Projeto e implementação do controle de posição de uma antena de radar meteorológico...

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1 Objetivos e Estruturação do Texto ...16

2 Introdução ...18

2.1 Problema de Controle ...20

2.2 Necessidade do Controle de Posição ...20

2.3 Estratégias para Resolução do Problema de Controle ...24

2.3.1 Controle de posição através de servomecanismos ... 24

2.3.2 Antenas Hexapod... 27

2.3.3 Antenas Phased-array... 28

2.4 Definição do Problema de Controle com Servomecanismos...31

3 Precedentes...33

3.1 Histórico ...34

3.2 Considerações para Especificação de Requisitos de Projeto ...37

3.2.1 Características em relação ao alvo... 37

3.2.2 Peso total do conjunto... 38

3.2.3 Tamanho e peso dos componentes... 38

3.2.4 Resolução angular do sensor de posição... 38

3.2.5 Tolerâncias mecânicas ... 39

3.2.6 Aceleração e Velocidade máximas ... 39

3.2.7 Precisão de Apontamento ... 40

3.2.8 Características dinâmicas do mecanismo posicionador ... 41

3.2.9 Consumo... 41

3.2.10 Ambiente de operação ... 42

3.2.11 Distância entre o pedestal e a eletrônica de controle ... 44

3.2.12 Curso angular requerido em azimute e elevação (volume de alcance) ... 44

3.2.13 Condições de contorno de envelope... 46

3.2.14 Requisitos de operação e interface... 46

3.2.15 Características RF do radar... 47

3.2.16 Potência de transmissão ... 47

3.3.1 Escolha do servomotor ... 48

3.3.2 Escolha do sensor de posição angular... 53

3.3.3 Definição do controlador ... 59

3.4 Segurança...60

3.4.1 Repouso da antena ... 60

3.4.2 Proteção de fim-de-curso da antena... 61

3.4.3 Radome... 63

4 Projeto de Controle ...69

4.1 Diagrama da malha de controle ...69

4.2 Modelamento do Sistema de Controle...71

4.3 Modelo estrutural...77

4.3.1 Determinação da banda passante da malha de controle ... 77

5 Estudo de Caso: Desenvolvimento de Servomecanismo para Antena de Radar Meteorológico Doppler Banda S ...82

5.1 O Projeto Taiti ...82

5.2 Características do Radar ...82

5.3 Modelo de Engenharia ...86

5.3.1 Dispositivo de controle: Controlador digital ... 88

5.3.2 Objeto de controle: Antena e mecanismo posicionador... 96

5.3.3 Dispositivo de atuação: Servomotores e servoconversores ... 104

5.3.4 Dispositivo de sensoriamento: Encoders ópticos e acessórios ... 104

5.4 Simulação do Controle...106

5.5 Validação do modelo estrutural ...111

5.5.1 Análise modal computacional por elementos finitos ... 111

5.5.2 Análise modal experimental por excitação impulsiva ... 116

6 Conclusões ...119

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