JPS62190902A - Antenna system - Google Patents

Abstract

PURPOSE:To return a horizontal stable table into a horizontal state speedily and to maintain the transmission/reception direction of a directional antenna with high accuracy by installing the directional antenna on the horizontal stable table, and detecting the quantity of inclination of the horizontal stable table due to disturbance from a moving and controlling the movement of the position of the center of gravity on the basis of the detected quantity of inclination. CONSTITUTION:The directional antenna 12 is supported on the horizontal stable table 14 whose fluctuations are suppressed by the gyro effect of a flywheel 18 and the inclination of the horizontal stable table 14 which slants by fluctuations of the moving body such as a ship where the directional antenna 12 is mounted is detected by inclination detecting means 74 and 76 to move the gravity center position of the horizontal stable table including the directional antenna 12 forcibly, thereby compensating the inclination of the horizontal stable table 14. Consequently, even if the directional antenna 12 is disturbed by fluctuations of the moving body, etc., the antenna can be directed accurately to a communication satellite all the time. Thus, a high-accuracy communication is made through this antenna system.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an antenna device, and more particularly, the present invention relates to an antenna device in which a directional antenna used for satellite communication, etc. is mounted on a moving body that oscillates, such as a ship or an aircraft. The directional antenna is supported on a horizontal stabilizer that is configured to be tiltable, and the amount of tilt of the horizontal stabilizer is detected to control the movement of the center of gravity of the antenna device, so that the movement of the moving body can be controlled. The present invention relates to an antenna device capable of effectively compensating for fluctuations in a directional antenna due to disturbances.

Satellite communication, which uses artificial satellites as a medium to communicate between radio stations on the earth, allows for stable and high-quality communication compared to other communication methods, and it is also easy to communicate with mobile objects such as ships and aircraft. Therefore, it has become widely used in recent years.

By the way, directional antennas are installed at radio stations on the earth for the purpose of transmitting and receiving signals, but the direction of these directional antennas must be controlled so that they are always pointed at communication satellites. Therefore, an antenna device mounted on a moving object such as a ship is equipped with a tracking mechanism that makes the directional antenna track the communication satellite, and also compensates for the oscillation caused by rolling or pitching of the moving object, and the directional antenna A vibration compensation mechanism is also installed to maintain the horizontal position. Here, as a tracking mechanism, for example, a monopulse method is known, which detects an azimuth error using a single pulse radio wave, corrects the azimuth, and tracks a communication satellite.

On the other hand, as a vibration compensation mechanism, for example, the directional antenna is installed via a horizontal stabilizer on a support mechanism configured to be rotatable around two wheels perpendicular to each other, and the gyroscopic effect due to the rotation of the flywheel and the physical pendulum A method is known in which the tilting of a horizontal stabilizer is compensated for by the damping effect of .

Here, in the frictional force of the rotating shaft in the support mechanism, a frictional torque is generated in the horizontal stabilizing table due to the shaking of the moving body, various vibrations, etc. This frictional torque acts to cause preset on the horizontal stabilizer due to the gyroscopic effect of the flywheel. In this case, the preset 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 state.

However, in this type of sway compensation system using a combination of a flywheel and a physical pendulum, the horizontal stabilizer that has received a disturbance moves in a spiral until it returns to the horizontal state, so it is difficult for the horizontal stabilizer to become stable. The drawback is that it takes a long time. In addition, the frictional force of the support mechanism that supports the horizontal stabilizer, Coriolis caused by the rotation of the earth, and the acceleration generated when moving objects □
If the horizontal stabilizing platform tilts in one direction or its oscillation period becomes complicated, it becomes impossible to maintain the horizontal stabilizing platform in a horizontal state only by the gravitational acceleration of the physical pendulum.

The present invention has been made in order to overcome the above-mentioned disadvantages, and the present invention has been made in order to overcome the above-mentioned disadvantages. ! In the installed antenna device, a directional antenna is installed on a horizontal stabilizer that can maintain a horizontal state, detects the amount of tilt of the horizontal stabilizer due to disturbance from the moving object, and determines the center of gravity position based on the amount of tilt. An object of the present invention is to provide an antenna device capable of quickly returning the horizontal stabilizer to a horizontal state by controlling the movement of the horizontal stabilizer, and maintaining the transmission/reception direction of the directional antenna with high precision.

In order to achieve the above object, the present invention provides an antenna device having a directional antenna and mounted on an oscillating moving object such as a ship, which includes: a horizontal stabilizer supporting the directional antenna; and a horizontal stabilizer supporting the directional antenna. a support mechanism that tiltably supports the horizontal stabilizer with respect to the moving body, a flywheel mechanism that suppresses the tilting of the horizontal stabilizer due to disturbance, a tilt detection means that detects the tilt of the horizontal stabilizer due to the disturbance, and the tilting The present invention is characterized by comprising a center of gravity position control mechanism that controls the movement of the center of gravity position based on the amount.

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

In FIGS. 1 and 2, the reference numeral IO indicates the main body of the antenna device according to the present invention, and this main body 10 is suitable for use in moving bodies with shaking such as ships. ! 2.

Here, the main body 10 includes a directional antenna 12 that always points the transmitting and receiving surface toward the communication satellite, a horizontal stabilizer 14 that maintains a horizontal state, and a horizontal stabilizer 14 that rotates around the X-axis and Y-axis in the horizontal plane. Basically, it consists of an antenna support mechanism 16 that supports the antenna in a movable state, a flywheel mechanism 18 that suppresses the tilting of the horizontal stabilizer 14 due to disturbance, and a center of gravity position control mechanism 20 that controls the center of gravity position of the main body IO. configured.

Therefore, the lower end of a column 24 is fixed on a base 22 fixed to a moving body such as a ship, and the antenna support mechanism 16 is disposed on the upper end of this column 24.

The antenna support mechanism 16, as shown in FIG.
4, a substantially U-shaped first support frame 26 fixed to the upper end of the fourth support frame 26, and a second support supported rotatably around the Y axis by the first support frame 26 via a roll shaft 28. It is composed of a frame 30 and a connecting table 34 rotatably supported by the second support frame 30 via a pitch axis 32 around the X axis. A lower end portion of an azimuth shaft 36 oriented in the Z-axis direction is attached to the connecting base 34, and the horizontal stabilizer 14 is rotatably fitted onto this azimuth shaft 36. Therefore, the horizontal stabilizer 14 has an X axis,
It is supported by the antenna support mechanism 16 in a rotatable state 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 rotating shaft 40 of the azimuth control motor 38. be done. Further, a pulley 44 is pivotally attached to the upper end of the azimuth shaft 36 that protrudes 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 around the azimuth axis 36 under the driving action of the azimuth angle control motor 38.

On the other hand, one end portions of elevation shafts 48a and 48b extending in the horizontal direction are fixed to both sides of the horizontal stabilizer 14. These elevation axes 48a, 48b have parabolic surfaces and support plates 50a, 50 are connected to the directional antenna 12 pointing toward the communications satellite.
b is rotatably fitted.

A pulley 54 is attached to the other end of the elevation shaft 48a that protrudes 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 the rotating shaft 58. be done. This pulley 60 and the boo 1J54 attached to the elevation shaft 48a are connected by a belt 62. Therefore, the directional antenna 12 connected to the support plates 50a, 50b is configured to be rotatable around the elevation axes 48a, 48b under the driving action of the elevation angle control motor 56.

A mounting plate 64 is attached to the end of the elevation shaft 48a protruding from the support plate 50a via a boo IJ54.
A flywheel rotation motor 66 is attached to 4.

The rotary wheel 68 of the flywheel rotation motor 66 is Z
It extends vertically downward along the axis, and a flywheel 70 is connected to its lower end. Here, the flywheel 70
is constantly driven to rotate at high speed by the flywheel rotation motor 66, and the tilting of the horizontal stabilizer 14 is suppressed by its constant rotation effect.

On the other hand, the center of gravity position control mechanism 20 is attached to the end of the elevation axis 48b that protrudes from the support plate 50b. On the upper surface of the casing 72 constituting the center of gravity position control mechanism 20, a first inclination detection means 74 for detecting the inclination angle of the horizontal stabilizer 14 around the A second inclination detection means 76 for detecting the inclination angle of each is provided. Here, the first and second inclination detection means 74,76 are
For example, a level sensor that electrically detects the amount of deviation of the electrolyte from its equilibrium position and measures its inclination angle, or, as described later, an electrical sensor that measures the amount of deviation from the equilibrium position of a pendulum made of a magnet with respect to a magnetoresistive element. It is preferable to use a pendulum-type inclinometer or the like that detects the angle of inclination and measures the angle of inclination.

As shown in FIG. 4, inside the casing 72 of the center of gravity position control mechanism 20, a first center of gravity control section 78 and a second center of gravity control section 80 are arranged along the X-axis direction and the Y-axis direction, respectively. Ru. These first and second center of gravity control sections 78.80
have the same configuration, and as shown in FIG.
Step motors 84a, 84b are installed at one end of 2a, 82b.
are attached to the rotating shafts 86a, 86b of the step motors 34a, 84b, and Boo'Js 88a, 88b are pivoted thereon. On the other hand, support shafts 90a and 90b are rotatably attached to the other ends of the housings 82a and 82b.
, 90b, pulleys 92a, 92b are pivotally attached to the intermediate portions thereof. These pulleys 92a, 92b and the pulley 8
8a.

88b is connected by bells) 94a and 94b.

Note that weights MX and Mv are attached to the belts 94a and 94b, and are configured to be movable along the X and Y axes under the driving action of the step motors 84a and 84b. Also, a potentiometer 96a is provided in the housings 82a and 82b.
, 96b are arranged, and the potentiometers 96a, 9
Gears 100a and LO are attached to the rotating shafts 98a and 98b of 6b.
Ob is pivoted. And these gears 100a, 100
b has a gear 102a pivotally attached to support shafts 90a and 90b;
102b meshes. Therefore, the potentiometer 9
6a and 96b are weights MX that move along the X-axis and Y-axis, respectively, under the driving action of the step motors 84a and 184b.
, Mv from the equilibrium position can be detected.

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

FIG. 6 is a block diagram of the attitude control system of the antenna device according to the present invention, and this control system includes an elevation angle control section 104 that controls the elevation angle of the directional antenna 12 based on an elevation angle command value α;
a sway compensation unit 106 that compensates for the tilting of the horizontal stabilizer due to the sway of the moving body on which the antenna device is mounted and maintains its horizontal state; and a sway compensator 106 that controls the azimuth of the directional antenna based on the azimuth command value φ. It basically consists of an azimuth angle control section 10B.

The elevation angle control unit 104 supports the directional antenna 12 on the support plate 5Qa.
, 50b, a control circuit 1)0 that rotates the elevation control motor 56 around the elevation axes 48a, 48b based on the elevation command value α, and the elevation control motor 56. 56 and a potentiometer 1) 2 that detects the amount of rotation of the rotor 56 and feeds back a signal corresponding to the amount of rotation to the control circuit 1) 0.

The azimuth control unit 108 also includes an azimuth control motor 38 that rotates the directional antenna 12 around the azimuth axis 36;
A control circuit 1) 4 that rotates the azimuth angle control motor 38 based on the azimuth angle command value φ, and the azimuth angle control motor 3
a potentiometer 1 that detects the amount of rotation of 8 and feeds back a signal corresponding to the amount of rotation to the control circuit 1) 4;
)6.

Here, the control circuit 1)0.1)4 is configured as shown in FIG. 7, for example. That is, control circuits 1) 0 and 1) 4 include an arithmetic circuit 1) 8 that outputs a command signal based on an elevation command value α and an azimuth command value φ, and a D/A converter 120 that converts the command signal into an analog signal. and 122, and servo amplifiers 124 and 126 that drive the elevation angle control motor 56 and the azimuth angle control motor 38 in accordance with the analog signal. In this case, the amount of rotation of the elevation angle control motor 56 is detected by the potentiometer 1) 2 via the decelerator 128 constituted by the pulley 54, 60, and the detection signal is sent to the buffer amplifier 130 and the A
The elevation angle detection signal αa is fed back to the arithmetic circuit 1) 8 via the /D converter 132. Similarly, the rotation angle of the azimuth angle control motor 38 is detected by the potentiometer 1)6 via a decelerator 134 consisting of a booster 1J42.44, and the detection signal is sent via a buffer amplifier 136 and an A/D converter 138. is configured to feed back to the arithmetic circuit 1) 8 as an azimuth angle detection signal φa.

It is preferable that the arithmetic circuit 1)B is constituted by, for example, a microprocessor shown in FIG. That is, the arithmetic circuit 1)B has an elevation angle command value α and an elevation angle detection signal α.
a, an azimuth angle command value φ, and an input port 140 to which the azimuth angle detection signal φa are supplied, a ROM 144 that stores a predetermined calculation program, and a RAM 146 that stores data of the elevation angle command value α and the azimuth angle command value φ. and ROM
The CPU 14B includes a CPU 14B that performs input/output control and calculations according to the calculation program stored in the CPU 144, and an output port 149 that supplies the calculation results to the D/A converters 120 and 122. Here, in the CPU 14B, A
The deviation between the feedback signals αa and φa from the /D converters 132 and 138 and the elevation angle command value α and azimuth angle command value φ is calculated, and the elevation angle control signal αe and azimuth angle control signal φe related to the deviation are output. 49.

On the other hand, in FIG. 6, the oscillation compensator 106 includes a flywheel mechanism 18 that suppresses the tilting of the horizontal stabilizer 14 by a gyroscopic effect, and a center of gravity position control that compensates for the tilt of the horizontal stabilizer 14 caused by the oscillation of the moving body. It is composed of a mechanism 20. The center of gravity position control mechanism 20 includes first and second inclination detection means 74,76 for detecting the inclination angle of the horizontal stabilizer 14, and the first and second inclination detection means 74.76.
Depending on the inclination angle detected by 76, the weights MX, M
Step motors 84a and 84b that displace the position of Y, a control circuit 154 that drives and controls the step motors 84a and 84b, and detects the amount of deviation of the weights M, MV from the equilibrium position and feeds it back to the control circuit 154. It is composed of potentiometers 95a and 96b.

Here, the control circuit 154 is configured as shown in FIG. That is, the control circuit 154 controls the A/D converter 156.15B from the first and second slope detection means 74.76.
The tilt angle signal θ of the horizontal stabilizer 14 is supplied via the
an arithmetic circuit 160 for arithmetic processing of θV; and the arithmetic circuit 1
step motor drive circuits 162 and 164 that drive step motors 84a and 84b based on data arithmetic-processed by step motor 60; In this case, step motor 8
The amount of displacement X of the weight MX from the equilibrium position displaced by the weight MX is detected by the potentiometer 96a via the reducer 163 consisting of gears 100a and 102a, and the detection signal is sent via the buffer amplifier 166 and the A/D converter 168. It is fed back to the arithmetic circuit 160. Similarly, the displacement 1y of the weight MY displaced by the step motor 84b from the equilibrium position is determined by the gear 100b,
It is detected by potentiometer 96b via decelerator 165 consisting of 102b, and the detection signal is fed back to arithmetic circuit 160 via buffer amplifier 170 and A/D converter 172.

In this case, the arithmetic circuit 160 is the control circuit 1)0 described above.
．． Similarly to the arithmetic circuit 1) 8 constituting 1) 4, it is preferable to configure it using the microprocessor shown in FIG. That is, in FIG. 8, the input port 140 is supplied with tilt angle signals θ8, θ from the first and second tilt detection means 74, 76, and the A/D converter 1
Displacement signals x, y from 6B, 172 are supplied. On the other hand, in the CPU 14B, the tilt angle signals θ8 and θ7 and the displacement signals x and y are processed based on a predetermined relationship,
The calculation result is output to output port 149.

Note that the first and second i#4 skew detection means 74 and 76 are as follows:
For example, a magnet suspended in the direction of gravity)17
4.176 and Wheatstone bridges 17B and 180 including magnetoresistive elements. In other words, in the Wheatstone bridge 178 and 180, the resistance elements RX%Rv on two adjacent sides are composed of magnetoresistive elements, and these resistance elements R, , RV and the resistance elements R on the other two sides
,,R.

The input terminal of the differential amplifier 1B2.184 is connected between the two. Here, when the magnets 174 and 176 are located at the connection point of the magnetoresistive elements Rx and Rv, that is, when the first and second tilt detection means 74 and 76 are not tilted with respect to the Y axis and the Y axis, The magnetoresistive element RX
, Rv are set to be equal. Further, the other two resistance elements R+ and Rz are set equally. The output terminals of the differential amplifiers 182 and 184 are connected to the A/D converter 156 and 15B.

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

First, the elevation angle control and azimuth angle control for directing the directional antenna 12 toward the communication satellite will be explained.

Elevation angle control of the directional antenna 12 is performed in an elevation angle control section 104 shown in FIG. That is, control circuit 1)0
The elevation angle of the communication satellite with respect to the horizontal plane is input as the elevation angle command value α. In this case, the control circuit 1)0 is constructed as shown in FIGS. 7 and 8. Therefore, the elevation command value α input to the CPU 14B via the input port 140 of the arithmetic circuit 1)B is temporarily stored in the RAM 146.

The elevation angle command value α stored in the RAM 146 is determined by the CPU 1 based on the program stored in the ROM 144.
48, and D as the elevation angle control signal αe.
/A converter 120. The D/A converter 120 converts the elevation control signal αe into an analog signal and then outputs it to the servo amplifier 124, which in turn controls the elevation control motor 5 based on the elevation control signal αe.
6 by a predetermined amount. In this case, the elevation angle control motor 56
is the pulley 5 that constitutes the decelerator 128 via the belt 62
It acts to rotate 4. Here, the pulley 54 is pivotally attached to the elevation axis 48a. Therefore, the elevation angle control motor 56 rotates about the elevation axis 48a due to the rotation of the rotating shaft 58.

As a result, the directional antenna 12 has support plates 50a and 50b.
is rotated by an angle corresponding to the elevation angle command value α.

Note that the directional antenna 1 with respect to the elevation axes 48a and 48b
The rotation angle of 2 is detected by potentiometer 1) 2, and the detection signal is sent to A/2 through a buffer amplifier 130.
The signal is input to the D converter 132. A/D converter 1
32 digitally converts the detection signal to obtain an elevation angle detection signal α
A is fed back to the arithmetic circuit 1)8. The CPU 14B of the calculation circuit 1) 8 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 to the D/A converter 122 via the output port 149 again as the elevation angle control signal αe. do. 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. In this way, 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 12 with respect to the communication satellite is controlled by an azimuth angle control section 108.

That is, the azimuth command value φ input to the control circuit 1)4
is output to the D/A converter 122 as the azimuth angle control signal φe via the arithmetic circuit 1) 8, as in the case of elevation angle control. The D/A converter 122 receives the azimuth angle control signal φ
After converting the signal e into analog, it is output to the servo amplifier 126, and the servo amplifier 126 drives the azimuth control motor 38 mounted on the horizontal stabilizer 14. In this case, the azimuth angle control motor 38 acts to rotate the pulley 44 that constitutes the decelerator 134 via the belt 46.

Here, the pulley 44 is pivotally attached to the azimuth shaft 36 fitted to the horizontal stabilizer 14. Therefore, the horizontal stabilizer 14 rotates around the azimuth axis 36 by the rotational action of the azimuth angle control motor 38.
It comes to revolve around. As a result, the directional antenna 12 is rotated by an angle corresponding to the standard angle command value φ.

Note that the rotation angle of the directional antenna 12 is detected by the potentiometer 1) 6, and the detection signal is input to the A/D converter 138 via the buffer amplifier 136. The A/D converter 138 digitally converts the detection signal and feeds it back to the arithmetic circuit 1) 8 as an azimuth detection signal φa. The CPU 14B of the arithmetic circuit 1)8 is R
The difference between the azimuth angle command value φ stored in the AM 146 and the azimuth angle detection signal φa is calculated, and the difference is sent to the D/A converter 12 via the output port 149 again as the azimuth angle control signal φe.
Output to 2. Then, the azimuth angle control signal φe converted into analog by the D/A converter 122 drives the azimuth angle control motor 38 by the servo amplifier 126, and adjusts the azimuth angle 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 elevation angle and azimuth angle of the directional antenna 12 are set to predetermined values, and the directional antenna 12 is correctly directed toward the communication satellite.

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

The horizontal stabilizer 14 is supported by an antenna support mechanism 16 shown in FIG. 3 so as to be rotatable about the Y-axis and the Y-axis. This horizontal stabilizer 14 has an elevation axis 48.
A flywheel mechanism 18 is connected via a.

Here, the flywheel mechanism 18 has a flywheel 70 that is constantly rotated at high speed by a flywheel rotation motor 66. is set to . Therefore, the tilting of the horizontal stabilizer 14 with respect to the horizontal plane is suppressed by the gyroscopic effect of the flywheel 70.

Here, in the antenna device according to the present invention, the main body portion 10 is placed on a moving object that oscillates, such as a ship. Therefore, a case is assumed in which the moving body is oscillating due to rolling, pitching, or the like. In this case, the horizontal stabilizer 14 is affected by the frictional force between the roll shaft 28 and the first support frame 26 that constitute the antenna support mechanism 16 and the pitch axis 3.
Frictional torque is applied by the frictional force between 2 and the second support frame 30. Therefore, when the moving body oscillates, the horizontal stabilizer 14 performs preset around the Z axis due to the gyroscopic effect caused by the rotation of the flywheel 70. The angular velocity Ω of this preset is approximately expressed as Ω嬌□ (1) where T is the friction torque ordered to the antenna support mechanism 16 and H is the angular momentum of the flywheel 7o. Here, the angular motion iH of the flywheel 70
If is sufficiently large, the preset angular velocity Ω becomes small. The gyro effect caused by the flywheel 70 causes the horizontal stabilizer 14 to move to the first position as the friction torque T decreases due to disturbance.
It acts to spirally return to the horizontal state along the curve I shown in the θ diagram.

On the other hand, a gravity center position control mechanism 20 is attached to the horizontal stabilizer 14 via an elevation axis 48b. Therefore, when the horizontal stabilizer 14 tilts due to the movement of the moving body, the first and second tilt detection means 74 disposed in the center of gravity position control mechanism 20
．． 76 detects the amount of inclination.

That is, in FIG. 9, when the horizontal stabilizer 14 tilts around the Y axis, the magnet 174 constituting the first inclination detection means 74 is displaced from the connection point between the magnetoresistive elements RX and RV, and the magnetoresistive element The resistance values of Rx and R vary. Therefore, the Wheatstone bridge 178 is displaced from the equilibrium state, and the differential amplifier 182 is
A tilt angle signal θ8 corresponding to the tilt angle around the axis is output.

This tilt angle signal θ8 is converted into a digital signal by the A/D converter 156 and then 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 θ8 to the step motor drive circuit 162.
2, the step motor 84a constituting the first) heart control section 78 is driven.

Here, as shown in FIGS. 4 and 5, the first center of gravity control section 78 has a weight M that is moved along the Y axis by a step motor 84a. The tilting movement of the horizontal stabilizer 14 about the X-axis is compensated. Incidentally, the displacement amount X of the weight Mx from the equilibrium position is detected by the potentiometer 96a via the gears 1ooa and 102a constituting the decelerator, and the detection signal is sent to the A/D converter 1 via the buffer amplifier 166.
68 will be man-powered. The A/D converter 168 digitally converts the detection signal and feeds it back to the arithmetic circuit 160 as a displacement signal X of the weight Mx from its equilibrium position. Based on this displacement signal do.

Similarly, the second inclination detection means 76 detects the inclination angle of the horizontal stabilizer 14 about the Y-axis. That is, the signal output from the Wheatstone bridge 180 due to the displacement of the magnetic eye 76 is converted to the slope signal θ via the differential amplifier 184.
7 and is input to the A/D converter 158. A/D
The slope signal θ, which is input manually to the converter 158, is digitally converted and then input to the arithmetic circuit 160 of the control circuit 154. The arithmetic circuit 160 outputs a control signal corresponding to the inclination signal θ to the step motor drive circuit 164, and the step motor 84b of the second center of gravity control section 80 is driven by the step motor drive circuit 164. In this case, the step motor 84b displaces the weight My along the Y axis via the belt 94b. This movement of the weight Mv compensates for the tilting movement of the horizontal stabilizer 14 around the Y axis. Note that the displacement y of the weight Mv from the equilibrium position is detected by the potentiometer 96b via the gears 10Qb and 102b that constitute the decelerator 165, and the detection signal is input to the A/D converter 172 via the buffer amplifier 170. be done. The A/D converter 172 digitally converts the detection signal and feeds it back to the arithmetic circuit 160 as a displacement signal y of the weight Mv from its equilibrium position.

Based on this displacement signal y, the arithmetic circuit 160 again controls the step motor drive circuit 164 so that the inclination signal θ7 from the second inclination detection means 76 becomes 0. ljt signal is output to drive and control the step motor 84b.

As described above, the horizontal stabilizer 14 is forcibly returned to the horizontal state by moving the weights MX, M in the center of gravity position control mechanism 20. In this case, as shown in FIG. 10, the horizontal stabilizer 14 is returned to the horizontal state substantially linearly along the curve (2) without spirally presetting. Therefore, the oscillation of the horizontal stabilizer 14 caused by the disturbance from the moving object is quickly compensated for.

Note that the feedback control based on the positional movement of the weights MX and My is preferably provided by a -order lag system.

That is, as shown in FIG.
In this case, the Laplace transform for the variable S of the displacements x and y, X (s) and Y (s), are expressed as follows. Here, θx(s) and θv(S) are Laplace transforms of the slope signals θ8 and θ, k is a proportionality constant, and a is a time constant. Therefore, around the X axis of the weight Mv and Y
When the control torque around the axis is τ8, τ, the Laplace transform Tx(s), T, (s) is proximally Tx(s) = −My' g−Y(s)Tv( s)
It is expressed as #MX-g-X(s). Here, ji indicates gravitational acceleration.

In this case, equations (4) and (5) indicate low-pass characteristics, and by setting the time constant a to a predetermined value, it is possible to effectively compensate for the low frequency characteristics occurring in the horizontal stabilizer 14. It becomes possible. As a result, among the vibrations of the horizontal stabilizer 14 due to disturbance, high frequency characteristics are compensated by the gyroscopic effect of the flywheel mechanism 18, and low frequency characteristics are effectively compensated by the center of gravity position control mechanism 20.

As described above, according to the present invention, a directional antenna is supported on a horizontal stable platform whose oscillation is suppressed by the gyroscopic effect of the flywheel, and the directional antenna is supported by a horizontal stabilizer whose oscillation is suppressed by the oscillation of a moving body such as a ship on which the directional antenna is mounted. The tilting of the horizontal stabilizer is detected by a tilt detection means, and the center of gravity of the horizontal stabilizer including the directional antenna is forcibly moved to compensate for the tilt of the horizontal stabilizer. ing. Therefore, even if the directional antenna is subject to disturbances such as the movement of a moving object, it can always be accurately directed to the communication satellite. Therefore, this antenna device has the advantage that highly accurate communication is always possible.

Furthermore, instead of returning the preset of the horizontal stability platform to the horizontal state by the gravitational action of the physical pendulum, which is caused by the oscillation of the moving object, as in the past, the preset is forcibly erased by the movement of the center of gravity. Therefore, the horizontal stabilizer returns to the horizontal state extremely quickly. Therefore, for example, even if the disturbance applied to the horizontal stabilizer has complex frequency characteristics ranging from high to low frequencies, the tilt angle of the horizontal stabilizer can be suppressed to a minimum, and the moving object It becomes possible to provide an antenna device that is not affected by fluctuations in the air and the like.

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

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the main body of the antenna device according to the present invention, FIG. 2 is a plan view showing the 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 of 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, and FIG. FIG. 7 is a configuration block diagram showing an attitude control system in an antenna device according to the present invention; FIG. 7 is a block diagram of the arithmetic circuit, FIG. 9 is a block diagram showing the configuration of the oscillation compensation section of the attitude control system in the antenna device according to the present invention, and FIG. FIG. 1) is an explanatory diagram showing the compensation principle of the gravity center position control mechanism in the antenna according to the present invention. DESCRIPTION OF SYMBOLS 10... Main body part 12... Directional antenna 14... Horizontal stabilizer 16... Antenna support mechanism 18... Flywheel mechanism 20... Center of gravity position control mechanism 24... Support column 36...・Azimuth axis 38...
- Azimuth angle control motors 48a, 48b...Elevation angle axis 56...Elevation angle control motor 66...Flywheel rotation motor 70...
Flywheel 74.76...Inclination detection means 78.
80... Center of gravity control section 84a, 84b... Step motor 95a, 96b... Potentiometer 104... Elevation angle control section 106... Sway compensation section 108... Azimuth angle control section 1) 0.1) 4.154...Control circuit MX
, Mv... Weight FIG, 1 FIG, 3 1

Claims (9)

[Claims] (1) In an antenna device that has a directional antenna and is placed on an oscillating moving body such as a ship, there is a horizontal stabilizer that supports the directional antenna, and the horizontal stabilizer is tiltable with respect to the moving body. a support mechanism that supports the horizontal stabilizer, and a flywheel mechanism that suppresses tilting of the horizontal stabilizer due to external disturbances.
An antenna device comprising: tilt detection means for detecting tilting of the horizontal stabilizer due to disturbance; and a center of gravity position control mechanism for controlling movement of the center of gravity based on the amount of the tilt. (2) In the device according to claim 1, the support mechanism includes a first support that is rotatable around the X-axis, and a first support that is pivotally supported by the first support and rotatable around the Y-axis. and a second supporting body, the antenna device comprising a horizontal stabilizer supported by the second supporting body. (3) An antenna device according to claim 1, wherein the horizontal stabilizer is configured to be rotatable within the X-Y plane with respect to the support mechanism by an azimuth angle control mechanism. (4) An antenna device according to claim 1, wherein the support mechanism is configured to be rotatable within the X-Y plane with respect to the moving body by an azimuth angle control mechanism. (5) An antenna device according to claim 1, wherein the directional antenna is configured to be rotatable in a vertical plane relative to a horizontal stabilizer by an elevation angle control mechanism. (6) The antenna device according to claim 1, wherein the flywheel mechanism is a flywheel that rotates at high speed and has a spin vector orthogonal to the horizontal stabilizer. (7) In the device according to claim 1, the inclination detection means is a first
An antenna device comprising: a tilt detecting section; and a second tilt detecting section that detects a tilt of a horizontal stabilizer about the Y-axis. (8) In the device according to claim 7, the center of gravity position control mechanism includes a first center of gravity position moving means for moving the center of gravity position in the X-axis direction based on a detection signal from the first inclination detector; 2. An antenna device comprising a second center of gravity position moving means for moving the center of gravity position in the Y-axis direction based on a detection signal from a two-inclination detection section. (9) In the device according to claim 8, the first
The center of gravity position moving means has a weight M_x that is moved along the X axis by a step motor, and the second center of gravity position moving means is an antenna that has a weight M_y that is moved along the Y axis by a step motor. Device.