CN100492093C - Dynamic Correction System of Positive Pressure in Telescope Rolling Friction Transmission - Google Patents
Dynamic Correction System of Positive Pressure in Telescope Rolling Friction Transmission Download PDFInfo
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Abstract
望远镜滚动摩擦传动正压力动态修正系统，从动轮与主动轮组成摩擦副，加压电机通过滚珠丝杆螺母副和弹簧对主动轮施加正压力；特征是设有正压力控制机构，该机构中设有工控机，工控机上连接有数据采集卡；在从动轮上设有从动轮力矩传感器；在主动轮上设有主动轮力矩传感器；从动轮力矩传感器与主动轮力矩传感器的输出接工控机的数据采集卡；设置在加压电机上的码盘的数据线接工控机的数据采集卡，采集的数据反馈给控制系统，构成闭环控制系统。本发明能实时修正正压力的大小，避免摩擦传动系始终在大载荷下工作，降低了零部件性能要求，大幅度降低了成本；还避免了摩擦传动副表面滑移，进而避免了视场抖动或漂移以及轴系的晃动，提高了稳定性。
Telescope rolling friction transmission positive pressure dynamic correction system, the driven wheel and the driving wheel form a friction pair, and the pressurized motor exerts positive pressure on the driving wheel through the ball screw nut pair and spring; the feature is that it is equipped with a positive pressure control mechanism. There is an industrial computer, and a data acquisition card is connected to the industrial computer; a driven wheel torque sensor is provided on the driven wheel; a driving wheel torque sensor is provided on the driving wheel; the output of the driven wheel torque sensor and the driving wheel torque sensor is connected to the data of the industrial computer Acquisition card; the data line of the code disc set on the pressurized motor is connected to the data acquisition card of the industrial computer, and the collected data is fed back to the control system to form a closed-loop control system. The invention can correct the magnitude of the positive pressure in real time, avoiding the friction transmission system to always work under a large load, reducing the performance requirements of parts and greatly reducing the cost; it also avoids the surface slip of the friction transmission pair, thereby avoiding the field of view shaking Or drift and shaking of the shafting system improves stability.
Description
Technical field
The present invention relates to the continuation device on a kind of astronomical telescope, be specifically related to a kind of telescope rolling friction drive positive pressure dynamic correction system.By adopting this cover update the system, make that normal pressure can be adjusted in real time along with the actual conditions of load in the friction gearing process, and guarantee that telescope also can steady operation under external interference.
Background technology
The rolling friction transmission is under the effect of normal pressure, and the moment of friction drive engaged wheel that driving wheel produces by normal pressure rotates.Cylindrical rolling friction transmission owing to simple in structure, do not have backlash, Installation and Debugging and safeguard that reason such as simple has relatively obtained application on large-scale astronomical telescope.But because the rolling friction transmission is different from mechanical engagement transmissions such as gear drive, worm and gear, a little less than the transmission rigidity, for a friction gearing tested and working properly, under external interference, the unexpected variation of importing, drive load into etc. as vibrations, can cause that motion is asynchronous between the friction pair, the relative slippage between the just usually said surface of friction pair, the main cause of slippage is that the balance between driving moment and the loading moment is broken.This problem is particularly evident in the large-scale astronomical telescope rolling friction drives, because need open astronomical dome during large-scale astronomical telescope work, be that telescope is worked in the open, and the telescopical wind area that holds is very big, the change of wind speed, the change of wind direction and telescope hold the wind area in tracing process change all can cause the variation of sizable driving load, and this variation is at random.In addition, the change of acceleration also needs different driving moments corresponding with it in the operational process.For this problem, solution commonly used on the astronomy is to calculate required normal pressure size by worst working condition.The consequence of doing like this is: friction pair and drive shaft system are operated under the very big normal pressure always, and in order to bear very big load, the performance of parts such as friction pair, turning axle, spring bearing all will improve, and has increased manufacturing cost; In addition, more than these parts be operated under the very big load always, accelerated the wearing and tearing of movement parts, the stability of influence axle system.
Summary of the invention
At the deficiency more than the prior art, the purpose of this invention is to provide a kind of telescope rolling friction drive positive pressure dynamic correction system, this update the system is a kind of real-time detection and the real-time dynamic system of revising, adjust the size of normal pressure in real time according to the loading moment of reality, make kinematic train be operated in optimum condition.Telescopical friction driven system is not always worked under the normal pressure of maximum, do not having wind, perhaps wind speed is less, perhaps moves under the little situation of acceleration to reduce its working pressure according to actual conditions in real time, to reduce its manufacturing cost, prolong its mission life.
The technical scheme of finishing the foregoing invention task is: telescope rolling friction drive positive pressure dynamic correction system, engaged wheel (being driven load) and the driving wheel composition friction pair that under the effect of normal pressure, fits together, the pressurization motor applies normal pressure by ballscrew nut fitting and spring to driving wheel, and (change of normal pressure is finished by elongating or shortening of spring; Elongating or shortening by ballscrew nut fitting of spring drives; Ball-screw is by the pressurization motor-driven); It is characterized in that,
Be provided with the normal pressure control gear, be provided with industrial computer in this mechanism, be connected with data collecting card on the industrial computer;
On engaged wheel, be provided with the engaged wheel torque sensor; On driving wheel, be provided with the driving wheel torque sensor;
The output of engaged wheel torque sensor and driving wheel torque sensor connects the data collecting card of industrial computer;
The data line that is arranged on the code-disc on the pressurization motor connects the data collecting card of industrial computer (motion conditions of pressurization motor is by the code-disc feedback of its afterbody), and the data of collection feed back to control gear, constitute closed-loop control system.
The principle of work of above structure is: the data collecting card of the real-time output connected control system of engaged wheel torque sensor and driving wheel torque sensor, after the real time data of capture card collection is resolved through control system, obtain the required amount of exercise of normal pressure pressurization motor, drive the pressurization motor movement according to this amount of exercise control system.The motion conditions of pressurization motor is fed back by the code-disc of motor afterbody.The rotation of pressurization driven by motor ball-screw, the nut of joining with screw mandrel is limited owing to rotary freedom, so rectilinear motion before and after can only doing, seesawing acts on spring and just makes and increase or reduce by the normal pressure of spring action on driving wheel, plays the effect of regulating normal pressure.And then revised moment of friction, and make moment of friction and loading moment balance each other, constitute closed-loop control system.
The further improvement of above scheme has following prioritization scheme:
1, the set-up mode of driving wheel torque sensor and engaged wheel torque sensor is: driving wheel torque sensor and engaged wheel torque sensor respectively with driving wheel and the coaxial installation of engaged wheel;
2, the position that is provided with of driving wheel torque sensor is: be arranged on the extended line of driving wheel one side of drive motor and driving wheel line;
The position that is provided with of engaged wheel torque sensor is: be arranged on the extended line of engaged wheel one side of engaged wheel position coder and engaged wheel line.
That is, the driving wheel torque sensor can not be connected between drive motor and the driving wheel, and will be associated in the other end, referring to Fig. 1.Equally, the torque sensor that detects engaged wheel moment in real time can not be connected between engaged wheel position coder and the engaged wheel, referring to Fig. 1.Otherwise, can bring the lag-effect that is similar to speed reduction unit, influence the precision of friction gearing.
3, the precision of torque fluctuations dynamic correction system depends on various sensors, feedback driver element and control system.Specifically have: detect the torque sensor precision of moment, calibration precision, ball screw kinematic accuracy, the stability of the elastic coefficient K and the scrambler precision of drive motor back etc. of system in real time.The concrete precision of each parts is decided according to the accuracy requirement of telescope transmission tracker, the tracking accuracy of astronomical telescope is 0.2 generally speaking " about (RMS value) (no guiding corrective system); according to this accuracy requirement; the torque sensor precision that detects moment in real time is about 5N.m; the calibration precision of system; the amount of exercise of the motor that promptly pressurizes and the scale factor between the moment of friction, the error of consequent moment of friction should be controlled at below the 2N.m.Ball screw assembly, adopts 5 class precisions.The stability of the elasticity coefficient K of spring is relevant with the stroke of actual correction system, generally about 1%.The code-disc precision of pressurization motor afterbody is decided according to the ratio of gear of calibration precision and ball screw assembly,, generally 5 " about.
The present invention adopts a kind of dynamic real-time to detect update the system exactly, makes normal pressure to adjust in real time according to the situation of actual loading, guarantees that the normal pressure that is applied is consistent with the required normal pressure of actual loading at that time.By above closed-loop control system adjustment feed screw nut's linear movement amount, can adjust working pressure according to telescopical duty.With the loading moment and the driving moment of torque sensor real-time detecting system, by the size of control system according to the moment values real-time regulated normal pressure of being surveyed.
In more detail, concrete principle of work of the present invention is: friction gearing is to come transmitting movement by the friction force that the normal pressure that is added on the friction pulley produces, and therefore, the size of normal pressure has bigger influence to transmission stability.Normal pressure is too small, and the friction force of generation is not enough to well drive load, can cause macroslip, influences transmission accuracy.Normal pressure is excessive, and can quicken surface of friction pair is the wearing and tearing of spring bearing with axle, can make the Contact Pair surface produce adhesive wear when serious, the reduction transmission performance.In addition, normal pressure is excessive, is to cause rocking of axle system under the not high enough situation of rigidity at axle, makes the transmission performance instability.According to above analysis as can be seen, for friction driven system, drive the stable most important of load.But very big telescope is being born the effect that wind carries always in the process of work.Because greatly to hold the wind area very big for telescope, therefore, the variation of wind-force, the variation of wind direction and telescope hold the wind area in tracing process variation can make that all acting on wind on the telescope carries and alter a great deal.On the other hand, telescope also has the variation of acceleration in tracing process, makes that also driving load changes.
The pressurization motor is N by the normal pressure that ballscrew nut fitting and spring apply driving wheel, if the friction factor of friction pair is μ, the tangent direction friction power that then produces between the friction pair is: F=N * μ.If being driven the torque of load is M2, then when F * R=M2 (R is the engaged wheel radius of turn), friction pair can be worked normally.Torque M 1 on the driving wheel can obtain from torque sensor 4 at this moment, and the torque M 2 of engaged wheel can obtain from torque sensor 1, and M2=λ M1 (λ is a ratio of gear).If engaged wheel loads in the operational process and changes, be without loss of generality, to become greatly example, the loading moment after changing is M2+ Δ M, needs in two kinds of situation for the consideration of Δ M:
First kind of situation
When the increase Δ M of load is not very big, promptly driving wheel still can drive the engaged wheel rotation, but the existing relative slippage of surface of friction pair this moment.The concrete numerical value of increase Δ M can obtain from the comparison of engaged wheel torque sensor and driving wheel torque sensor.The normal pressure variable quantity of Δ M correspondence is Δ N, and Δ N size is: and Δ M/ (R * μ).The linear movement amount Δ L that can obtain the feed screw nut thus is Δ N/K, and promptly (R * μ * K), K is the spring ratio of spring to Δ M/.The accurate numerical value of Δ L can be by the code-disc control of pressurization motor back.So far, make moment of friction and loading moment obtain new balance by closed-loop control system.
Second kind of situation
When the increase Δ M of load very big, the driving moment that friction force produces can not drive engaged wheel fully, at this moment the numerical value of sending back from the engaged wheel torque sensor is 0, this situation appears, go to control pressurised driving motor 7 work (M1 can take the moment values that engaged wheel rotates last time to) with the moment values M1 that obtains from torque sensor 4 as Δ M, after finishing this circulation, if the numerical value that the engaged wheel torque sensor is sent back still is 0, then continue drive motor work with M1 as Δ M again, go down like this, be not 0 up to engaged wheel torque sensor feedback numerical value always.Even but engaged wheel torque sensor feedback numerical value is not 0, not necessarily is in the optimum condition of equalising torque yet, can then adopt the control model of first kind of situation to carry out iteration control this moment, reaches balance up to moment of friction and loading moment.Make friction gearing be in stable equilibrium state.
By above analysis, adopt dynamic correction system of the present invention, can revise the size of normal pressure in real time according to the variation of loading moment, make friction gearing always work in stable equilibrium state.The precision of revising depends on the precision of precision, system calibration and the control system of various sensors.
Adopt dynamic correction system of the present invention, can revise the size of normal pressure in real time according to the situation of change of loading moment, avoid each parts of friction driven system to always work under the very big load, reduced the performance requirement of each parts, and then reduced cost significantly.In addition, adopt this dynamic correction system, also can avoid the mutual slippage of friction gearing secondary surface to greatest extent, and then avoided the picture of astronomical telescope observed object in the visual field, to shake, even the visual field that drifts about out.Avoid long-time big load work also to eliminate rocking of axle system, make transmission performance more stable.For the astronomical telescope high for cost, that observation time is very valuable, has very important realistic meaning.
Description of drawings
Fig. 1 is a principle of work synoptic diagram of the present invention.
Embodiment
Embodiment 1, and telescope rolling friction drive positive pressure dynamic correction system is with reference to Fig. 1: engaged wheel 2 (being driven load) and the driving wheel 3 composition friction pair that fits together under the effect of normal pressure.Pressurization motor 7 applies normal pressure N by ballscrew nut fitting 6 and 5 pairs of driving wheels of spring, is provided with engaged wheel torque sensor 1 on engaged wheel; On driving wheel, be provided with driving wheel torque sensor 4; The data collecting card of the real-time output connected control system of engaged wheel torque sensor and driving wheel torque sensor, after the real time data of capture card collection is resolved through control system, obtain the required amount of exercise of normal pressure pressurization motor, drive the pressurization motor movement according to this amount of exercise control system.The motion conditions of pressurization motor is fed back by the code-disc of motor afterbody.The rotation of pressurization driven by motor ball-screw, the nut of joining with screw mandrel is limited owing to rotary freedom, so rectilinear motion before and after can only doing, seesawing acts on spring and just makes and increase or reduce by the normal pressure of spring action on driving wheel, plays the effect of regulating normal pressure.And then revised moment of friction, and make moment of friction and loading moment balance each other, constitute closed-loop control system.
If the friction factor of friction pair is μ, the tangent direction friction power that then produces between the friction pair is: F=N * μ.Drive motor 9 drives driving wheel 3 rotations, and engaged wheel 2 is done rotation synchronously under the effect of friction force F.If being driven the torque of load is M2, then when F * R=M2 (R is the engaged wheel radius of turn), friction pair can be worked normally.Torque M 1 on the driving wheel can obtain from driving wheel torque sensor 4 at this moment, and the torque M 2 of engaged wheel can obtain from engaged wheel torque sensor 1, and M2=λ M1 (λ is a ratio of gear).
If the friction factor of friction pair is μ, the tangent direction friction power that then produces between the friction pair is: F=N * μ.Drive motor 9 drives driving wheel 3 rotations, and engaged wheel 2 is done rotation synchronously under the effect of friction force F.If being driven the torque of load is M2, then when F * R=M2 (R is the engaged wheel radius of turn), friction pair can be worked normally.Torque M 1 on the driving wheel can obtain from torque sensor 4 at this moment, and the torque M 2 of engaged wheel can obtain from torque sensor., 10 among the figure is the engaged wheel position coder.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007101332413A CN100492093C (en) | 2007-10-12 | 2007-10-12 | Dynamic Correction System of Positive Pressure in Telescope Rolling Friction Transmission |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007101332413A CN100492093C (en) | 2007-10-12 | 2007-10-12 | Dynamic Correction System of Positive Pressure in Telescope Rolling Friction Transmission |
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| CN101149470A CN101149470A (en) | 2008-03-26 |
| CN100492093C true CN100492093C (en) | 2009-05-27 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101706612B (en) * | 2009-10-20 | 2012-06-06 | 中国科学院国家天文台南京天文光学技术研究所 | Rolling friction transmission system suitable for super-large astronomical telescope |
| CN102778904B (en) * | 2012-07-25 | 2015-05-20 | 中国科学院国家天文台南京天文光学技术研究所 | Control method and equipment for regulating positive pressure between main friction wheel and auxiliary friction wheel of astronomical telescope |
| CN102789184A (en) * | 2012-08-27 | 2012-11-21 | 中国科学院国家天文台南京天文光学技术研究所 | Control method for dynamic detection and modification of slippage of astronomical telescope through friction drive |
| CN102789242A (en) * | 2012-09-03 | 2012-11-21 | 中国科学院国家天文台南京天文光学技术研究所 | Control system for realizing nonlinear interference compensation of torsion angle of astronomical telescope |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2035024U (en) * | 1988-01-30 | 1989-03-29 | 甘肃工业大学 | Multi-function integrated automatically-compressed friction gearing |
| CN2339550Y (en) * | 1997-11-21 | 1999-09-22 | 太原理工大学 | Friction drive device of feed-back pressurizing type belt conveyor |
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2007
- 2007-10-12 CN CNB2007101332413A patent/CN100492093C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2035024U (en) * | 1988-01-30 | 1989-03-29 | 甘肃工业大学 | Multi-function integrated automatically-compressed friction gearing |
| CN2339550Y (en) * | 1997-11-21 | 1999-09-22 | 太原理工大学 | Friction drive device of feed-back pressurizing type belt conveyor |
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