CN1909285A - Multiple-wave feed automatic switch and drive device for large-scale flexible radio telescope antenna - Google Patents
Multiple-wave feed automatic switch and drive device for large-scale flexible radio telescope antenna Download PDFInfo
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Abstract
The invention relates to a multi-beam feedback automatic switch device and driving device, in large-scale flexible antenna, wherein said switch 10 is formed by rotation platform 14, multi-beam feedback source 13, and hollow support bearing 21; the multi-beam feedback source 13 is uniformly distributed on the platform 14, to be supported by hollow support bearing 21, to rotate relative to the fine adjusting platform 9; then switching the feedback source at any frequency, to adjust it at the center of fine adjusting platform, to receive the radio signal at one signal focus and large frequency range; said driving device is formed by a servo motor 23, a flexible coupler 25, a speed reducer 26, a secondary coupler 27, a bearing base 28, and a coiler 29, while they are connected to the ground via bottom frame 30. The invention has wider frequency range, to be used in large flexible antenna and large radio telescope.
Description
Technical field
The invention belongs to mechanical field, relate to flexible antenna structure, specifically the multi-beam feed automatic switching control equipment and the drive unit of antenna can be used for large-scale flexible radio telescope system.
Background technology
Known in the industry, antenna feed is most important parts in the radio telescope system.During radio telescope work, by the parabolic antenna reflection, with the focus of radio signal gathering, by the antenna feed reception radio signal at this focus place, as Fig. 1 in parabolic antenna.The conventional rigidity radio telescope structural representation that this is shown in Figure 1 is made up of parabolic reflector 04, antenna feed 02, rigid structure support 03, and antenna feed 02 is installed in and receives the radio signal that parabolic reflector 04 reflection is converged on the focus of parabolic reflector 04.Because the bore 01 of parabolic reflector 04 is smaller, the radio source frequency range of observation is also with regard to relative narrower.
For the signal of the radio source of the signal that obtains faint radio source and wider frequency range, need to increase the bore of reflecting surface and the reception feed of the more broad frequency range installed at the focus place.But increase and the more reception of broad frequency range along with the bore of radio telescope reflecting surface make the structure of radio telescope that the change of essence take place, and the support of feed can not rely on rigid structure to realize; The reception feed of single frequency band can not satisfy the needs of observation.Thereby large-scale radio telescope is off the beaten track, must adopt flexible structure support feed and multiband wave beam feed to realize bigger reflecting surface bore and the more radio signal reception of broad frequency range.Fig. 2 has provided flexible structure supporting antenna feed structure schematic diagram, it is exactly around the reflecting surface 05 of antenna that this flexible structure supports feed, one group of high tower 06 of erect, use the cable wire 07 with the same quantity of support tower to be connected in feed cabin 09 again through the leading block 08 that supports on the cat head, the other end of cable wire 07 is connected on the cable wire driver 010, and multiband wave beam feed can be installed on the feed cabin 09 as required.Because the reflecting surface 05 of antenna can be designed as dynamic adjustment, so the reflector focus of reflecting surface 05 also is variable, thereby, can use cable wire 07 to drive the motion of feed cabin, adjust the feed cabin on the focus of reflecting surface.For position and the attitude of more accurately adjusting feed, in the feed cabin, fine tuning platform can also be installed, and will receive feed and be installed on the fine tuning platform.
Because it is to carry out in more among a small circle that the appearance motion is decided in general antenna feed space orientation, the frequency band relative narrower of its feed, thereby use single feed just can meet the demands.Though this single feed is simple in structure, reliable, maximum deficiency is the application that can not realize in the wider frequency range.At present, when carrying out the reception of broad frequency band, be feed, or use different radio telescopes to realize by the another kind of frequency range of artificial replacing.But for the astronomical observation of in very wide frequency range, carrying out, just must design big radio telescope of new generation.According to the requirement of astronomical observation etc., the important technological parameters and the index request of this big radio telescope are as follows:
1. the radius of curvature of spherical reflector is 300m, and the spherical crown subtended angle is 120 °, and opening diameter is 500m, effective lighting bore 300m.
2. the maximum of sky covering is observed zenith angle Ψ
Max=60 °.
3. operating frequency 0.2GHz-8.8GHz, being divided into is nine frequency ranges.Be respectively:
0.20GHz--0.46GHz，0.46GHz--0.92GHz，0.92GHz--1.72GHz，
1.72GHz--2.15GHz，2.15GHz--2.35GHz，2.80GHz--3.30GHz，
4.50GHz--5.10GHz，5.70GHz--6.70GHz，8.00GHz--8.80GHz。
4. sensitivity: 9 * GBT, 5.4 * VLA
5. the tracking accuracy of feed is 4 " (4mm).
6. the snap-action speed of feed is 10 °/min.
The technical scheme that realizes the big radio telescope of this a new generation is to adopt the large-scale flexible antenna structure, promptly adopts cable wire to realize the pose adjustment of feed, as shown in Figure 3.When carrying out astronomical observation, send the cable wire movement instruction by the control computer according to the observation of being carried out, the movement instruction of cable wire is by the carrier of hardware control as instruction, controlling the 1-6# motor driver, the 1-6# motor driver is then directly being controlled the 1-6# thermo-mechanical drive, and the 1-6# cable wire that is wound on the 1-6# thermo-mechanical drive is done scanning motion through leading block driving feed cabin on the support cat head in the space.
Because this telescopical bore is big, the operating frequency height relies on and adjusts rope length and be difficult to realize on a large scale that the accurate position of feed and attitude control.Thereby, in the feed cabin, six-degree-of-freedom parallel connection mechanism has been installed, and feed has been installed on the lower platform of six-degree-of-freedom parallel connection mechanism, with the dynamic tracking position error of six-degree-of-freedom parallel connection mechanism real-Time Compensation feed, realize that appearance is decided in the accurate location of feed.
Simultaneously because telescope can be subjected to the interference of multiple factor at work, the physical location of feed will inevitably depart from its theoretical position, for this reason, need arrange laser eyepiece pose detector on the ground, it is the tracking mode laser total station, detect and feed back the physical location and the attitude of feed in real time, after receiving the physical location and attitude information of the feed after processed, the control computer passes through to adjust rope length according to control algolithm, simultaneously, it also controls the electric controller of six-degree-of-freedom parallel connection mechanism, drives the motion of six-degree-of-freedom parallel connection mechanism, and the position of feed and attitude are in the error range of permission eventually.
Because the maximum operating frequency of this large-scale flexible antenna is up to 8.8GHz, the positioning accuracy of feed has been proposed very high requirement, only rely on and adjust rope length and be difficult to reach positioning accuracy.For this reason, two stage control methods that adopted coarse adjustment to combine with accurate adjustment are with the fine tuning platform of six-degree-of-freedom parallel connection mechanism as feed, the dynamic tracking position error of real-Time Compensation feed, its antenna structure such as Fig. 4.Wherein feed cabin 6 is suspended in the air by six roots of sensation suspension cable 1, is distributed on the circumference 5 of the about 500m of diameter, highly is about 250m, and this six roots of sensation suspension cable 1 alternately is arranged in the top, cabin and the edge, cabin in hemisphere feed cabin 6 successively equably; Six leading blocks 2 on the column 3 and ground pulley mechanism 11 are connected on separately the driver 4; The effect of downhaul 7 is in order to improve cable wire feed cabin system rigidity.In order to realize the hi-Fix of feed, six-degree-of-freedom parallel connection mechanism 8 is fixed on the feed cabin 6, on the lower platform 9 of six-degree-of-freedom parallel connection mechanism 8 the multi-beam point-source feed is installed, to realize the application in the wider frequency range.Therefore, in the large-scale flexible antenna structure, because the multiband of feed, simple unlike the single frequency band feed, need to use the special switching mechanism and the method for multi-beam point-source feed, and how to design the switching mechanism and the method for multi-beam point-source feed, the feed of this frequency range is adjusted on the reflector focus of antenna reflective face, obtaining maximum signal reflex, is the problem that existing large-scale flexible antenna will solve in a hurry.
The content of invention
The objective of the invention is to use the large-scale flexible antenna to need the requirement of broad frequency at astronomical observation, provide a kind of multi-beam feed to automatically switch and drive unit, multiband feed timesharing switching is adjusted on the reflector focus of antenna reflective face, obtain the maximum radio signal of each frequency range feed, make a signal focus, can carry out the astronomical observation in the wider frequency range, and solve the driven problem of large-scale flexible antenna halyard by drive unit.
The technical scheme that realizes the object of the invention is that the single feed of tradition is improved, in large-scale or huge radio telescope, needs according to astronomical observation have adopted the feed of a plurality of frequency ranges to take turns to operate, and realize that the feed in the large-scale flexible antenna wider frequency range is used.One of its key problem in technology is special multi-beam feed automatic switching control equipment and a method of design; Two of key problem in technology is design suspension cable drive units, to guarantee the reliably working of whole large-scale flexible antenna.
Multi-beam feed automatic switching control equipment of the present invention is installed in the lower platform of six-degree-of-freedom parallel connection mechanism in the large-scale flexible antenna feed cabin, be on the fine tuning platform, this automatic switching control equipment comprises: rotation platform, the multiband feed, the hollow support bearing, multiband feed controller, this multiband feed is distributed on the rotation platform, support by the hollow support bearing, can rotate relative to fine tuning platform, switch the feed of any wave band by multiband feed controller, it is adjusted to the fine tuning platform center, can obtain maximum radio signal reflex, to be implemented on the signal focus to the astronomical observation in the wider frequency range.
Above-mentioned multiband feed is distributed on the rotation platform, is in 360 degree scopes, and per 40 degree are arranged the feed of a wave band, and the distribution center of circle of these wave band feeds overlaps with the center of circle of rotation platform, and this distribution radius of a circle is R.
The axle of above-mentioned rotation platform is gone up by the hollow support bearing, is connected with passive and synchronous belt wheel or gear, and this passive and synchronous belt wheel or gear are connected to servomotor and deceleration device through active synchronization belt wheel or gear, drives the rotation platform rotation.
The present invention utilizes above-mentioned multi-beam feed automatic switching control equipment to carry out the method that the multi-beam feed automaticallyes switch, and carries out according to the following procedure:
(1), sends the instruction of adjusting the feed wave band by the master control computer of large-scale flexible antenna according to the needs of astronomical observation;
(2) after wave band feed controller receives the instruction of master control machine, according to the control algolithm that designs, pass through electrical driver, control mechanical actuator motions, the motion that is motor in the electrical driver drives the rotation platform rotation on the hollow bearing through slowing down and active and passive synchronous pulley or gear;
(3) in the process of rotation, using checkout gear to detect the actual of feed in real time simultaneously puts, and pass this information processing back wave band feed controller, and carry out closed-loop control, feed corresponding on the rotation platform is rotated to the center of the lower platform of six-degree-of-freedom parallel connection mechanism;
(4), feed back to the master control computer of large-scale flexible antenna, repetitive process (1) with the physical location of detected feed and the implementation progress and the state of wave band feed controller.
The method that above-mentioned multi-beam feed automaticallyes switch, the wherein said center that feed corresponding on the rotation platform is rotated to the lower platform of six-degree-of-freedom parallel connection mechanism, it is Spin Control according to 40 degree, a plurality of frequency range feed timesharing switchings are adjusted on the reflector focus of antenna reflective face, be implemented in the radio signal reflex that can obtain wider frequency range on the signal focus, satisfy the needs of astronomical observation.
Drive unit of the present invention, form by the driver that a plurality of structures are identical, wherein each driver includes: servomotor, spring coupling, decelerator, secondary shaft coupling, bearing pedestal, rotary machine, bottom frame, the output of this servomotor is connected to input shaft of speed reducer through spring coupling, the output shaft of this decelerator is linked to each other with rotary machine by bearing pedestal by the secondary shaft coupling, and all parts connect by the bottom frame and are fixed on the ground.
Above-mentioned drive unit, wherein said decelerator input adds brake, with the whole mechanical system that is automatically locked when the power down.
Above-mentioned drive unit, the rotation of wherein said servomotor drive the reel rotation through the deceleration of decelerator.
The present invention is owing to adopt multi-beam feed mechanism for automatically switching, by control band feed controller, a plurality of frequency range feed timesharing are switched to be adjusted on the reflector focus of antenna reflective face, be about to required feed and adjust to the center of the lower platform of six-degree-of-freedom parallel connection mechanism, realized on a signal focus the astronomical observation in the wider frequency range; Simultaneously because the present invention adopts the identical driver of a plurality of structures, make and become simple and reliable at aspects such as control, maintainings, and because the servomotor that these drivers adopted is digitized AC servo motor, thereby can make things convenient for the digitized control of computer realization.
Actual measurement shows that actual location precision of the present invention reaches 4mm, realized feed in the space the accurate location on a large scale and decide appearance, satisfied predetermined positioning accuracy request.
Description of drawings
Fig. 1 is the radio telescope structural representation of conventional rigidity
Fig. 2 is the antenna structure view of flexible support
Fig. 3 is a large-scale flexible radio telescope antenna control principle block diagram
Fig. 4 is a large-scale flexible radio telescope antenna structure view
Fig. 5 is a multi-beam feed mechanism for automatically switching master TV structure schematic diagram of the present invention
Fig. 6 is a multi-beam feed mechanism for automatically switching plan structure schematic diagram of the present invention
Fig. 7 is a feed switching controls functional-block diagram of the present invention
Fig. 8 is an activation configuration schematic diagram of the present invention
Embodiment
Followingly the present invention is described in further detail with reference to accompanying drawing.
The present invention is used for large-scale flexible radio telescope antenna structure shown in Figure 4, and this antenna arrangement at diameter is on the circumference of 500m, highly be the cylinder scope of 250m.The present invention mainly solves the driving problems of multiband wave beam feed automatic switchover problem and cable wire in this flexible antenna structure, uses the large-scale flexible antenna to need the requirement of broad frequency to realize astronomical observation.Adopt Fig. 5, Fig. 6, multiband wave beam feed automatic switching control equipment and method shown in Figure 7 for this reason, and adopted driver shown in Figure 8.Multiband wave beam feed automatic switching control equipment 10 of the present invention is installed on the lower platform of six-degree-of-freedom parallel connection mechanism shown in Figure 48, promptly on the fine tuning platform 9.Cable wire driver 4 of the present invention has six, and six leading blocks 2 on column shown in Figure 43 and ground block mechanism 11 drive the motion of feed cabins respectively.
With reference to Fig. 5 and Fig. 6, multi-beam feed automatic switching control equipment 10 of the present invention is made up of axle 16, feed holding wire 17, drive motors 18, passive and synchronous belt wheel or gear 19, deceleration device 20, hollow support bearing 21, active synchronization belt wheel or the gear 22 of multiband feed 13, rotation platform 14, rotation platform.This multiband feed 13 adopts the multi-beam point-source feed of nine different frequency ranges, its operating frequency is 0.2GHz-8.8GHz, the feed of these different frequency ranges is distributed on the circular rotation platform 14, promptly in 360 degree scopes, per 40 degree are arranged the feed 13 of a wave band, the distribution center of circle of nine wave band feeds 13 overlaps with the center of circle of rotation platform 14, and its distribution radius of a circle is R.This rotation platform 14 is connected on the fine tuning platform 9 by hollow support bearing 21, and the center of the centre-to-centre spacing fine tuning platform 9 of hollow support bearing 21 also is the distribution circle radius R of nine wave band feeds 13.Rotation platform 14 is owing to be subjected to the support of hollow support bearing 21, and fine tuning platform 9 rotates along both forward and reverse directions 12 around spools 16 of rotation platform relatively.This nine frequency ranges feed holding wire 17 is connected in the feed cabin 6 shown in Figure 4 by hollow support bearing 21.Be connected with passive and synchronous belt wheel or gear 19 on the axle 16 of this rotation platform 14, and be connected to deceleration device 20 and drive motors 18, be subjected to the driving of deceleration device 20 and drive motors 18, rotation platform 14 rotations through active synchronization belt wheel or gear 22.During rotation, according to the needs of astronomical observation, according to the Spin Control of 40 degree, switch different frequency range feeds 13, it is adjusted to the center of the lower platform 9 of six-degree-of-freedom parallel connection mechanism 8, and promptly this nine frequency ranges feed takes turns to operate according to the needs of astronomical observation, just can realize the application in the wide frequency range.The platform center of this six-degree-of-freedom parallel connection mechanism lower platform 9 is the reflector focus of large-scale flexible radio telescope antenna reflective face, no matter carry out the astronomical observation of which frequency range, all need the feed of this frequency range is adjusted to the center of this platform, be on the reflector focus of large-scale flexible antenna reflective face, could obtain maximum signal reflex, for this reason, nine feeds 13 of the frequency range that these are different are switched by timesharing to be adjusted on the reflector focus of antenna reflective face, then can obtain maximum radio signal reflex, to be implemented on the signal focus to the astronomical observation in the wider frequency range.
With reference to Fig. 7, the present invention carries out the method that the multi-beam feed automaticallyes switch, and is nine wave band feeds 13 are distributed on the circular rotation platform 14, according to the needs of astronomical observation, is realized automaticallying switch by the control software and hardware.Its detailed process is as follows:
The first step is sent the instruction of adjusting the feed wave band by large-scale flexible radio telescope antenna master control computer;
Second step, after wave band feed controller receives the instruction of master control machine, according to the control algolithm that designs, pass through electrical driver, control mechanical actuator motions, the motion that is motor in the electrical driver drives the rotation platform rotation on the hollow bearing through slowing down and active and passive synchronous pulley or gear;
In the 3rd step, in the process of rotation platform rotation, use checkout gear to detect the physical location of feed in real time simultaneously;
The 4th step, after detecting the actual position information processing of feed, pass wave band feed controller back, realize closed-loop control;
In the 5th step, feed corresponding on the rotation platform is rotated to the center of the lower platform of six-degree-of-freedom parallel connection mechanism, the i.e. target location of wave band feed;
The 6th step, meanwhile, with the physical location of detected feed and the implementation progress and the state of wave band feed controller, feed back to large-scale flexible antenna master control computer, make main control computer can understand its slave computer, i.e. the physical location of wave band feed controller and wave band feed.
With reference to Fig. 8, the driving of using in large-scale flexible radio telescope antenna structure six roots of sensation suspension cable 1 of the present invention is finished by six drivers 4.These six drivers 4 have identical structure, form by servomotor 23, brake 24, spring coupling 25, decelerator 26, secondary shaft coupling 27, bearing pedestal 28, rotary machine 29, bottom frame 30 critical pieces.Wherein, the output of servomotor 23 is connected to the power shaft of decelerator 26 through spring coupling 24, and the output shaft of decelerator 26 then links to each other with rotary machine 29 through bearing pedestal 28 by secondary shaft coupling 27.Because machine is when operation, unexpected power down might cause unexpected safe injury accident, so add brake 24 at the input of decelerator, the whole mechanical system that is automatically locked when power down is avoided the generation of contingency.The rotation of servomotor 23 drives reel 29 rotations through the deceleration of decelerator 26.All these parts couple together by bottom frame 30, are fixed on the ground again.Be wrapped in suspension cable 1 on the rotary machine 29 and drag feed cabin 6 via the leading block 2 on ground pulley mechanism 11 and the column 3 and in its range of movement, move, as Fig. 4.
Effect of the present invention can illustrate by following test result:
Use three dynamic laser total powerstations, in the motion of feed cabin, switch feed, measure in real time the distance between three targets and the corresponding laser total station on the rotation platform 14 that is installed on multi-beam feed mechanism for automatically switching, after three groups of distance values transfer back to computer, through Coordinate Conversion, calculate the real space position of frequency range feed and itself and set point are compared to table 1.
Table 1 test data
| The locus coordinate | Experiment for the first time | Experiment for the second time | Experiment for the third time | The 4th experiment | |
| Set point mm | X | -2913 | -879 | 2686 | 3665 |
| Y | 83 | 2041 | 4515 | 6414 | |
| Z | 15191 | 14977 | 13686 | 1450 | |
| Measured value mm | X | -2910.3 | -878.0 | 2688.3 | 3666.8 |
| Y | 84.5 | 2043.6 | 4513.6 | 6411.3 | |
| Z | 15192.2 | 14979.4 | 13684.2 | 1451.2 | |
| Error | X | 2.7 | 1 | 2.3 | 1.8 |
| Y | 1.5 | 2.6 | 1.4 | 2.7 | |
| Z | 1.2 | 2.4 | 1.8 | 1.2 | |
From the test data of table 1 as seen, actual location precision of the present invention meets the requirements of 4mm, satisfies predetermined positioning accuracy request.
The multiband feed 13 of multi-beam feed automatic switching control equipment of the present invention is not limited to nine frequency ranges among the embodiment; for those skilled in the art; after having understood content of the present invention; all may be under the situation that does not deviate from technical solution of the present invention; carry out various corrections and change on form and the details, but these are based on the correction of inventive concept with change still within claim protection range of the present invention.
Claims (8)
1. the multi-beam feed automatic switching control equipment of a large-scale flexible radio telescope antenna, be installed on the lower platform of six-degree-of-freedom parallel connection mechanism in the feed cabin, be on the fine tuning platform (9), it is characterized in that this switching device shifter comprises: rotation platform (14), multiband feed (13), hollow support bearing (21), wave band feed controller, this multiband feed (13) is distributed on the rotation platform (14), support by hollow support bearing (21), can rotate relative to fine tuning platform (9), switch the feed of any wave band by multiband feed controller, it is adjusted to the center of fine tuning platform (9), can obtain maximum radio signal reflex, to be implemented on the signal focus to the more radio signal reception of broad frequency range.
2. multi-beam feed automatic switching control equipment according to claim 1, it is characterized in that multiband feed (13) is distributed on the rotation platform (14), be in 360 degree scopes, per 40 degree are arranged the feed of a wave band, the distribution center of circle of these wave band feeds (13) overlaps with the center of circle of rotation platform (14), this distribution radius of a circle is R, i.e. distance between the center of hollow support bearing (21) and rotation platform (14) center.
3. multi-beam feed automatic switching control equipment according to claim 1, it is characterized in that on the central shaft (16) of rotation platform (14), be connected with passive and synchronous belt wheel or gear (19) by hollow support bearing (21), this passive and synchronous belt wheel or gear (19) are connected on deceleration device (20) and the drive motors (18) through active synchronization belt wheel or gear (22), drive rotation platform (14) rotation by drive motors (18).
4. utilize claim 1 to carry out multi-beam feed automatic switching control equipment and carry out the method that the multi-beam feed automaticallyes switch, carry out according to the following procedure:
(1), sends the instruction of adjusting the feed wave band by the master control computer of large-scale flexible antenna according to the needs of astronomical observation;
(2) after wave band feed controller receives the instruction of master control machine, according to the control algolithm that designs, pass through electrical driver, control mechanical actuator motions, the motion that is drive motors in the electrical driver drives the rotation platform rotation on the hollow bearing through slowing down and active and passive synchronous pulley or gear;
(3) in the process of rotation, use checkout gear to detect the physical location of feed in real time simultaneously, and pass this information processing back wave band feed controller, realize closed-loop control, feed corresponding on the rotation platform is rotated to the center of fine tuning platform (9);
(4), feed back to the master control computer of large-scale flexible antenna, repetitive process (1) with the physical location of detected feed and the implementation progress and the state of wave band feed controller.
5. the method that multi-beam feed according to claim 4 automaticallyes switch, it is characterized in that the feed with corresponding on the rotation platform rotates to the center of fine tuning platform (9), it is Spin Control according to 40 degree, a plurality of frequency range feed timesharing switchings are adjusted on the reflector focus of antenna reflective face, be implemented in the radio signal reflex that can obtain wider frequency range on the signal focus, satisfy the needs of astronomical observation.
6. the drive unit of a large-scale flexible antenna, form by the driver that a plurality of structures are identical, it is characterized in that each driver includes servomotor (23), spring coupling (25), decelerator (26), secondary shaft coupling (27), bearing pedestal (28), rotary machine (29), bottom frame (30), the output of this servomotor (23) is connected to the power shaft of decelerator (26) through spring coupling (25), the output shaft of this decelerator (26) is linked to each other with rotary machine (29) by bearing pedestal (28) by secondary shaft coupling (27), and all parts connect by bottom frame (30) and are fixed on the ground.
7. drive unit according to claim 6 is characterized in that the input of decelerator adds brake (24), with the whole mechanical system that is automatically locked when the power down.
8. drive unit according to claim 6 is characterized in that the deceleration of the rotation of servomotor (23) through decelerator (26), drives reel (29) rotation.
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