EP2445052A1 - Triaxial positioner for an antenna - Google Patents

Abstract

The positioner (P) has an axis comprising a fixed frame (1) on which a turntable (2) is mounted. An electric collector is provided with a gear motor (4). Another axis has a support cradle (8) of antenna (12) and semi-circular guiding rings, where the former and the latter axes assure movement of antenna in azimuth and elevation respectively. A rotation axis or cross-elevation axis has a support of pivot rollers and another gear motor (7). The cross-elevation axis is inserted in an orifice of fixed frame, and forms an angle with the former axis, where the angle ranges between 20 and 70 degrees.

Description

The object of the present invention relates to a compact 3-axis positioner for an antenna intended to be positioned for example on a naval carrier, aircraft, or a submarine, the antenna being disposed in a volume of given dimension or in a confined volume.

The invention applies in particular in the field of satellite communications from a moving carrier, for example, boats, submarines, drones, etc. thanks to the positioner system according to the invention having a servo of the pointing direction of the antenna on the target satellite.

In the description, the word "elevation angle" is the angle between the horizontal plane and the line from an aircraft to a target object above the horizon. This angle is counted positively when the marked object is above the indicated horizontal plane, negatively in the opposite case. The azimuth angle is the horizontal angle between the direction of an object and a reference direction. Cross-elevation refers to the rotation of the antenna around a third axis in a plane perpendicular to the elevation axis. This cross-elevation axis is used to eliminate the existing singular point when the antenna points to the zenith.

• Un premier axe Aα assurant le mouvement de l'antenne en azimut,
• Un deuxième axe de rotation Aβ ou axe de cross-élévation,
• Un troisième axe Aγ assurant le mouvement de l'antenne en élévation.

We also define:

• A first axis Aα ensuring the movement of the antenna in azimuth,
• A second axis of rotation Aβ or cross-elevation axis,
• A third axis Aγ ensuring the movement of the antenna in elevation.

• Assurer un pointage continu et précis de l'antenne en direction du satellite,
• Permettre un pointage hémisphérique sans point singulier,
• Conserver la visée de l'antenne en direction du satellite en prenant en compte les mouvements du porteur, tels que le roulis, le tangage, le lacet, l'effet giration du porteur,
• Disposer d'une zone de débattement d'antenne maximale afin de pouvoir conserver la visée du satellite lors de mouvements du porteur avec tangage et roulis de grande amplitude même lorsque le satellite est situé à faible élévation par rapport au porteur,
• Etre adapté aux niveaux de vibrations et de chocs mécaniques rencontrés sur les porteurs mobiles,
• Etre très compact avec un diamètre externe minimal, une hauteur réduite et un poids faible,
• Disposer d'un volume libre important sur la partie arrière de l'antenne afin de pouvoir embarquer les équipements radio-fréquence RF d'émission et/ou de réception,
• Etre simple à réaliser, à installer et à maintenir en fonctionnement.

In the field of communications using an antenna arranged on a carrier and in a confined volume, the technical problems to be solved include the following:

• Ensure a continuous and accurate pointing of the antenna towards the satellite,
• Allow hemispheric pointing without singular points,
• Keep the aim of the antenna towards the satellite taking into account the movements of the wearer, such as roll, pitch, yaw, the gyration effect of the wearer,
• Having a maximum antenna deflection zone in order to be able to maintain the aim of the satellite during movements of the carrier with pitch and roll of large amplitude even when the satellite is located at a low elevation relative to the carrier,
• To be adapted to the levels of vibrations and mechanical shocks encountered on the mobile carriers,
• Being very compact with minimal outside diameter, reduced height and low weight,
• Have a significant free volume on the rear part of the antenna in order to be able to board the RF radio transmission and / or reception equipment,
• Be simple to build, install and maintain.

To solve some of these problems, the prior art describes various positioning systems with 2 or 3 axes.

The patent application US 2002/20030631 describes a 2-axis positioner, XY mount, using a half-ring for X axis rotation.

The patent US 6198452 discloses a 3-axis positioner in which the elements ensuring the motorization of the 3 axes are superimposed with respect to each other having a large footprint in height, intersecting axes at the same point providing a revolution volume of the optimized antenna , nonorthogonal and coplanar axes with complex kinematics. Its disadvantages are to have a large footprint in height and a complex kinematics.

The patent application WO 0905363 describes a positioner 3 perpendicular axes. The azimuth and elevation axes are perpendicular. The third axis of cross-elevation concurrent with the first two is horizontal and perpendicular to the other two axes. The motor elements of the elevation and cross-elevation axes use mechanical motor assemblies / belts / pulleys arranged at the rear of the antenna. An inclined central foot and a mechanical axis at the rear of the antenna supports the motorization elements. In this case, the disadvantage of this positioner results in the complexity and size of the motor mechanical elements elements / belts / pulleys and fasteners located at the rear of the antenna. As a result, the available space at the back of the antenna is not optimized.

1. a) disposer d'un positionneur d'antenne 3 axes avec un encombrement minimal disposant :
2. b) d'une cinématique des mouvements de l'antenne s'inscrivant dans un cylindre de diamètre égal au diamètre de l'antenne montée sur le positionneur d'antenne,
3. c) d'une hauteur du système positionneur réduite,
4. d) d'une zone de pointage de l'antenne étendue, supérieure à la demi-sphère, pour permettre un pointage négatif,
5. e) de pouvoir disposer d'un espace libre maximal sur l'arrière de l'antenne pour placer des composants électroniques ou d'émission et/ou réception en RF par exemple,
6. f) d'aboutir à une conception mécanique et à une motorisation simple et compacte.

The positioners known to the Applicant do not solve the following problems:

1. a) have a 3-axis antenna positioner with a minimum footprint with:
2. b) a kinematics of the movements of the antenna forming part of a cylinder of diameter equal to the diameter of the antenna mounted on the antenna positioner,
3. c) a height of the reduced positioner system,
4. d) a pointing zone of the extended antenna, greater than the half-sphere, to allow a negative pointing,
5. e) to have a maximum free space on the back of the antenna to place electronic components or RF transmission and / or reception for example,
6. f) to achieve a mechanical design and a simple and compact motor.

The positioner object of the present invention aims to overcome at least one of the aforementioned drawbacks and not solved by the systems of the prior art.

• Un premier axe Aα assurant le mouvement de l'antenne en azimut, ledit premier axe Aα à rotation continue comprend: un châssis fixe sur lequel sont montés un châssis mobile, un collecteur électrique muni d'un joint tournant et un sous-ensemble motorisation α,
• Un troisième axe Aγ assurant le mouvement de l'antenne en élévation, ledit troisième axe Aγ étant orthogonal et coplanaire au premier axe Aα, ledit troisième axe Aγ comprend d'un berceau support d'antenne et de deux demi-couronnes de guidage circulaire, lesdites demi-couronnes étant pourvues de rails de guidage en vé venant glisser sur les rainures desdits galets, ledit troisième axe Aγ s'insérant dans le support à galets dudit deuxième axe Aβ.
• Un deuxième axe de rotation Aβ ou axe de cross-élévation positionné de manière à couper ledit premier axe Aα et ledit troisième axe Aγ en un même point virtuel O, ledit point virtuel O d'intersection des trois axes Aα, Aβ, Aγ constituant le point pivot des mouvements de ladite antenne montée sur le positionneur, ledit deuxième axe Aβ comprend un support de moyens pivotant, tels que des galets, un sous-ensemble motorisation β, un sous-ensemble motorisation γ, desdits galets comprenant une rainure,
• Ledit deuxième axe Aβ venant s'insérer dans un orifice 02 du châssis fixe formant un angle Ψ avec l'axe Aα, l'angle Ψ appartenant à l'intervalle [20°, 70°].

The object relates to a positioner P for an antenna intended to be placed in a given or restricted volume, comprising in combination at least the following elements:

• A first axis Aα ensuring the movement of the antenna in azimuth, said first axis Aα to continuous rotation comprises: a fixed frame on which are mounted a movable frame, an electrical collector provided with a rotating joint and a motor subassembly α ,
• A third axis Aγ ensuring the movement of the antenna in elevation, said third axis Aγ being orthogonal and coplanar with the first axis Aα, said third axis Aγ comprises an antenna support cradle and two circular guide half-rings, said half-crowns being provided with V-shaped guide rails sliding on the grooves of said rollers, said third axis Aγ inserting into the roller support of said second axis Aβ.
• A second axis of rotation Aβ or cross-elevation axis positioned to cut said first axis Aα and said third axis Aγ into a virtual point O, said virtual point O of intersection of the three axes Aα, Aβ, Aγ constituting the pivot point of the movements of said antenna mounted on the positioner, said second axis Aβ comprises a support of pivoting means, such as rollers, a motorization subassembly β, a motorization subassembly γ, said rollers comprising a groove,
• Said second axis Aβ being inserted into an orifice 02 of the fixed frame forming an angle Ψ with the axis Aα, the angle Ψ belonging to the interval [20 °, 70 °].

• ledit premier axe Aα est adapté pour définir un débattement de nx360 degrés en α grâce audit collecteur tournant,
• Ledit deuxième axe Aβ est choisi pour définir un débattement de +/- 30°, et ledit troisième Axe Aγ un débattement compris dans la fourchette - 18°/+110°.

According to an alternative embodiment,

• said first axis Aα is adapted to define a displacement of nx360 degrees α through said rotating collector,
• Said second axis Aβ is chosen to define a travel of +/- 30 °, and said third Axis Aγ a travel included in the range - 18 ° / + 110 °.

According to another embodiment of said first axis Aα is provided with shock absorbers distributed on said fixed frame.

• En partie supérieure : un roulement encagé entre une plaque d'interface et le châssis fixe, sur la bague extérieure fixe du roulement, une couronne dentée est montée pour l'entraînement en rotation de l'axe Aα,
• Une came de détection qui va permettre le positionnement de l'axe Aα au moment où ladite came va passer au niveau d'un détecteur de position solidaire dudit châssis mobile.

The first axis Aα comprises, for example:

• In the upper part: a bearing caged between an interface plate and the fixed frame, on the fixed outer ring of the bearing, a ring gear is mounted for driving in rotation of the axis Aα,
• A detection cam which will allow the positioning of the axis Aα at the moment when said cam will pass at a position detector integral with said movable frame.

The positioner is, for example, made of a corrosion-resistant material such as an aluminum alloy protected by anodic oxidation dichromated.

Each of said first, second and third axes comprises, for example, a positioning gear pair associated with a geared motor with integrated encoder.

The antenna is, for example, surrounded by a radome R and said positioner, antenna, radome assembly is arranged on a mobile carrier such as a ship, a submarine, a ship.

The positioner according to the invention is for example used for positioning a Satcom antenna used for communications with satellites.

• La figure 1A, une illustration d'une élévation nulle en utilisant un positionneur selon l'invention, la figure 1B une élévation positive, la figure 1C, une élévation négative dans le cas d'une visée de l'antenne basse, la figure 1D, une élévation positive dans le cas d'une visée haute,
• Les figures 2A, 2B, 2C, 2D différentes vues d'un exemple de positionneur selon l'invention,
• La figure 3, le détail du châssis fixe du positionneur selon l'invention,
• La figure 4, le détail du châssis mobile,
• La figure 5 un détail du support de galet pivotant,
• La figure 6, le détail du support d'antenne.

Other features and advantages of the device according to the invention will appear better on reading the description which follows of an example of embodiment given by way of illustration and in no way limiting attached to the figures which represent:

• The Figure 1A , an illustration of a zero elevation using a positioner according to the invention, the Figure 1B a positive rise, the figure 1C , a negative elevation in the case of a low antenna aiming, the figure 1D , a positive elevation in the case of a high aim,
• The Figures 2A, 2B , 2C, 2D different views of an example of a positioner according to the invention,
• The figure 3 , the detail of the fixed frame of the positioner according to the invention,
• The figure 4 , the detail of the mobile chassis,
• The figure 5 a detail of the pivoting roller support,
• The figure 6 , the detail of the antenna support.

In order to better understand the structure of the antenna positioner according to the invention, the following description given by way of illustration and in no way limiting relates to an antenna arranged in a radome whose particular function is to protect it, said radome delimiting a space in which must be positioned the antenna and electronic or electrical equipment.

• Le positionneur selon l'invention est basé, notamment sur l'utilisation des éléments listés ci-après. Le positionneur d'antenne dispose de 3 axes de rotation. Les deux axes Aα et Aγ assurent respectivement les mouvements de l'antenne en azimut et en élévation constituant une monture de type Az/EI. L'axe Aγ est orthogonal et coplanaire à l'axe Aα. Le deuxième axe de rotation Aβ ou axe de cross-élévation est positionné de manière à couper les deux axes Aα et Aγ en un même point O, point virtuel. Le point d'intersection des trois axes Aα, Aβ et Aγ constitue le point de pivot des mouvements de l'antenne 12 qui est montée sur le positionneur P.

The Figures 1A, 1B , 1C and 1D illustrate different elevation configurations in which antenna A may be surrounded by a radome R.

• The positioner according to the invention is based, in particular on the use of the elements listed below. The antenna positioner has 3 axes of rotation. The two axes Aα and Aγ respectively provide azimuth and elevation antenna movements constituting an Az / EI mount. The axis Aγ is orthogonal and coplanar with the axis Aα. The second axis of rotation Aβ or cross-elevation axis is positioned so as to cut the two axes Aα and Aγ in the same point O, virtual point. The point of intersection of the three axes Aα, Aβ and Aγ constitutes the pivot point of the movements of the antenna 12 which is mounted on the positioner P.

The kinematics of the antenna is therefore in a sphere centered at a point O and radius equal to the radius of the antenna.

The rotation with respect to the axis Aγ is ensured by a half-ring guided for example on a stirrup with rollers 5. The half-ring 9 has a not shown rack, for example, coupled to a geared motor 7 which drives in rotation this half-ring 9. The antenna 12 fixed on the half-crown according to means known to those skilled in the art, rotates so in elevation. The bracket 5 antenna support is arranged to allow a pointing in the direction down below the horizontal axis.

In addition, the stirrup 5 supporting the half-ring 9 is positioned on the axis Aβ in order to be able to turn about this axis Aβ. A rack integrated for example with the stirrup and a geared motor rotates the stirrup assembly, half-crown and antenna around the axis Aβ. The rotation of the half-crown assembly 9 and antenna A in azimuth (axis Aα) is provided by a geared motor 4 on the turntable 2 or mobile frame and moving in rotation on a ring gear, for example. Said second axis Aβ is inserted into an orifice 02 of the fixed frame forming an angle Ψ with the axis Aα, the angle Ψ belonging, for example, to the interval [20 °, 70 °].

• Le positionneur d'antenne est un positionneur 3 axes de type Azimut (axe Aα) / Cross-élévation (axe Aβ) / Elévation (axe Aγ).

Thus, in summary, the operation of the positioner according to the invention is as follows:

• The antenna positioner is a 3-axis positioner of Azimuth (Aα axis) / Cross-elevation (Aβ axis) / Elevation (Aγ axis) type.

The point O of intersection of the three axes of rotation constitutes a point of virtual pivot. The antenna fixed on the half-crown and passing through this pivot point describes during its movements a sphere centered on O. The kinematics of the antenna can therefore be part of a cylinder of diameter equal to the diameter of the antenna mounted on the antenna positioner.

The stirrup 5 supporting the half-crown 9A, 9B is used firstly for the drive along the axis Aγ and secondly for the rotation around the axis Aβ, thereby reducing the space requirement. the mechanics supporting the motorization of the cross-elevation axes Aβ and elevation Aγ and to achieve an antenna positioning system of minimum height.

The use of the half-ring 9A, 9B for driving along the elevation axis Aγ makes it possible to release a maximum volume at the rear of the antenna.

For each axis, for example, the use of geared motors incorporating motor, encoder and reducer associated with a rack allows a simple maintenance-free design. Moreover, on the Aβ and Aγ axes, the origin of the encoders is determined by detection of the docking on mechanical stops by detecting the maximum current levels detailed on the figure 5 .

The basic principle being described, Figures 2A, 2B , 2C and 2D will allow to give an embodiment of a positioner according to the invention.

• La géométrie du positionneur garantit le débattement de nx360 degrés en α grâce à un collecteur électrique tournant,
• Les axes supérieurs sont limités en débattement Axe Aβ +/- 30°, Axe Aγ: -18°/+110°,
• Les vitesses d'axes sont de 30°/s au minimum,
• Les accélérations d'axes sont de 30°/s² au minimum.

As stated previously, the positioner has 3 axes (Aα, Aβ and Aγ) whose deflections and speeds make it possible to ensure, for example in the case of the example given, the following constraints:

• The geometry of the positioner guarantees the clearance of nx360 degrees in α thanks to a rotating electrical commutator,
• The upper axes are limited in deflection Axis Aβ +/- 30 °, Axis Aγ: -18 ° / + 110 °,
• Axis speeds are at least 30 ° / s,
• The axis accelerations are at least 30 ° / s ² .

The antenna positioner P is made, for example, of aluminum alloy protected by bichromated anodic oxidation. However, any material exhibiting corrosion resistance and having sufficient strength may be used.

Each axis includes, for example, a toothed positioning gear (pinion / crown) associated with a geared motor with integrated encoder

The fixed frame of the stabilizer is laid in this example of implementation on 5 shock absorbers ( figure 3 ) 30, distributed over a fixed frame diameter 1, for example 300 mm. It is understood that without departing from the scope of the invention, it is possible to use a number of shock absorbers greater than 5 or less depending on the end use conditions of the antenna.

The Figures 2A, 2B , 2C and 2D describe at different angles an example of antenna positioner P according to the invention, the figures are used in particular to describe the composition of the various axes of rotation.

The 3-axis antenna positioner includes, for example:

A continuously rotating lower axis Aα comprising (FIGS. 3 and 4):

A fixed frame 1, on which are mounted a mobile frame 2, an electrical collector 3 and a motorization subassembly α, 4.

• En partie supérieure : un roulement 33 encagé entre la plaque d'interface 34 et le châssis fixe 1. Sur la bague extérieure fixe du roulement, une couronne dentée 31 est montée pour l'entrainement en rotation de l'axe Aα,
• Une came 32 de détection qui va permettre le positionnement de l'axe Aα au moment où la came va passer au niveau du détecteur de position 42 (figure 4) ; ceci peut être utilisé par exemple pour faire le zéro pour l'axe Aα,
• En partie inférieure : 5 amortisseurs de chocs 30 répartis uniformément sur un diamètre de 300mm. Pour le respect des dimensions, ces amortisseurs 30 sont intégrés dans l'épaisseur de la plaque support radôme non représenté pour des raisons de simplification,
• En partie centrale : la fixation du collecteur électrique muni d'un joint tournant 3, au niveau du châssis mobile 2,
• En partie latérale, une centrale inertielle 13 est fixée sous la plaque d'interface 34.

The structure of the Aα axis assembly is composed, for example, of a treated aluminum interface plate which receives figure 3 :

• In the upper part: a bearing 33 caged between the interface plate 34 and the fixed frame 1. On the fixed outer ring of the bearing, a ring gear 31 is mounted for the drive in rotation of the axis Aα,
• A detection cam 32 which will allow positioning of the axis Aα at the moment when the cam will pass at the position detector 42 ( figure 4 ); this can be used for example to zero for the axis Aα,
• In the lower part: 5 shock absorbers 30 evenly distributed over a diameter of 300mm. For the respect of dimensions, these dampers 30 are integrated in the thickness of the radome support plate not shown for reasons of simplification,
• In the central part: the fixing of the electrical collector equipped with a rotary joint 3, at the level of the mobile frame 2,
• In lateral part, an inertial unit 13 is fixed under the interface plate 34.

The compact gear motor 4 is implanted on the chassis 2 in rotation and drives the axis Aα via a pinion 4A ( figure 4 ) according to a technique known to those skilled in the art. The gear motor 4 is equipped with an incremental encoder not shown for the sake of clarity. The geared motor and all bearings are completely sealed and greased for life.

The figure 4 schematically a mobile frame 2 comprising the geared motor 4 for the axis Aα, the rotating electrical collector 3, two parts 10A and 10B forming the APU, the aforementioned pinion 41 of the geared motor 4 and a part 40 corresponding to the support of the axis Aβ. The electrical collector 3 provided with the rotary joint will be inserted in the orifice 03 of the figure 3 . The piece 40 has a substantially circular shape on a portion 40A incorporating teeth for driving the axis Aβ at the engine subassembly β, 6, for example at the pinion 6A ( Figure 2C ) of the subset 6.

An intermediate axis Aβ ( figure 5 ) comprising, for example, a pivoting roller support 5, a motorization sub-assembly β, 6, a motorization sub-assembly γ, 7.

• Le pivotement du support de l'axe Aβ 40, s'effectue par engrènement d'un secteur denté et du pignon fixe à la partie haute de l'axe Aα,
• L'axe Aβ est équipé de butées mécaniques 50. La prise d'origine est réalisée par accostage sur une des deux butées mécaniques et détection de pics de courant réalisés par des méthodes connues de l'Homme du métier.

The Aβ axis is made of machined aluminum, for example. It is supported by the axis Aα and it supports the axis Aγ:

• The pivoting of the support of the axis Aβ 40 is effected by meshing of a toothed sector and the fixed gear at the upper part of the axis Aα,
• The Aβ axis is equipped with mechanical stops 50. The homing is performed by docking on one of the two mechanical stops and detection current peaks made by methods known to those skilled in the art.

An upper axis Aγ perpendicular to the figure and composed ( figures 5 and 6 ) for example an antenna support cradle 8 and two circular guide half-rings 9A, 9B.

• La partie fixe possède une motorisation 7 (figure 5) identique aux autres axes et également un étrier 5 support galets (figure 5) pour le déplacement de la partie mobile de cet axe,
• La partie mobile est constituée du châssis en berceau 8 figure 6 sur lequel sont fixées les demi-couronnes de guidage circulaire 9A, 9B et une crémaillère d'entraînement non représentée, mais également l'interface 21 (figure 2C) de fixation de l'antenne 12 et des éléments RF 20 ; une des demi-couronnes 9A par exemple possède une partie crantée qui va permettre le guidage par la crémaillère, l'autre demi-couronne pouvant être lisse ; les deux demi-couronnes sont pourvues sur leur circonférence de rails en forme de vé (22 figure 2C). Des butées 60, une seule étant représentée sur la figure, sont disposées de préférence aux niveaux des deux extrémités 8A, 8B du châssis en berceau 8,

The axis Aγ consists of two parts. A fixed part implanted on the axis Aβ and a movable portion of deflection -18 to +110 ° figure 5 :

• The fixed part has a motorization 7 ( figure 5 ) identical to the other axes and also a bracket 5 support rollers ( figure 5 ) for moving the moving part of this axis,
• The moving part consists of the cradle frame 8 figure 6 on which are fixed the circular guide half-rings 9A, 9B and a not shown drive rack, but also the interface 21 ( Figure 2C ) fixing the antenna 12 and the RF elements 20; one of the half-rings 9A for example has a notched portion which will allow the guide by the rack, the other half-crown can be smooth; the two half-crowns are provided on their circumference with v-shaped rails (22 Figure 2C ). Stoppers 60, only one being shown in the figure, are preferably arranged at the levels of the two ends 8A, 8B of the cradle frame 8,

• L'axe Aγ est équipé de butées mécaniques 60 qui permettent notamment la prise d'origine réalisée par accostage sur une des deux butées mécaniques et la détection de pics de courant par les variateurs de commande des moteurs du boîtier APU 10, par des techniques connues de l'Homme du métier. Une possibilité consiste à détecter une surpuissance pour faire le zéro de l'axe Aγ.
• Le guidage de l'axe Aγ se fait à l'aide de 8 galets 51 en inox par exemple (4 galets fixes 51 et 4 avec excentrique 52 en vé), les galets 51, 52 comprenant une rainure 51 A, 52A permettant le glissement des rails 22 en forme de vé des deux demi-couronnes de guidage circulaire 9A, 9B.

Without departing from the scope of the invention it would be possible to imagine means equivalent to the stirrup 5 and the rollers for moving the two half-crowns.

• The axis Aγ is equipped with mechanical stops 60 which notably allow the homing done by docking on one of the two mechanical stops and the detection of current peaks by the motor controllers of the APU box 10, by known techniques. of the skilled person. One possibility is to detect an overpotency to zero the axis Aγ.
• The guidance of the axis Aγ is done with the aid of 8 rollers 51 in stainless steel for example (4 fixed rollers 51 and 4 with eccentric 52 in vee), the rollers 51, 52 including a groove 51 A, 52A allowing the sliding v-shaped rails 22 of the two circular guide half-rings 9A, 9B.

The figure 6 represents the mounting of the cradle 8 receiving the antenna 12 and the two half guide ring as previously described.

• Deux boitiers (Unité de Puissance) APU, 10A, 10B, pour une fonction d'alimentation et pour les variateurs;
• Une centrale inertielle 13;
• Un système radiofréquence 20 composé par exemple d'un diplexeur, d'un amplificateur faible bruit et d'un réseau de guide d'ondes non détaillé pour des raisons de simplification.

The antenna positioner may also include:

• Two boxes (Power Unit) APU, 10A, 10B, for a power function and for drives;
• An inertial unit 13;
• A radiofrequency system 20 composed for example of a diplexer, a low noise amplifier and a waveguide network not detailed for reasons of simplification.

For the example explained above, the operation is described below.

The motorization of the axis Aα must move all the elements located above the bearing of this same axis. The cradle is oriented so as to have the maximum offset (pointing at -18 ° and inclination of the β axis of 30 °).

The motorization of the axis Aβ must cause in motion all the elements located above the bearing of this same axis. The cradle is oriented so as to have maximum offset (pointing at 110 °).

The motorization of the axis Aγ must cause in motion all the elements embarked with the antenna at the same axis.

The geared motors of the three axes are controlled, for example, by dimmers driven by serial bus known to those skilled in the art which crosses the alpha axis via the electrical collector.

The serial system bus, better known by the English abbreviation CAN (Controller Area Network), not shown in the figure, allows an antenna control equipment better known by the acronym ACU (Antenna Control Unit) to transmit the positioning commands to the motors and to read the position information of the axes provided by the encoders integrated in the geared motors.

The inertial motion unit (IMU) embedded in the stationary frame of the positioner transmits to the ACU via a serial interface the information of the wearer's attitudes. Based on this information, the ACU develops and transmits the pointing instructions to the antenna positioner.

Claims (8)

Positioner P for an antenna (12) intended to be placed in a given or restricted volume, comprising in combination at least the following elements: A first axis Aα ensuring the movement of the antenna in azimuth, said first axis Aα to continuous rotation comprises: a fixed frame (1) on which are mounted a mobile frame (2), an electric collector (3) provided with a rotary joint and a motorisation subassembly α, (4) A third axis Aγ ensuring the movement of the antenna in elevation, said third axis Aγ being orthogonal and coplanar with the first axis Aα, said third axis Aγ comprises a cradle (8) antenna support (12) and two circular guide half-crowns (9A, 9B), said half-crowns being provided with v-shaped guide rails sliding on the grooves (51A, 52A) of said rollers (51, 52), said third axis AG being inserted in the roller support (5) of said second axis Aβ, A second axis of rotation Aβ or axis of cross-elevation positioned so as to cut said first axis Aα and said third axis Aγ into a same virtual point O, said virtual point O of intersection of the three axes Aα, Aβ, Aγ constituting the pivot point of the movements of said antenna mounted on the positioner, said second axis Aβ comprises a support (5) of pivoting means (51, 52), a motorization sub-assembly β (6), a motorisation sub-assembly γ, ( 7), said rollers (51, 52) including a groove (51A, 52A), • Said second axis Aβ being inserted into an orifice 02 of the fixed frame forming an angle Ψ with the axis Aα, the angle Ψ belonging to the interval [20 °, 70 °]. Positioner according to claim 1 characterized in that • Said first axis Aα is adapted to define a displacement of nx360 degrees α through said rotating manifold (3), • Said second axis Aβ is chosen to define a travel of +/- 30 °, and said third axis Aγ a deflection included in the range - 180 / + 110 °. Positioner according to one of claims 1 to 2 characterized in that said first axis Aα is provided with shock absorbers distributed on said fixed frame (1). Positioner according to claim 1 characterized in that said first axis Aα comprises: • In the upper part: a bearing (33) caged between an interface plate (34) and the fixed frame (1), on the fixed outer ring of the bearing, a ring gear (31) is mounted for the rotational drive of the axis Aα, • A detection cam (32) which will allow the positioning of the axis Aα at the moment when said cam (32) will pass at a position detector (42) integral with said movable frame (2). Positioner according to claim 1 characterized in that it is made of a corrosion-resistant material such as an aluminum alloy protected by bichromated anodic oxidation. Positioner according to claim 1 characterized in that each of said first, second and third axis comprises a positioning gear pair associated with a geared motor with integrated encoder. Positioner according to one of claims 1 to 6 characterized in that the antenna (12) is surrounded by a radome R and that said set positioner, antenna, radome is arranged on a mobile carrier such as a ship, a submarine, a ship. Use of the positioner according to one of claims 1 to 7 for Satcom communication antennas.

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