动态跟踪条件下船载ACU双机平稳切换功能的实现

Implementation of Dual-server Smooth Switching for Shipborne ACU Under Dynamic Tracking Condition

摘要:

天线控制单元(Antenna Control Unit, 简称ACU)作为船载天线伺服系统的主要组成部分,已实现ACU双机热备份,但在天线跟踪目标过程中进行切换会产生较大阶跃,可能造成跟踪目标的丢失,削弱了热备份的功能实现。针对该情况,阐述了跟踪环和主备机切换的工作原理,分析了产生阶跃的原因,提出一种实现动态跟踪条件下ACU双机平稳切换的方法,此方法采用记忆跟踪的方式进行过渡,实现切换周期内天线的速度指令不发生突变,使天线稳定跟踪,实验结果表明,最大误差电压不超过0.08V,有效提高了设备的可靠性。

Abstract:

The antenna control unit(ACU) is one of the major constituent parts of shipborne antenna servo system. At present, the dual-server hot-backup technology has been applied to ACU, but the switching between the host and the backup would cause larger step change during the process of dynamic tracking and it could bring about the loss of tracked-target, which would result in the weakness of hot-backup function. To this point, this paper represents the working principle of auto-tracking loop and host-backup switching and analyses the reason of step change. Then an novel approach is presented to realize the smooth switching of ACU under dynamic tracking condition via memory tracking in order to accomplish the continuous output of speed command to antenna within switching period, by which the antenna could track the target stably. The results of experiments indicate that the maximal error voltage is less than 0.08V, and it enhances the reliability of facility effectively.