector that detects the inclination of the horizontal stabilizer about the Y-axis, and an inclination detector that detects inclination of the horizontal stabilizer due to a disturbance, and a first inclination detector. First center of gravity for moving the position of the center of gravity in the X-axis direction based on the detection signal And a second center-of-gravity position moving unit that moves the center-of-gravity position in the Y-axis direction based on a detection signal from the second tilt detection unit, and determines the center-of-gravity position based on the tilt amount of the horizontal stabilizer. And a center-of-gravity position control mechanism for controlling movement.

Next, a preferred embodiment of the antenna device according to the present invention will be described in detail below with reference to the accompanying drawings.

In FIGS. 1 and 2, reference numeral 10 indicates a main body of the antenna device according to the present invention, and the main body 10 is mounted on a moving body accompanied by shaking such as a ship. Here, the main body unit 10 includes a directional antenna 12 for constantly directing a transmitting and receiving surface to a communication satellite, a horizontal stabilizing base 14 for maintaining a horizontal state, and the horizontal stabilizing base 14 for rotating around the X axis and the Y axis in a horizontal plane. Basically, an antenna supporting mechanism 16 that supports the movable body, a flywheel mechanism 18 that suppresses tilting of the horizontal stabilizing base 14 due to disturbance, and a center-of-gravity position control mechanism 20 that controls the center-of-gravity position of the main body unit 10. Composed.

Therefore, on the base 22 fixed to a moving body such as a ship, a pillar is provided.
The lower end of 24 is fixed, and the antenna support mechanism 16 is arranged at the upper end of this support 24. As shown in FIG. 3, the antenna support mechanism 16 includes a substantially U-shaped first support frame 26 fixed to the upper end of the column 24, and a roll shaft 28 on the first support frame 26.
A second support frame 30 which is rotatably supported around the Y-axis through a connecting base, and a connection table which is rotatably supported by the second support frame 30 around the X-axis through a pitch shaft 32. It consists of 34 and. Then, the azimuth axis 36 oriented in the Z-axis direction is attached to the connecting base 34.
The lower end of the horizontal stabilizer 14 is attached to the azimuth axis 36 so as to be rotatable. Therefore, the horizontal stabilizer 14 has an X axis,
It is supported by the antenna support mechanism 16 so as to be rotatable around the Y axis and the Z axis.

An azimuth control motor 38 for controlling the azimuth of the directional antenna 12 is attached to the upper surface of the horizontal stabilizer 14, and a pulley 42 is attached to a rotary shaft 40 of the azimuth control motor 38. To be done. A pulley 44 is attached to the upper end of the azimuth axis 36 protruding from the upper surface of the horizontal stabilizer 14, and the pulley 44 and the pulley 42 are connected by a belt 46. Therefore, the horizontal stabilizer 14 is configured to be rotatable about the azimuth axis 36 under the driving action of the azimuth control motor 38.

On the other hand, one end of elevation angle shafts 48a, 48b extending in the horizontal direction is fixed to both sides of the horizontal stabilizer 14. These elevation axes 48
Reference characters a and 48b rotatably fit to support plates 50a and 50b connected to a directional antenna 12 having a parabolic surface and pointing to a communication satellite. A pulley 54 is attached to the other end of the elevation shaft 48a projecting from the support plate 50a, and an elevation control motor 56 is attached to the support plate 50a and a pulley 60 is attached to its rotary shaft 58. To be done. The pulley 60 and the pulley 54 attached to the elevation shaft 48a are connected by a belt 62. Therefore, the directional antenna 12 connected to the support plates 50a and 50b is configured to be rotatable about the elevation shafts 48a and 48b under the driving action of the elevation control motor 56.

A mounting plate 64 is mounted on the end of the elevation shaft 48a protruding from the support plate 50a via a pulley 54, and a flywheel rotation motor 66 is mounted on the mounting plate 64. The rotary shaft 68 of the flywheel rotating motor 66 extends vertically downward along the Z axis, and the flywheel 70 is connected to the lower end of the rotary shaft 68. Here, the flywheel 70 is always rotationally driven at a high speed by the flywheel rotating motor 66,
The gyro effect suppresses the tilting of the horizontal stabilizer 14.

On the other hand, the center-of-gravity position control mechanism 20 is attached to the end of the elevation shaft 48a protruding from the support plate 50b. This center of gravity position control mechanism 20
On the upper surface of the casing 72, which constitutes the first inclination detecting means 74 for detecting the inclination angle of the horizontal stabilizing base 14 around the X axis,
Second for detecting the inclination angle of the horizontal stabilizer 14 around the Y-axis
Inclination detecting means 76 are provided respectively. Here, the first and second inclination detecting means 74 and 76 are, for example, a level sensor that electrically detects the amount of deviation of the electrolytic solution from the equilibrium position and measures the inclination angle thereof, or a magnet as described later. It is preferable to use a pendulum type inclinometer or the like that electrically detects the amount of deviation of the pendulum consisting of from the equilibrium position with respect to the magnetoresistive element and measures the tilt angle.

As shown in FIG. 4, a first center-of-gravity control unit 78 and a second center-of-gravity control unit 80 are arranged in the casing 72 of the center-of-gravity position control mechanism 20 along the X-axis direction and the Y-axis direction, respectively. It
The first and second center-of-gravity control units 78 and 80 have the same configuration, and as shown in FIG. 5, step motors 84a and 84b are attached to one ends of the casings 82a and 82b. Pulleys 88a and 88b are pivotally mounted on the rotating shafts 86a and 86b of the 84a and 84b. On the other hand, a spindle is provided on the other end side of the housings 82a and 82b.
90a and 90b are rotatably attached to the shafts, and pulleys 92a and 92b are attached to intermediate portions of the support shafts 90a and 90b. The pulleys 92a, 92b and the pulleys 88a, 88b are connected to the belts 94a, 94b.
Connected by. The belts 94a and 94b have weights.
The M _X and the weight M _Y are attached and configured to be movable along the X axis and the Y axis under the driving action of the step motors 84a and 84b. In addition, the potentiometer 96 is installed in the housings 82a and 82b.
a and 96b are provided, and gears 100a and 100b are mounted on the rotary shafts 98a and 98b of the potentiometers 96a and 96b. The gears 100a and 100b are meshed with the gears 102a and 102b pivotally mounted on the support shafts 90a and 90b. Therefore, the potentiometers 96a and 96b are configured to be able to detect the displacement positions of the weights M _X and M _Y that move along the X axis and the Y axis under the driving action of the step motors 84a and 84b, respectively, from the equilibrium position. There is.

Next, the attitude control system of the antenna device configured as described above will be described.

FIG. 6 is a block diagram of the attitude control system of the antenna device according to the present invention. This control system includes an elevation angle control unit 104 for controlling the elevation angle of the directional antenna 12 based on the elevation angle command value α, and an antenna device. A motion compensating unit 106 for compensating the tilting of the horizontal stabilizing table due to the motion of the moving body and maintaining the horizontal state.
And an azimuth angle control unit 108 that controls the azimuth angle of the directional antenna based on the azimuth angle command value φ.

The elevation control unit 104 is an elevation control motor 56 for rotating the directional antenna 12 around the elevation axes 48a, 48b via the support plates 50a, 50b, and the elevation control motor based on the elevation command value α.
The control circuit 110 for rotating the 56, and the elevation angle control motor 56
The potentiometer 112 detects the amount of rotation of the controller and feeds back a signal corresponding to the amount of rotation to the control circuit 110.

In addition, the azimuth control unit 108 sets the directional antenna 12 to the azimuth axis 36.
Azimuth control motor 38 for rotating around, a control circuit 114 for rotating the azimuth control motor 38 based on the azimuth command value φ, and the rotation amount of the azimuth control motor 38 is detected. It comprises a potentiometer 116 for feeding back a signal according to the amount of rotation to the control circuit 114.

Here, the control circuits 110 and 114 are configured, for example, as shown in FIG. That is, the control circuits 110 and 114 are a calculation circuit 118 that outputs a command signal based on the elevation angle command value α and the azimuth command value φ, D / A converters 120 and 122 that convert the command signal into an analog signal, and the analog circuit. Includes servo amplifiers 124 and 126 that drive the elevation control motor 56 and the azimuth control motor 38 in response to signals.
In this case, the rotation amount of the elevation angle control motor 56 is determined by the pulleys 54, 60.
Is detected by the potentiometer 112 via the speed reducer 128, and the detection signal is fed back to the arithmetic circuit 118 as the elevation angle detection signal αa via the buffer amplifier 130 and the A / D converter 132. Similarly, the rotation angle of the azimuth control motor 38 is determined by the pulley 4
Potentiometer 11 via speed reducer 134 composed of 2 and 44
The detection signal detected by 6 is fed back to the arithmetic circuit 118 as the azimuth detection signal φa via the buffer amplifier 136 and the A / D converter 138.

The arithmetic circuit 118 is preferably composed of, for example, the microprocessor shown in FIG. That is, the arithmetic circuit 118 has an input port 140 to which the elevation angle command value α, the elevation angle detection signal αa, the azimuth angle command value φ, and the azimuth angle detection signal φa are supplied, and a ROM for storing a predetermined calculation program.
144, a RAM 146 that stores data of the elevation angle command value α and the azimuth angle command value φ, and a CPU 1 that performs input / output control and calculation according to the calculation program stored in the ROM 144.
48 and an output port 149 for supplying the calculation result to the D / A converters 120 and 122. Here, in the CPU 148, the deviation between the feedback signals αa and φa from the A / D converters 132 and 138 and the elevation angle command value α and the azimuth angle command value φ is calculated, and the elevation angle control signal αe and the azimuth angle related to the deviation are calculated. The angle control signal φe is output to the output port 149.

On the other hand, in FIG. 6, the motion compensator 106 includes a flywheel mechanism 18 for suppressing tilting of the horizontal stabilizing base 14 by a gyro effect, and a center of gravity position control for compensating for tilting of the horizontal stabilizing base 14 caused by motion of a moving body. It is composed of the mechanism 20. The center-of-gravity position control mechanism 20 responds to the first and second inclination detecting means 74 and 76 for detecting the inclination angle of the horizontal stabilizing base 14 and the inclination angles detected by the first and second inclination detecting means 74 and 76. Step motors 84a and 84b for displacing the positions of the weights M _X and M _Y , a control circuit 154 for driving and controlling the step motors 84a and 84b, and a deviation amount of the weights M _X and M _{Y from} the equilibrium position. It is composed of potentiometers 96a and 96b for detecting and feeding back to the control circuit 154.

Here, the control circuit 154 is configured as shown in FIG. That is, the control circuit 154 is an arithmetic circuit for arithmetically processing the inclination angle signals θ _X and θ _Y of the horizontal stabilizing table 14 supplied from the first and second inclination detecting means 74 and 76 through the A / D converters 156 and 158. 160, and step motor drive circuits 162, 164 for driving the step motors 84a, 84b based on the data processed by the arithmetic circuit 160. In this case, the displacement amount x of the weight M _X displaced by the step motor 84a from the equilibrium position is detected by the potentiometer 96a via the speed reducer 163 composed of the gears 100a and 102a, and the detection signal is detected by the buffer amplifier 166 and A / A. It is fed back to the arithmetic circuit 160 via the D converter 168. Similarly,
From the equilibrium position of the weight M _Y displaced by the step motor 84b, the displacement amount y is detected by the potentiometer 96b via the speed reducer 165 composed of the gears 100b, 102b, and the detection signal is detected by the buffer amplifier 170 and the A / D converter 172. Is fed back to the arithmetic circuit 160 via.

In this case, the arithmetic circuit 160 includes the control circuits 110 and 114 described above.
Like the arithmetic circuit 118 constituting the above, the microprocessor shown in FIG. 8 is preferable. That is, in FIG. 8, the input port 140 is supplied with the inclination angle signals θ _X and θ _Y from the first and second inclination detecting means 74 and 76, and the displacement signals from the A / D converters 168 and 172. x, y are supplied. On the other hand, in the CPU 148, the inclination angle signals θ _X and θ _Y and the displacement signals x and y are arithmetically processed in a predetermined relationship, and the arithmetic result is output to the output port 149.

The first and second inclination detecting means 74 and 76 are, for example,
It is composed of a combination of magnets 174 and 176 suspended in the direction of gravity and Wheatstone bridges 178 and 180 including magnetoresistive elements. That is, in the Wheatstone bridges 178 and 180, the resistance elements R _X and R _Y on the two adjacent sides are magnetic resistance elements.
The input terminals of the differential amplifiers 182 and 184 are connected between R _X and R _Y and the resistance elements R ₁ and R ₂ on the other two sides. Here, when the magnets 174 and 176 are located at the connection point of the magnetoresistive elements R _X and R _Y , that is, the first and second inclination detecting means 74 and 76 are X-axis.
If the magnetoresistive elements R _X and R _Y are not inclined with respect to the axis and the Y axis, the resistance values are set to be equal. Further, the other two resistance elements R ₁ and R ₂ are set to be equal. The output terminals of the differential amplifiers 182 and 184 are A /
Connect to D converters 156 and 158.

The antenna device according to the present invention is basically constructed as described above. Next, its operation and effect will be described.

First, in order to direct the directional antenna 12 to the communication satellite,
The elevation angle control and the azimuth angle control will be described.

The elevation angle control of the directional antenna 12 is performed by the elevation angle control unit shown in FIG.
At 104. That is, the elevation angle of the communication satellite with respect to the horizontal plane is input to the control circuit 110 as the elevation angle command value α. In this case, the control circuit 110 is constructed as shown in FIGS. 7 and 8. Therefore, the elevation command value α input to the CPU 148 via the input port 140 of the arithmetic circuit 118
Is temporarily stored in the RAM 146. The elevation angle command value α stored in the RAM 146 is arithmetically processed in the CPU 148 based on the program stored in the ROM 144, and the elevation angle control signal αe
Is output to the D / A converter 120. D / A converter 1
20 converts the elevation angle control signal αe into an analog signal and then outputs it to the servo amplifier 124, and the servo amplifier 124 rotates the elevation angle control motor 56 by a predetermined amount based on the elevation angle control signal αe. In this case, the elevation angle control motor 56 acts via the belt 62 to rotate the pulley 54 that constitutes the speed reducer 128. Here, the pulley 54 is pivotally mounted on the elevation shaft 48a. Therefore, the elevation angle control motor 56 is rotated about the elevation angle shaft 48a by the rotation of the rotation shaft 58. As a result, the directional antenna 12 is rotated through the support plates 50a and 50b by an angle corresponding to the elevation command value α.

The rotation angle of the directional antenna 12 with respect to the elevation axes 48a and 48b is detected by the potentiometer 112, and the detection signal is transmitted via the buffer amplifier 130 to the A / D converter 132.
Entered in. The A / D converter 132 digitally converts the detection signal and feeds it back to the arithmetic circuit 118 as an elevation angle detection signal αa. The CPU 148 of the arithmetic circuit 118 calculates the difference between the elevation angle command value α stored in the RAM 146 and the elevation angle detection signal αa, and outputs it again as the elevation angle control signal αe.
It outputs to D / A converter 122 via 9. Then, the servo amplifier 124 drives the elevation angle control motor 56 based on the elevation angle control signal αe to adjust the elevation angle of the directional antenna 12. Thus, the elevation angle of the directional antenna 12 is set to the elevation angle command value α by the servo mechanism.

On the other hand, the azimuth angle of the directional antenna with respect to the communication satellite is controlled by the azimuth angle control unit 108. That is, the control circuit 1
The azimuth angle command value φ input to 14 is output to the D / A converter 122 as the azimuth angle control signal φe via the arithmetic circuit 118 as in the case of the elevation angle control. The D / A converter 122 converts the azimuth angle control signal φe into an analog signal and then converts it into a servo amplifier.
Then, the servo amplifier 126 drives the azimuth angle control motor 38 mounted on the horizontal stabilizer 14. In this case, the azimuth control motor 38 acts so as to rotate the pulley 44 constituting the speed reducer 134 via the belt 46. Here, the pulley 44 is axially attached to the azimuth axis 36 fitted to the horizontal stabilizing base 14. Therefore, the horizontal stabilizer 14 is a motor for azimuth control.
The turning operation of 38 leads to turning around the azimuth axis 36. As a result, the directional antenna 12 is rotated by an angle corresponding to the standard angle command value φ.

In addition, the turning angle of the directional antenna 12 is a potentiometer.
Detected by 116 and the detected signal is buffer amplifier 1
It is input to the A / D converter 138 via 36. The A / D converter 138 digitally converts the detection signal and feeds it back to the arithmetic circuit 118 as an azimuth angle detection signal φa. The CPU 148 of the arithmetic circuit 118 calculates the difference between the azimuth angle command value φ stored in the RAM 146 and the azimuth angle detection signal φa, and again outputs the azimuth angle control signal φe to the D / A converter 122 via the output port 149. Output. Then, the azimuth control signal φe converted into analog by the D / A converter 122 drives the azimuth control motor 38 by the servo amplifier 126 to adjust the azimuth of the directional antenna 12. In this way, the azimuth angle of the directional antenna 12 is set to the azimuth angle command value φ by the servo mechanism.

As described above, the directional antenna 12 has its elevation angle and azimuth set to predetermined values, and is correctly directed to the communication satellite.

Next, the attitude control operation of the horizontal stabilizer 14 by the motion compensator 106 will be described.

The horizontal stabilizer 14 is supported by an antenna support mechanism 16 shown in FIG. 3 so as to be rotatable about the X axis and the Y axis. A flywheel mechanism 18 is connected to the horizontal stabilizer 14 via an elevation shaft 48a. Here, the flywheel mechanism 18 has a flywheel 70 that is constantly rotated at a high speed by a flywheel rotating motor 66, and a rotation axis 68 of this flywheel 70 is such that its spin vector is orthogonal to the horizontal plane of the horizontal stabilizer 14. Is set to. Therefore, tilting of the horizontal stabilizer 14 with respect to the horizontal plane is suppressed by the gyro effect of the flywheel 70.

Here, in the antenna device according to the present invention, the main body 10 thereof is placed on a moving body such as a ship with shaking. Therefore,
It is assumed that the moving body is swaying due to rolling or pitching. In this case, the horizontal stabilizing base 14 is rubbed by the frictional force between the roll shaft 28 and the first supporting frame 26 which constitute the antenna supporting mechanism 16 and the frictional force between the pitch shaft 32 and the second supporting frame 30. Torque is applied.
Therefore, when the moving body sways, the horizontal stabilizing table 14 performs precession around the Z axis by the gyro effect due to the rotation of the flywheel 70. When the friction torque generated in the antenna support mechanism 16 is T and the angular momentum of the flywheel 70 is H, the angular velocity Ω of this precession is approximately: Is expressed as Here, if the angular momentum H of the flywheel 70 is sufficiently large, the angular velocity Ω of the precession becomes small. The gyro effect of the flywheel 70 acts to spirally return the horizontal stabilizer 14 to the horizontal state along the curve I shown in FIG. 10 as the friction torque T decreases due to disturbance.

On the other hand, the center of gravity position control mechanism 20 is attached to the horizontal stabilizer 14 via the elevation axis 48b. Therefore, when the horizontal stabilizing base 14 tilts due to the shaking of the moving body, the first and second tilt detecting means 74 and 76 provided in the center-of-gravity position control mechanism 20 detect the tilt amount.

That is, in FIG. 9, when the horizontal stabilizing base 14 tilts about the X axis, the magnet 174 forming the first tilt detecting means 74 is displaced from the connection point of the magnetoresistive elements R _X and R _Y.
The resistance values of the magnetoresistive elements R _X and R _Y vary. Therefore,
The Wheatstone bridge 178 is displaced from the equilibrium state and outputs a tilt angle signal θ _X according to the tilt angle of the horizontal stabilizer 14 around the X axis to the differential amplifier 182. This tilt angle signal θ _X is A / D
After being converted to a digital signal by converter 156,
It is input to the arithmetic circuit 160 of the control circuit 154. Then, the arithmetic circuit 160 outputs a control signal corresponding to the tilt angle signal θ _X to the step motor drive circuit 16, and the step motor drive circuit 162 drives the step motor 84a constituting the first center of gravity control section 78. .

Here, the first center of gravity control unit 78, as shown in FIGS. 4 and 5, has a weight M _X which moves along the X-axis by a stepper motor 84a, the weight M _X The movement compensates the tilting movement of the horizontal stabilizer 14 around the X axis. The displacement amount x of the weight M _{X from} the equilibrium position is detected by the potentiometer 96a via the gears 100a and 102a forming the decelerator, and the detection signal is sent to the A / D converter 168 via the buffer amplifier 166. Is entered. A / D converter 168
Converts the detection signal into a digital signal and feeds it back to the arithmetic circuit 160 as a displacement signal x from the equilibrium position of the weight M _X. Based on this displacement signal x, the arithmetic circuit 160 outputs a predetermined control signal to the step motor drive circuit 162 again so that the inclination angle signal θ _X from the first inclination detection means 74 becomes 0, and drives the step motor 84. Control.

Similarly, the second inclination detecting means 76 detects the inclination angle of the horizontal stabilizing base 14 about the Y axis. That is, the magnet 176
Tilt signal signal outputted from the Wheatstone bridge 180 by the displacement through the differential amplifier 184 theta _Y as A /
Input to the D converter 158. The tilt signal θ _Y input to the A / D converter 158 is digitally converted and then input to the arithmetic circuit 160 of the control circuit 154. Then, the arithmetic circuit 160
Outputs a control signal according to the tilt signal θ _Y to the step motor drive circuit 164.
This drives the step motor 84b of the second center-of-gravity control unit 80. In this case, the step motor 84b displaces the weight M _Y along the Y axis via the belt 94b. This movement of the weight M _Y compensates for the tilting motion of the horizontal stabilizer 14 around the Y axis. Note that the displacement amount y of the weight M _{Y from} the equilibrium position is the speed reducer.
It is detected by the potentiometer 96b via the gears 100a and 102b constituting the 165, and the detection signal is input to the A / D converter 172 via the buffer amplifier 170. The A / D converter 172 digitally converts the detection signal and feeds it back to the arithmetic circuit 160 as a displacement signal y from the equilibrium position of the weight M _Y. Based on this displacement signal y, the arithmetic circuit 160 outputs a control signal to the step motor drive circuit 164 again so that the tilt signal θ _Y from the second tilt detection means 76 becomes 0, and drives and controls the step motor 84b.

As described above, the horizontal stabilizer 14 is provided with the center of gravity position control mechanism 20.
By moving the weights M _X and M _Y at, the force is restored to the horizontal state. In this case, the horizontal stabilizer 14
As shown in FIG. 10, it is returned to the horizontal state substantially linearly along the curve II without precession in a spiral shape.
Therefore, the horizontal stabilizer 14 caused by the disturbance from the moving body
Upsets will be quickly compensated.

The feedback control based on the position movement of the weights M _X and M _Y is preferably given by a first-order delay system. That is, as shown in FIG. 11, the displacements of the weights M _X and M _{Y from} the equilibrium position O are x and y, respectively, and the first and second inclination detecting means are provided.
If the tilt signals from 74 and 76 are θ _X and θ _Y , the displacement x,
Laplace transform for variable s of y, X (s), Y (s)
Is Is expressed as Here, Θ _X (s) and Θ _Y (s) are Laplace transforms of the tilt signals θ _X and θ _Y , k is a proportional constant, and a is a time constant. Therefore, when the control torques of the weights M _X and M _Y around the X axis and around the Y axis are τ _x and τ _y , their Laplace transforms T _x
(S) and T _y (s) are approximately Is expressed as Here, g represents gravitational acceleration. In this case, the equations (4) and (5) show the low-pass characteristic, and the low frequency characteristic generated in the horizontal stabilizer 14 can be effectively compensated by setting the time constant a to a predetermined value. It will be possible.
As a result, the high-frequency characteristic of the vibration caused by the disturbance of the horizontal stabilizing base 14 is compensated by the gyro effect of the flywheel mechanism 18, and the low-frequency characteristic is effectively compensated by the center-of-gravity position control mechanism 20.

As described above, according to the present invention, the directional antenna is supported on the horizontal stabilizing base whose movement is suppressed by the gyro effect of the flywheel, and the movement of the moving body such as a ship on which the directional antenna is mounted is shaken. The tilt detecting means detects tilting of the horizontal stabilizing table, and the center of gravity of the horizontal stabilizing table including the directional antenna is forcibly moved to compensate for the tilting of the horizontal stabilizing table. ing. Therefore, even when the directional antenna is subjected to disturbance such as shaking of a moving body, it is possible to always accurately and accurately point the communication satellite. Therefore, according to this antenna device, there is an advantage that high-precision communication is always possible.

Further, unlike the conventional case, the precession of the horizontal stabilizer caused by the swing of the moving body is not returned to the horizontal state by the gravity action of the physical pendulum, but the precession is forcibly reduced by moving the center of gravity. Therefore, the horizontal stabilizer can be returned to the horizontal state extremely quickly. Therefore, for example, even when the disturbance applied to the horizontal stabilizer has a complicated frequency characteristic ranging from high frequency to low frequency, the inclination angle of the horizontal stabilizer can be suppressed to the minimum and the moving body It is possible to provide an antenna device that is not affected by fluctuations of the antenna.

Although the present invention has been described with reference to the preferred embodiments, the present invention is not limited to these embodiments, and various improvements and design changes can be made without departing from the scope of the present invention. Of course.

[Brief description of drawings]

1 is a perspective view showing a main body of an antenna device according to the present invention, FIG. 2 is a plan view showing a main body of the antenna device according to the present invention, and FIG. 3 is an antenna support mechanism of the antenna device according to the present invention. FIG. 4 is a perspective view showing the configuration of the center of gravity position control mechanism of the antenna device according to the present invention. FIG. 5 is an internal configuration diagram of the center of gravity position control mechanism of the antenna device according to the present invention. FIG. 7 is a configuration block diagram showing an attitude control system in the antenna device according to the present invention, FIG. 7 is a configuration block diagram showing an elevation angle control unit and an azimuth angle control unit in the attitude control system in the antenna device according to the present invention, and FIG. FIG. 7 is a block diagram of the arithmetic circuit shown in FIG. 7, FIG. 9 is a block diagram showing a configuration of a motion compensation unit of an attitude control system in the antenna device according to the present invention, and FIG. Description shows the upset compensation operation diagram, FIG. 11 is an explanatory diagram showing a compensation principle of gravity position control mechanism in the antenna according to the present invention. 10 …… Main body, 12 …… Directional antenna 14 …… Horizontal stabilizer, 16 …… Antenna support mechanism 18 …… Flywheel mechanism, 20 …… Center of gravity position control mechanism 24 …… Post, 36 …… Azimuth axis 38 ...... Azimuth control motors 48a, 48b …… Elevation axis, 56 …… Elevation control motor 66 …… Flywheel rotation motor 70 …… Flywheel, 74,76 …… Inclination detection means 78,80 …… Center of gravity Control unit 84a, 84b ...... Step motor 96a, 96b ...... Potentiometer 104 ...... Elevation angle control unit, 106 ...... Vibration compensation unit 108 ...... Azimuth control unit, 110, 114, 154 ...... Control circuit M _X , M _Y ...... Weight

Claims (6)

[Claims] 1. An antenna device having a directional antenna, which is mounted on a swinging moving body such as a ship, and a horizontal stabilizer for supporting the directional antenna, and rotatable about an X axis. It has a 1st support body and a 2nd support body which can be rotated around the Y-axis pivotally supported by the said 1st support body, and the said horizontal stabilizer can be tilted with respect to the said moving body. A gimbal support mechanism that supports the flywheel mechanism, a flywheel mechanism that suppresses tilting of the horizontal stabilizer due to disturbance, a first tilt detection unit that detects a tilt of the horizontal stabilizer around the X axis, and a Y of the horizontal stabilizer. A second tilt detecting section for detecting tilt about the axis, and tilt detecting means for detecting tilt of the horizontal stabilizing table due to disturbance; and in the X-axis direction based on a detection signal from the first tilt detecting section. First center-of-gravity position moving means for moving the center-of-gravity position, and the second tilt A center-of-gravity position control mechanism for moving the center-of-gravity position in the Y-axis direction based on a detection signal from the detection unit, the center-of-gravity position control mechanism controlling movement of the center-of-gravity position based on the amount of tilt of the horizontal stabilizer. An antenna device comprising: 2. The antenna device according to claim 1, wherein the horizontal stabilizer is configured to be rotatable in an XY plane with respect to the gimbal support mechanism by an azimuth angle control mechanism. 3. The antenna device according to claim 1, wherein the gimbal support mechanism is configured to be rotatable in the XY plane with respect to the moving body by an azimuth angle control mechanism. 4. The antenna device according to claim 1, wherein the directional antenna is configured to be rotatable within a vertical plane with respect to a horizontal stabilizer by an elevation angle control mechanism. 5. The antenna device according to claim 1, wherein the flywheel mechanism comprises a flywheel having a spin vector orthogonal to a horizontal stabilizer and rotating at high speed. 6. The apparatus according to claim 1, wherein the first center-of-gravity position moving means has a weight M _X which moves along the X axis by a step motor, while the second center-of-gravity position moving means. Is an antenna device having a weight M _Y that moves along the Y axis by a step motor.