¹! q!! ui i! KPVSOBM!PG!MFF.NJOH!JOTUJUVUF!PG!UFDIOPMPHZ! WPM/!35-!OP/2-!KBO/!3124! Ñî ì» Szu-Ying Yu, Hung-Wei Lin ž Department of Electrical Engineering, Lee-Ming Institute of Technology x Chi-Ho Chang æ åž žg System Manufacturing Center, Insititute of Chung Shan Science & Technology î (Doppler)ŒÙkäÔà Á kû àzž Á ï Õ Õ Á i l ä}½(continuous Wave) ûl äôê ½ ±½m û Œ à ½(Frequency Modulated Continuous Wave)ž k ( )v ÁäÔ l nš¹áç ÕdàÛ ½Û Û Á ³ ½ ½ Abstract The purpose of the Doppler sensor is measured the relative velocities from a target to itself. The front-end of a sensor is constructed by the self-oscillating/self-mixing radio frequency module. Analog circuits of an intermediated frequency filter and digital circuits of Doppler signal processor followed by the front-end, and then those signal processing modules are detecting the information of velocity from the front-end of the sensor. Only the velocity data is demodulated by the continuous wave with one tone. If the front-end of the sensor, the frequency is modulated to the signal such as the triangular wave or sine wave, then the system is so called the frequency modulated continuous wave 95
¹! 35)2*! (FMCW). By the twice demodulating (such as the IF and Doppler demodulation), the data of a relative velocity and a range gate can be getting and the interference of the near-field of a sensor system can be also eliminating. Ultimately the structure of the Doppler sensor is made distinction between the standard form and the self-oscillating/self-mixing form, and is illustrated the novel functions of a self-oscillating/self-mixing Doppler sensor. Key Words: Doppler Sensor, FMCW, self-oscillating/self-mixing 96
Ñî! Í sgj e Á ì g Á ½Áe ÛŒ j e åžá ~u íu ÐÁgÉÐÁô Á ì sgáý Á sõžu } Ýg Ì h pý íáž Û Ýg ì ž dº ÝÌ ì ½ Ûûìdº ÝÌ ž Ás ³ Õ Á t v v eû} Á ûnu ²e ûè ² h½ ( ) u v Á Ç Ô (closing velocity)š k Æ [1] 2vr F = d λ v Ù v ÁäÔ r λ Ù û½á½ç ûè ÙeÞ d/è d eþ u (oscillator) u ÞÔ v ûj  (space) s ~e È R A ( à ûè ) ( )š û È dá} à 1. û Ð(Radiation Pattern) 2. v Á 3.v Áeû ³(Reflection Properties) û È d à R R R R A A A = G 4π λ η h f 2 θ ( ) eû È d A G e Ø (Gain Figure) h }ïvô η }ïáeûž (Reflection Coefficient of Ground) f 2 (θ) eû Ð }ïv û váä Ù} v «~ v! v sinθ θ }v ä v ÁäÇ Ô v r à v r = v sinθ Ì à v 2v sinθ F d = λ u  }vo ð Ôª θ Ôà V p vôà V t kà ˆ g v Á Ô V rpt = V p - V t Ô } v gá à θ à vç Ô(Approach Velocity of projectile and target)k V r Æv Ì V r =V rpt cosθ à 97
¹! 35)2*! F = d V 2 rpt cosθ λ }à vg Á d Ù θ ò v Á Ç θ 0 Ô V rpt Ç λ à ò Ì u nk v h u É Ùu û lnáé v Õeû} ÁÉ Ãi ÙÁ½Áh ÔÁ Ç Á eû}s Ô v À } k ½Û k½ûs ½ h } hï k ³ àé Á ³ŒÙ u ½ }à ³ jìává Ù} Bessel Function Á ³ Œ k f(ax)=a f(x) a : constant x R f(x+y)=f(x)+f(y) x,y R uá±½ Á Bessel Function ÍÙÉ ³ ê Ì Õ ½Á d } }± ½ ì ì ~Á xò h õá ³ ½Á ³ n u ï~á±½ ~ Æv f(t)=a{sin(ω m t)+1/9sin(3ω m t)+1/25sin(5 1 ω m t)+ + sin[(2n-1)ω m t]} (2n 1) 2 ω m =2πf m f m t R + (s) } ³ÁmŒÙ} û y u ~ { Bessel Function u Ú Á Bessel Function } ìáé j ÂÁÔ Á J 0,J 1,J 2,...,J n ká±½ Á } y k Bessel Function Á Ý ½ à u uá ½ à 100KHz } ì à J 2 ÌÌÙ ó 200KHz à gá ½ u J 2 Éêàω m Ì J 2 É Á gà 2ω m ˆk u J 2 k±} u ~à J 0 J 0 }É É Ô } } ½Õz Õ Ù äâ ~ Ð v} J 0 Á Ç } R=0 Á k R=0 Á Á kk } sçá uáš ³ u ¹ Âk J 0 Á ŒÙ ½ Š sš J 2 u Ð Â Ç Á } s Š Á É Á 98
Ñî! Ám~ J 0 m rmõ Ù ì m ½Ádºz } Ádq J 0 J 1 J 2 Á ½ ï z i ½É v û Õ D 2 f (2 fm R fm ) C = π f FM û ω if )É k ½Õ J 0 J 1 J 2 dqའ1. ω if =0 Ed ~ v Ed= [ J 0 (D) J 0 (D/9) + 2 J 3 (D) J 1 (D/9)] cos(ω d t) 2. ω if =ω m Fd K1 Ed= 2 J 1 (D) J 1 (D/9)cos(ω d t)cos[ω m K2 K3 K4 (t τ/2)] +2 J 1 (D) J 0 (D/9)sin(ω d t)cos[ω m (t τ/2)] 3. ω if =2ω m 1 E Bessel Function Á J 0 J 1 J 2 J 3 Á dq m(t)= A{sin(ω m t)+1/9 sin(3ω m t)+ 1/25sin(5ω m t) +...+ 1 (2n 1) 2 sin[(2n-1) ω m t]} ω m =2πf m f m : ½ næv Ec(t)= Kc cos[ω d t+d cos(ω m t)+ D/9 cos(3ω m t)] ω d =2πf d f d :Õ ω d t=ω c τ ω c =2πf c f c àû½ τ=r/c Rà C 3.0 10 8 m/sec z ω d t kω c τ kì Bessel FunctionÁD Function ~ v Ed = [ 2 J 1 (D) J 1 (D/9)+2 J 2 (D) J 2 (D/9) 2 J 2 (D) J 0 (D/9)cos(ω d t)cos[2ω m (t τ/2)] 4. ω if =3ω m Ed = [2 J 1 (D/9) J 0 (D) 2 J 3 (D) J 0 (D/9)] sin(ω d t) cos[3ω m (t τ/2)] 2 J 3 (D) J 3 (D/9) cos(ω d t) cos[3ω m (t τ/2)] k ω if =0 ω m 2ω m Ed k z J 0 J 1 J 2 dq unâ } J2 Ç jn Š Âû ( f)ì à(r) Ç e û ( f)ì à(r) ~ p j} f  ½Á ½Ìû ( f) e ½Ìû ( f) 99
¹! 35)2*! K1 Fd K2 K3 ½ J 0 J 1 J 2 dq g>41ni{ g>21ni{ àá p J 0 k f=10mhz 30MHz Á à q Ã Ü mn dà eé J 2 AM Peak ½É½ (Auto-Gain Control : AGC) É ( i ) m h~ v S }ž Û Â jìž m dí~ 1. ³ Á l k ½ ln u ï~ó ½Á Bessel Éj ½Á ½³Á 2. Bessel J 2 u ÂÁ J 0 Á Á ÁÇ à eá } u J 2 Á ÁÇ fš Á 3. jì i à Õ v (FFT) Ö v (CFAR) àv É Á Õv ì dº î e¼ } ì ɽ rájì }½ juì ž dºš Ô Ý~ ìláä!52/9 P T 87/93 P Tri-wave Envelope detector B 4N IF AMP&Filter Fd AMP&Filter A/D ANT Auto-bia FFT& CFAR Trigger Self-oscillating module m h ì 100
Ñî! ì h½ u ì ~ v 1. RF : 1.9GHz ~ 2.0GHz. 2. Ô: 850 m/sec ~ 1980 m/sec 3.: 3 m. 4. Ô: 45 k HP-VEE É 1.vÁ l ½ Ô ± 2.h½ u HP-VEE õ à ~ C yf m : ½ λ½½ç f d :νô θ Ô C = f m λ λ = C/ f m v f = 2 cosθ d λ v fm fd = 2 cosθ C 3. (1)} RF f = 1.9GHz a. Ôà 850 m/sec ½Ç λ=0.1579m g fc=7613 Hz ï fu=8063 Hz ï fl=7163 Hz ï Ô Au=41.5 ï Ô Al =48.29 S=0.7168 m Cycle=5 b. Ôà 1980 M/sec : ï Ô Au=71.25 ï Ô Al =73.4 S=0.1245 m Cycle=1 c. } Cycle=1 ½ ì, Cycle à 2, àó ï fl =5720 Hz, ï Ô Au=76.82 ï Ô Al =57.91 S=2.688 m (2) } RF f = 2.0GHz a. Ôà 850 m/sec : ½Ç λ=0.15 g fc=8014 Hz ï fu=8464 Hz! ï fl=7564 Hz ï Ô Au=41.68 ï Ô Al =48.13 S=0.6803 m Cycle=5 b. Ôà 1980 m/sec : ï Ô Au=71.30 ï Ô Al =73.35 S=0.1183 m Cycle=1 c. } Cycle=1, ½ ì, } Cycle à 2, àó ï fl =6124 Hz, ï Ô Au=76.59 101
¹! 35)2*! ï Ô Al =57.29 S=2.654 m (3) 1 2 Á ¹ ½ 5720Hz f 8464Hz Ô 41.8 θ 76.82 u nâ jìœùš ñ dºh Ù É Ù ½Õz ³ ¾Üî e¼ } q Self-oscillating module h Œà ½Áe Û e àe e Ù Áy jìù e³ ³ ìnu Á u ìáì r Á û eà Á y Ð Á û ã ue e ½ }Á ½ û [1] ûáe Á õ ü âu } ½ Áû j ìõœù eû ( ½) } }e ï m û(à BJT FET) jx e àe Œ Ù Áj e j e½ká ½ e dº } ½ Boufoob MP SG Djsdvmbups Djsdvmbups SG MP Mpx!Opjtf!Bnqmjgfs QsfBnqmjgfs!!!!' QpxfsBnqmjgfs 61!!! )Ufsnjobups* SG SG Njyfs JG MP vé É Éû ÁÛ Û } pß Á ìd º e w jx k ½ Áû e r Áh dº àhédº ½ }Áe ªÇç àû ½Ç d 3 2 3 2 eû RX(RF) ½ ûû Û u  ï Ù yš nue Á ªÂýÕ z u û òá k e ý 1cm ªÇ=6.28cm Ì û½ç=12.56cm k y = ñ ½ÇÁ y JG 1 MP 1 MP TX(LO) IF WDP 102
Ñî! =3 10 m/sec =2.388GHz 8 n uõpm x [2] e à(microstrip)  { }e ºe º Õ Ó º 12mm  Á ì I G I D e I S I G š Á n u òu I D òš ûé Á ý  I S à} Þ u 180 Ôä ü e Á 180 Ôä üdk Á õ nu gé e à Á eî½ Áh Ô Þ û ÔÁ Ë k å unâ gégé Áe Áà L( ÇÔ) C( ûûçô) š LC òìûš e LC òìû Ùû ³ ûû dá Ë u BJT û Á ÉÐh I C =(1-β)I CO +βi B Âê C 1 û ò Ì È β òœ I C ò } e û ³ m êk FET û Á É Ð h VGS I = I 2 ( 1 ) V D DSS T à pinch off VT ê C 1 ûò Ì È r DS Œ} V DS = r DS I D (V DS à ò) I D òä k } e ½ ìûò û Ì}dq ½ (Harmonic) j½(dominant) eûò û Ì}dq ½ j½ ûí ûáö~äe û Ìž Ì ½ j ½ ûìž Ì ½ j½ e à RF e uá v Á uá( ) û d Ë Œû Ì à Ç e û Ì 103
¹! 35)2*! ( )} ó FET û Õ y V DD 2.5V j ½üòà 12V PP û à 18MHz Á ~ v u  dq dq Š e dq Ç dq } reû wœ mû å Õ ( )} 3mõì 15m ä â} û 10.7MHz( ½üòï à 8 9V PP ) 6 7MHz(ïà 3 4V PP ) k wœ V DD } 2.5V ~ v å Õ ( ) e Á ¹ š m û 3.4Vû Á Õ p q x Á ä { jdqé } }ï 15M Á wé } ì ž ~ p v å Õ p å Õ p 104
Ñî! ¾ u suáu ~kð à ìû} e ï ãêì à Ð u ðì ÁeÁ k u ½Áj e Û½(FMCW) k±½áh ks Ámv ÁÔ o Á ä ½ Õ }½Én 3V 4V õ ìá k Áû ezž mu  ìá i [1] S. A. Hovanessian, Radar Detection and Tracking Systems, Dedham, Artech House, c1973, 1983. [2] W. L. Stutzman, G.. A. Thiele, Antenna Theory and Design, 2nd Edition, Chapter2-6, John Wiley & Sons, Inc., 1998. 105