Design Of A Wideband Beam Scanning Rotman Lens Array
DESIGN OF A WIDEBAND BEAM SCANNING ROTMAN LENS ARRAYA THESIS SUBMITTED TOTHE GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCESOFMIDDLE EAST TECHNICAL UNIVERSITYBYDAMLA DUYGU TEKBAŞIN PARTIAL FULFILLMENT OF THE REQUIREMENTSFORTHE DEGREE OF MASTER OF SCIENCEINELECTRICAL AND ELECTRONICS ENGINEERINGDECEMBER 2012
Approval of the thesis:DESIGN OF A WIDEBAND BEAM SCANNING ROTMAN LENS ARRAYsubmitted by DAMLA DUYGU TEKBAŞ in partial fulfillment of therequirements for the degree of Master of Science in Electrical and ElectronicsEngineering Department, Middle East Technical University by,Prof. Dr. Canan ÖzgenDean, Graduate School of Natural and Applied SciencesProf. Dr. Đsmet ErkmenHead of Department, Electrical and Electronics EngineeringProf. Dr. M. Tuncay BirandSupervisor, Electrical and Electronics Engineering Dept., METUExamining Committee Members:Prof. Dr. Gülbin DuralElectrical and Electronics Engineering Dept., METUProf. Dr. M. Tuncay BirandElectrical and Electronics Engineering Dept., METUAssoc. Prof. Dr. Şimşek DemirElectrical and Electronics Engineering Dept., METUAssoc. Prof. Dr. Lale AlatanElectrical and Electronics Engineering Dept., METUM. Erim Đnal, M. Sc.Manager, ASELSANDate:11/12/2012
I hereby declare that all information in this document has been obtained andpresented in accordance with academic rules and ethical conduct. I also declarethat, as required by these rules and conduct, I have fully cited and referencedall material and results that are not original to this work.Name, Last name:Signature:Damla Duygu TEKBAŞiii
ABSTRACTDESIGN OF A WIDEBAND BEAM SCANNING ROTMAN LENS ARRAYTekbaş, Damla DuyguM. Sc., Department of Electrical and Electronics EngineeringSupervisor: Prof. Dr. M. Tuncay BirandDecember 2012, 106 pagesThe design, manufacturing techniques and measurements for wideband Rotman lensare presented. Different design approaches are explained in detail. A step-by-stepprocedure followed through the design process of a Rotman lens is given. Thedesign equations are derived for both the parallel-plate/waveguide andmicrostrip/stripline Rotman lens versions. Effects of the design parameters on thelens shape and performance are investigated. A microstrip Rotman lens operating in8 GHz – 16 GHz frequency band is designed and manufactured. To this end, relatedtheoretical and simulation studies are carried out. The measurement results arecompared with the results of the simulation studies.Keywords: Rotman lens, microstrip Rotman lens, beamforming network, phasedarray.iv
ÖZGENĐŞ BANTLI ROTMAN LENS DĐZĐSĐ TASARIMITekbaş, Damla DuyguYüksek Lisans, Elektrik ve Elektronik Mühendisliği BölümüTez Yöneticisi: Prof. Dr. M. Tuncay BirandAralık 2012, 106 sayfaGeniş bantlı Rotman lens tasarımı, üretimi ve ölçümleri sunulmaktadır. Farklıtasarım yaklaşımları detaylı bir şekilde açıklanmaktadır. Rotman lens tasarımındaizlenmesi gereken adımlar anlatılmaktadır. Hem paralel-plaka/dalga kılavuzu ntasarımdenklemleriçıkartılmaktadır. Tasarım değişkenlerinin, lens şekline ve performansına etkileriincelenmektedir. 8 GHz – 16 GHz bandında çalışan mikroşerit Rotman lenstasarlanmakta ve gerçeklenen yapının üzerinde ilgili teorik ve benzetim çalışmalarıyapılmaktadır. Son olarak, tasarlanan lens yapısı üretilmekte, ölçülmekte ve ölçümsonuçları benzetim sonuçlarıyla karşılaştırılmaktadır.Anahtar kelimeler: Rotman lens, mikroşerit Rotman lens, huzme oluşturandevre, faz taramalı dizi.v
To My Mother, Sister and Orhyvi
ACKNOWLEDGEMENTSI would like to express my sincere gratitude to my supervisor Prof. Dr. M. TuncayBirand for his guidance, patience and help. I would also like to thank Prof Dr.Gülbin Dural, Assoc. Prof Dr. Şimşek Demir, Assoc. Prof. Dr. Lale Alatan and M.Erim Đnal for being in my jury and expressing their very useful comments andsuggestions.Firstly, I would like to express my greatest thanks to my mother, Selma Tekbaş andmy sister, Umay Tekbaş for their care, support and patience throughout my studies.Besides, I would like to express my sincere gratitude to my fiancé, Orhan Geçen forbeing in my life with his never-ending love, support and understanding.At the writing period of the thesis, I could not deny the support of my colleagues. Iwant to thank them all for encouraging me to complete this thesis. Firstly, I want tothank Egemen Yıldırım and Kadir Đşeri for their helpful behaviors and for sharingtheir point of views with me. Also, I would like to thank Görkem Akgül and OzanGerger for their help.Finally, I wish to express my appreciation to ASELSAN Inc. for all facilitiesprovided. Especially, I am very grateful for the support during the manufacture andmeasurement stages in this thesis.vii
TABLE OF CONTENTSABSTRACT. ivÖZ . vACKNOWLEDGEMENTS . viiTABLE OF CONTENTS . viiiLIST OF TABLES . xiTABLES . xiLIST OF FIGURES . xiiFIGURES . xii1. INTRODUCTION . 11.1 Beamformers . 11.1.1 Network Beamformers . 21.1.1 Digital Beamformers . 31.1.3 Microwave Lens Beamformers . 41.2 Rotman Lens . 51.2.1 Rotman Lens Applications . 71.3 Objective of the Thesis . 91.4 Thesis Outline . 92. ROTMAN LENS DESIGN PROCEDURE . 112.1 Design Approaches . 11viii
2.1.1 Rotman’s Approach (The Conventional Design) . 112.1.2 Shelton’s Approach (Symmetrical Lens) . 122.1.3 Katagi’s Approach (An Improved Design Method) . 132.1.4 Gagnon’s Approach (Refocusing) . 142.1.5 Hansen’s Approach (Design Trades) . 142.2 Derivation of the Design Equations . 142.2.1 Design Equations for Parallel-Plate/Waveguide Rotman Lenses. 152.2.2 Design Equations for Microstrip/Stripline Rotman Lenses . 212.3 Optical Aberrations . 262.3.1 Path Length Error for Parallel-Plate/Waveguide Rotman Lens . 272.3.2 Path Length Error for Microstrip/Stripline Rotman Lens . 282.4 MATLAB Script . 283. PARAMETRIC STUDY ON DESIGN PARAMETERS . 303.1 Focal Ratio – g . 313.2 Normalized Array Aperture – 2 x nmax. 333.3 Eccentricity Parameter – e . 363.4 Relative Dielectric Constant of the Substrate – εr . 393.5 Maximum Scan Angle (Off-Center Focal Angle) – α . 423.6 Off-Axis Focal Length – F . 454. IMPLEMENTATION AND SIMULATION RESULTS . 484.1 Microstrip Rotman Lens Implementation . 484.1.1 Selection of the Dielectric Substrate . 494.1.2 Choice of Design Parameters . 514.1.3 Microstrip Matching . 524.1.4 Port Pointing . 554.1.5 Sidewall Design . 55ix
4.1.6 Transmission Line Length Arrangement . 564.1.7 Implemented Model . 574.2 Simulation Results . 584.2.1 Return Loss Performance . 594.2.2 Coupling between Ports . 604.2.3 Amplitude and Phase Distributions over the Array Elements . 634.2.4 Array Factor Calculations . 675. PRODUCTION AND MEASUREMENT RESULTS . 725.1 Production Process . 725.2 Measurements . 735.2.1 Network Analyzer Measurements . 735.2.2 Antenna Measurements . 916. CONCLUSIONS. 99REFERENCES . 101APPENDIX . 105A. CALCULATION OF THE EFFECTIVE DIELECTRIC CONSTANT OF AMICROSTRIP TRANSMISSION LINE . 105x
LIST OF TABLESTABLESTable 2 - 1: Description of the Design Parameters . 16Table 3 - 1: Chosen Design Parameters to Observe "g" Effects . 32Table 3 - 2: Chosen Design Parameters to Observe "nmax" Effects . 33Table 3 - 3: Optimum g & dlmax for Different “nmax” . 34Table 3 - 4: Optimum g & e Pair and dl for Different “nmax” . 37Table 3 - 5: Values of “εr” & “εre” for the Chosen Substrates . 40Table 3 - 6: Optimum g&e Pair and dl for Different “εr” . 40Table 3 - 7: Optimum g&e Pair and dl for Different “α” . 43Table 3 - 8: Optimum g Calculated from the Ruze's [5] Equation (3.1). 43Table 4 - 1: Design Requirements . 49Table 4 - 2: Properties of Several Dielectric Materials. 50Table 4 - 3: Chosen Design Parameters . 52Table 4 - 4: Calculated Beam Peak Angles of the Array Factor . 70Table 4 - 5: Calculated 3dB Beamwidths of the Array Factor . 71Table 4 - 6: Calculated First Sidelobe Levels of the Array Factor . 71Table 5 - 1: Peak Angles of the Simulated and Measured Array Factors . 88Table 5 - 2: 3 dB Beamwidths of the Simulated and Measured Array Factors . 89Table 5 - 3: First Sidelobe Levels of the Simulated and Measured Array Factors . 90Table 5 - 4: Peak Angles of the Simulated and Measured Patterns . 97Table 5 - 5: 3 dB Beamwidths of the Simulated and Measured Patterns . 98Table 5 - 6: Fist Sidelobe Levels of the Simulated and Measured Patterns . 98xi
LIST OF FIGURESFIGURESFigure 1 - 1: Beamformer Schematic . 2Figure 1 - 2: Digital Beamformer Topology . 3Figure 1 - 3: Microwave Lens BFN . 4Figure 1 - 4: Reduced Lens Size by Dielectric Loading (From [6]) . 6Figure 1 - 5: First 2D Rotman Lens Stack Feeding Planar (From [6]) . 6Figure 1 - 6: Rotman Lens Used Marine & Airborne Radars by Raytheon (From[9]): (a) AN/SLQ-32(V); (b) AN/ALQ-184 . 7Figure 1 - 7: (a) Rotman Lens used as a Phase Processor; (b) Example Image [11] . 8Figure 2 - 1: Microwave Lens Parameters (From [3]) . 11Figure 2 - 2: Symmetrical Lens Configuration (From [15]) . 12Figure 2 - 3: Katagi’s Model for Rotman Lens Design (From [16]) . 13Figure 2 - 4: Rotman Lens Design Parameters . 15Figure 2 - 5: Elliptic Beam Contour Parameters . 20Figure 2 - 6: Microstrip/Stripline Rotman Lens Design Parameters . 22Figure 3 - 1: Lens & Beam Contour Variations with g. 31Figure 3 - 2: Phase-Error Variation with g . 33Figure 3 - 3: Optimum g vs. nmax Plot . 35Figure 3 - 4: Phase-Error Variation with nmax for Optimum g . 35Figure 3 - 5: Lens & Beam Contour Variations with nmax for optimum g . 36Figure 3 - 6: Optimum g & e Pair vs. nmax Plot . 37Figure 3 - 7: Phase-Error Variation with g & e for nmax 0.5 . 38xii
Figure 3 - 8: Phase-Error Variation with e for Different g . 38Figure 3 - 9: Optimum g & e Pair vs. εr Plot . 40Figure 3 - 10: Phase-Error Variation with εr for Optimum g & e . 41Figure 3 - 11: Lens & Beam Contour Variations with εr for Optimum g & e . 42Figure 3 - 12: Optimum g vs. α Plot . 44Figure 3 - 13: Phase-Error Variation with α for optimum g & e . 44Figure 3 - 14: Lens & Beam Contour Variations with α for Optimum g & e. 45Figure 3 - 15: Sketch of the Antenna Array. 46Figure 4 - 1: Frequency Response of Different Dielectric Materials (From [20]). 50Figure 4 - 2: Matching Section with Microstrip Linear Taper. 53Figure 4 - 3: S11max vs. Taper Angle Plot for the Microstrip Linear Taper. 53Figure 4 - 4: Locations of the Phase Centers . 54Figure 4 - 5: Beam & Array Ports’ Allocation . 55Figure 4 - 6: Sidewall Interference . 56Figure 4 - 7: Line Bendings Implemented in ADS . 57Figure 4 - 8: Implemented Microstrip Rotman Lens Model . 58Figure 4 - 9: Return Loss of the Beam Ports . 59Figure 4 - 10: Return Loss of the Array Ports . 59Figure 4 - 11: Coupling between the Beam Ports . 60Figure 4 - 12: Coupling between the Two Adjacent Beam Ports . 60Figure 4 - 13: Coupling between the Array Ports . 61Figure 4 - 14: Coupling between the Two Adjacent Array Ports . 62Figure 4 - 15: Coupling between B0 and the Dummy Ports . 62Figure 4 - 16: Coupling between A6 and the Dummy Ports. 63Figure 4 - 17: Amplitude Distribution over Antennas excited from B0 . 64Figure 4 - 18: Amplitude Distribution over Antennas excited from B15 . 64Figure 4 - 19: Amplitude Distribution over Antennas excited from B30 . 65Figure 4 - 20: Phase Distribution over Antennas excited from B0 . 66Figure 4 - 21: Phase Distribution over Antennas excited from B15 . 66xiii
Figure 4 - 22: Phase Distribution over Antennas excited from B30 . 67Figure 4 - 23: Array Placement According to the Coordinate Systems . 67Figure 4 - 24: Normalized Array Factors of All Beams at 8 GHz . 68Figure 4 - 25: Normalized Array Factors of All Beams at 12 GHz . 69Figure 4 - 26: Normalized Array Factors of All Beams at 16 GHz . 69Figure 5 - 1: Fabricated Rotman lens: (a) After printed circuit production; (b) AfterSMA connectors are installed. . 73Figure 5 - 2: Network Analyzer Measurement Setup for the Rotman lens . 74Figure 5 - 3: Measured Return Loss of the Beam Ports . 75Figure 5 - 4: Measured Return Loss of the Array Ports . 75Figure 5 - 5: Measured Coupling between the Beam Ports . 76Figure 5 - 6: Measured Coupling between the Two Adjacent Beam Ports . 77Figure 5 - 7: Measured Coupling between the Array Ports . 78Figure 5 - 8: Measured Coupling between the Two Adjacent Array Ports . 78Figure 5 - 9: Measured Coupling between B0 and the Dummy Ports . 79Figure 5 - 10: Measured Coupling between A6 and Dummy Ports . 79Figure 5 - 11: Amplitude Distribution over Antennas excited from B0 . 81Figure 5 - 12: Amplitude Distribution over Antennas excited from B15 . 81Figure 5 - 13: Amplitude Distribution over Antennas excited from B30 . 82Figure 5 - 14: Phase Distribution over Antennas excited from B0 . 83Figure 5 - 15: Phase Distribution over Antennas excited from B15 . 83Figure 5 - 16: Phase Distribution over Antennas excited from B30 . 84Figure 5 - 17: Measured and Simulated Array Factors of All Beams at 8 GHz . 85Figure 5 - 18: Measured and Simulated Array Factors of All Beams at 12 GHz . 86Figure 5 - 19: Measured and Simulated Array Factors of All Beams at 16 GHz . 86Figure 5 - 20: Printed Circuit Product of the Implemented Patch Array . 92Figure 5 - 21: The Probe-Fed Patch Array after Connecter Installation: (a) FrontView, (b) Back View . 92Figure 5 - 22: The Cable Connection between the Antenna and the Lens . 93xiv
Figure 5 - 23: Setup for Antenna Measurements: (a) Right View, (b) Left View . 94Figure 5 - 24: Final Setup used in Antenna Measurements . 95Figure 5 - 25: Measured Radiation Patterns for all Beam Ports at 12 GHz . 96Figure A - 1: Schematic for a Microstrip Transmission Line . 106xv
CHAPTER 1INTRODUCTIONIn many antenna applications, beam scanning antenna arrays are required to formmultiple beams. Especially, in satellite communications and in multiple-target radarsystems, multiple-beam systems are utilized.In multiple-beam antenna systems, beams are directed into desired directions bychanging the phase distribution of the antenna array and this is called the phasedarray antenna phenomena. Beamformers are used in order to provide the requiredphase distribution on the array elements.1.1 BeamformersBeamformers produce the required amplitude and phase distributions over the arrayelements in order to direct the beam into the desired direction. A typical beamformerconsists of multiple input and output ports as given in Figure 1 - 1. Although thelocation of the output ports can change regarding the application, according to thecase in Figure 1 - 1, the beamformer works as a transmitter. Therefore, the arrayelements are connected to the output of the beamformer and with the correspondinginput configurations, beam-scanning phased array is constructed.1
Figure 1 - 1: Beamformer SchematicDepending on the requirements on the array aperture, beamformer can be formed asplanar (2-D) or three dimensional (3-D). The 2-D beamformers produce steerablefan beams while 3-D beamformers produce steerable pencil beams.Beamformers can be categorized in many ways; however in this thesis, thecategorization that Hansen used in [1] will be used. Hansen splits the beamformersinto three main categories: network beamformers, digital beamformers andmicrowave lens beamformers.In the following sections of this chapter, beamformers will be abbreviated by BFN(beam-forming network) in general.1.1.1 Network BeamformersNetwork beamformers are the earliest beamformer types. With network BFNs, beamcrossover levels remains unchanged, although the beamwidths and the beam angleschange with frequency. Hence, if the application requires the constant beamwidthsover the frequency band, network beamformers are disadvantageous.The simplest one of network beamformers is the power divider BFN which consistsof power dividers to split the input signal into N outputs to feed array elements. In2
addition, phase shifters are used to produce the desired phase distribution across theantenna array aperture.Butler matrix is probably the most widely known network BFN. It consists ofalternative rows of hybrid junctions and fixed phase shifters. Butler matrix is theanalog circuit equivalent of Fast Fourier Transform (FFT). It is a simple networkthat can be easily implemented in stripline/microstrip; however conductorcrossovers are required [1].There are also other types of matrices such as Blass and Nolen matrices. In Blassmatrix, array element transmission lines and beam port lines are intersected with adirectional coupler at each intersection. However, these arrays are difficult toconstruct. In addition, the Nolen matrix is a generalization of both Blass and Butlermatrices. Nevertheless, due to the high parts count and the difficulties connectedwith network adjustments, the Nolen BFN is rarely used [1].1.1.2 Digital BeamformersDigital BFNs use a computer or chip processor to control electronic components inorder to produce exact amplitude and phase distributions for the array elements. Preamplifiers (LNAs), Analog-to-Digital (A/D) and Digital-to-Analog (D/A) convertersare used in the digital beamformer topology as shown in Figure 1 - 2.Figure 1 - 2: Digital Beamformer Topology3
Digital beamformers can produce any number of multiple beams with zero phaseerror and flexible amplitude tapering. However, digital BFNs are limited to lowmicrowave frequencies due to the limited bit-bandwidth product of the current A/Dconverter technologies [1]. Besides, very fast processors are required to handle thedigitized RF data.1.1.3 Microwave Lens BeamformersMicrowave lens beamformers use path length mechanism to introduce desired phasedistributions on the array elements. As a microwave lens BFN, constrained lensesare used where the rays are guided by metal plates. A typical microwave lensbeamformer structure is given in Figure 1 - 3. Input ports are connected to the beamports that radiate a signal within the lens cavity and then the receiving ports receivethe signal and transmit it to the antenna array. Positions of the beam and receivingports and transmission line lengths are arranged so that the desired phase andamplitude distributions are obtained across the array aperture.Figure 1 - 3: Microwave Lens BFN4
In order to illustrate how the microwave lens beamformers work, differentexcitations and corresponding example patterns are plotted in Figure 1 - 3. Thecolored arrows correspond to the excitations of different beam ports; and with eachexcitation, a pattern shown with the same color is obtained at the output. In otherwords, when the lens is excited from the port pointed with the black arrow, theresultant beam is directed to the boresight and similarly when the ports pointed withthe red and blue arrows are excited, the resultant beams are directed to the directionsas shown in the figure.Microwave lenses are especially used in wideband applications since the path-lengthdesign used in the design of microwave lenses is independent of frequency. Besides,microwave lenses can be implemented using waveguides, microstrip and striplinetechnologies; hence high power or low profile beamformers can be acquiredaccording to the requirements.The earliest constrained lens is the R-2R lens where the inner and outer lens surfacesare circular arcs with outer radius twice the inner. This shape provides perfectcollimation for the feed points on the focal arc. However, due to the amplitudeasymmetry between beams, sidelobe levels increase [1]. Therefore, this design has alimited use.Gent [2] obtained generalized design equations for arbitrary lens shapes and byusing these equations, Rotman and Turner [3] introduced Rotman lens phenomena.In the following section of this chapter, historical developments and usage areas ofRotman lens will be given in detail.1.2 Rotman LensRotman lens was introduced by Rotman and Turner [3] in 1960s. They designed thelens with 3 focal points and hence they improved the phase error performance and5
design freedoms of the constrained lenses that Ruze [5] investigated. After theinvention of Rotman lens, in Raytheon Electronic Warfare division, systems basedon Rotman lens wereere applied in 1967 [6]. They worked on reducingcing the Rotman lenssize by loading the parallel plate region by dielectric material and the result can beseen in Figure 1 - 44. In 1970, 2-dimensionaldimensional Rotman lens stack was demonstratedwhich can be seen in Figure 1 - 5. After Archer (1973) [7] proposed the idea ofimplementing Rotman lens using printed technologies to have low-profilelowlens,studies on microstrip/stripline Rotman lens increased.Figure 1 - 44: Reduced Lens Sizeize by Dielectric Loading (From [6])Figure 1 - 5:: First 2D Rotman Lens Stack Feeding Planar (From [6])6
In Rotman lens design, various design approaches can be used. Modified versions ofthe conventional design approach [3] aand non-focalfocal lens design were suggested.Several design approaches will be given in Chapter 2 while explaining the designprocedure of Rotman lenslens.1.2.1 Rotman Lens ApplicationsMicrowave lenses are used in airborne and marine radars. Raytheon [6] usedRotmantman lens in marine radar, AN/SLQAN/SLQ-32(V) given in Figure 1 - 6 (a), in 1972 andin airborne electronic warfare pod, AN/ALQAN/ALQ-184 given in Figure 1 - 6 (b), in 1986.(a)(b)Figure 1 - 6:: Rotman Lens Used Marine & Airborne Radars by Raytheon (From[9]): (a) AN/SLQ-32(V); (b) AN/ALQ-184For applications that require three dimensional scanning, stacked Rotman lens canbe used, an example of stacked Rotman lens was shown in Figure 1 - 5. Typicalplanar Rotman lens produces fan beams capable of two dimensional scans while thestacked Rotman lens foforms three dimensional pencil beams. Pencil beams arerequired in space communication and imaging system applications.applicaTherefore,7
stacked Rotman lens structure can also be used in these applications. Chan [8] usedstacked Rotman lenses to obtain a feed network with columns and rows to feed ahexagonal shape planar horn array to be used in satellite communication antennasystem.Using Rotman lens for photonic beam forming was proposed by Steyskal [10].Microwave lens beamformers are good candidate for photonic imaging systemsbecause they are passive, frequency invariant (true-time-delay) and have wide-anglescanning capabilities. In [11],
A microstrip Rotman lens operating in 8 GHz - 16 GHz frequency band is designed and manufactured. To this end, related theoretical and simulation studies are carried out. The measurement results are compared with the results of the simulation studies. Keywords: Rotman lens, microstrip Rotman lens, beamforming network, phased array.
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