CN102778904B - Control method and equipment for regulating positive pressure between main friction wheel and auxiliary friction wheel of astronomical telescope - Google Patents
Control method and equipment for regulating positive pressure between main friction wheel and auxiliary friction wheel of astronomical telescope Download PDFInfo
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- CN102778904B CN102778904B CN201210260657.2A CN201210260657A CN102778904B CN 102778904 B CN102778904 B CN 102778904B CN 201210260657 A CN201210260657 A CN 201210260657A CN 102778904 B CN102778904 B CN 102778904B
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Abstract
The invention discloses a control method and equipment for regulating positive pressure between a main friction wheel and an auxiliary friction wheel of an astronomical telescope A main control computer commands a positive pressure control system to ensure some a positive pressure; a PMAC 2A-PC/104 drives positive pressure motors corresponding to motor drivers by the motor drivers; the positive pressure is measured by an S-shaped tension/pressure sensor installed on a path; a positive pressure closed-loop control system feeds back the positive pressure actually measured between the main friction wheel and the auxiliary friction wheel to a command input end, and the actually measured positive pressure and a referentially input positive pressure command are compared; the closed-loop system continuously detects the positive pressure, and the positive pressure is input through a corresponding AD analog input port of the PMAC 2A-PC/104; carrying out substraction on the measured value and the reference positive pressure to obtain an error signal; and after PID (Proportion Integration Differentiation) operation, the error signal is converted into a (-10V)-(+10V) analog signal which is sent to the motor drivers, and brushless direct current motors are driven to move after the (-10V)-(+10V) analog signal is amplified by the motor drivers. With the adoption of the control method and equipment, a direct current motor can be controlled to accurately keep the pressure in a value.
Description
Technical field
The present invention relates to a kind of control system of astronomical telescope, be specifically related to the control method that between a kind of friction-driven telescopical principal and subordinate's friction pulley, normal pressure regulates.
The present invention is the achievement in research of state natural sciences fund (10778630) " research of very big telescope friction gearing sliding dynamics update the system " and state natural sciences fund general project (11073034) " research that the low temperature Nonlinear perturbations in the tracking of South Pole heavy caliber astronomical optical telescope low-speed highly precise compensates " (the common Funded Projects of Jiangsu Province " 333 " engineering).
Background technology
A lot of large-scale astronomical optical telescope have employed the type of drive of cylindrical rolling friction as its main shaft (such as azimuth axis, altitude axis, visual field turning axle) at present.Friction-driven cost performance is high, and periodicity cumulative errors, does not have backlash, stable drive during telescope motion, and friction, response speed, than very fast, can obtain very high transmission accuracy under the low speed.
Friction-driven must ensure to keep certain normal pressure between driving and driven friction pulley, to produce friction force to transmit motion.But the real contact area of driving and driven friction pulley is limited, especially for cylindrical rolling friction, be linear contact lay in theory.Large-scale astronomical telescope is the load of a large quality, large inertia, and in order to drive it, driven wheel meshing point place must keep higher pressure, easily causes the excessive wear on friction pulley surface.The main shaft friction-driven of large-scale astronomical telescope, needs the normal pressure hundreds of kilogram at least applied, 1 ~ 2 ton at most.The use of astronomical telescope also has a feature, it and non-homogeneous use frictional disk, is generally that corresponding sky top portion uses at most.After Long-Time Service, large frictional disk can become oval or other profiles.The friction-driven of the pretension pressurizations such as such use spring, can change in different position normal pressures, friction drive is fluctuated, thus have influence on telescopical tracking accuracy and tracking accuracy.
On the other hand, be faced with wind when large-scale astronomical telescope runs to carry and many nonlinear disturbances such as friction torque interference.Such as driven wheel surface in contact roughness, circularity, cylindricity, cleanliness have impact to transmission accuracy.Large-scale astronomical telescope generally needs to open dome, is in outdoor work, easily pollutes impurity between friction pulley surface in contact.Under some cold climate or even extreme climate (as the South Pole) condition, metal friction wheel surface can frosting.These situations cause friction factor to change, and cause friction drive to change, and easily cause the Relative sliding of surface in contact, thus affect transmission accuracy.According to coulomb law of friction, when friction factor is certain, friction force is directly proportional to normal pressure, and the size of friction force can be changed by the adjustment of normal pressure.But the telescope adopting friction-driven at present is both at home and abroad all passive applying normal pressure, namely apply normal pressure according to required maximal value.Most of telescope have employed the mode of spring pre-tightening pressurization.Except this mode, other telescope also has the mode adopting hydraulic amplifier and air pressure reinforcing.Under the friction driving way adopting passive pressurization, normal pressure cannot change in good time.
Friction-driven normal pressure is excessive too smallly all can bring adverse effect.Between the driven wheel of friction-driven, the too small meeting of normal pressure causes the Relative sliding between friction pair, and the excessive surface in contact that can make again of normal pressure produces plastic yield, and causes breaking of surface film and adhere.In general, adhesive wear amount and oxidative wear amount all along with pressure be increased to a certain critical value after increase rapidly, can be stuck time serious.But reality is, passive pressuring method is adopted to be difficult to normal pressure to adjust to an optimum value, the often tendency excessively pressurization when debuging.
Current large-scale astronomical optical telescope often adopts multiple spot friction-driven to solve normal pressure problem.It by reducing slippage probability, and then reduces driving error.Normal pressure required for multi-point friction drive is relatively low, can reduce the wearing and tearing of frictional disk, and can provide the moment of friction of many times, and then provides larger driving acceleration.But, multiple spot friction needs control system to increase closed-loop control number, the cost that increase is at double originally expensive., there is stationary problem in the same high-precision load of multiple motor close-loop driven.
Application number be CN 200710133241.3 patent discloses a kind of telescope rolling friction drive positive pressure dynamic correction system, the dynamic system that this update the system is a kind of real-time detection and revises in real time, adjust the size of normal pressure according to the loading moment of reality in real time, make kinematic train be operated in optimum condition.Telescopical friction driven system is not always worked under maximum normal pressure, there is no wind, or wind speed is less, or its working pressure can be reduced according to actual conditions in real time when operation acceleration is little, to reduce its manufacturing cost, extend its mission life.
Summary of the invention
The object of this invention is to provide control method and equipment thereof that normal pressure between a kind of astronomical telescope principal and subordinate friction pulley regulates, the method is further exploitation on the basis that application number is the patented technology of CN 200710133241.3 and improvement.Object is for the deficiencies in the prior art, provides one to comprise normal pressure Active and Real-time and regulates servo-controlled method.Its advantage (beneficial effect) is because normal pressure can be controlled by computing machine real-time online, according to telescopical operation needs, initiatively realize the high precision increase and decrease of normal pressure between the driving wheel of telescopical main shaft (as altitude axis and azimuth axis) and engaged wheel: excessively may increase normal pressure when (1) can avoid friction drive device to install and skimble-skamble overload, power attenuation and the mechanical wear brought.(2) in the pulsation-free situation of load, ensure accurate normal pressure between driving wheel and engaged wheel, maintain normal friction drive.(3) when wind carries interference or other extraneous Nonlinear perturbations cause the fluctuation of load, when the friction factor of telescopical driving wheel and engaged wheel changes, because the reason such as wearing and tearing causes the change of normal pressure to have influence on the friction drive normally worked is provided time, real-time change normal pressure, provides the friction drive that telescope can normally run.
Technical scheme of the present invention is: the control method that between a kind of astronomical telescope principal and subordinate friction pulley, normal pressure regulates, and it is characterized in that, step is as follows:
(1). telescope main control computer instruction normal pressure control system ensures certain normal pressure, and this normal pressure order passes to PMAC 2A-PC/104 motion controller by USB port;
(2) .PMAC 2A-PC/104 drives the normal pressure motor of their correspondences by each motor driver; Apply pressure by the ball screw be connected with motor shaft to the active friction wheel be arranged on elastic plate, force driving wheel and engaged wheel (i.e. telescope body) to fit tightly;
. the normal pressure between each road driving wheel and engaged wheel by the S type being arranged on this road draw/pressure transducer records, S type draws/pressure transducer is installed between ball screw and driving wheel;
. normal pressure closed-loop control system actual measurement to principal and subordinate's two-wheeled between normal pressure feed back to command input end, compared with the normal pressure order of step (1) reference input;
(5). closed-loop system continuously detects normal pressure, and inputted by the corresponding A/D analog input port of PMAC 2A-PC/104, its resolution is 12;
(6) .PMAC 2A-PC/104 controller is by the normal pressure numerical value subtraction of measured value and step (1) reference input, the error signal of trying to achieve;
(7). (6) the tried to achieve error signal of step is carried out after PID arithmetic through PMAC 2A-PC/104, transfer the analog signals of-10V ~+10V to, this signal, as the electric current loop command signal of motor driver, sends to motor driver by the DAC analog output mouth of PMAC 2A-PC/104;
. Analog control signal, after amplifying through the power model of motor driver, drives brshless DC motor motion, make normal pressure can completely according to step (1) the normal pressure numerical value of reference input requirement and change accurately.
In above scheme, closed-loop control system adopts double-loop control, and inner ring is electric current loop, and outer shroud is normal pressure closed loop.Inner ring completes in brushless motor driver inside, and normal pressure closed loop is completed by PMAC 2A-PC/104 motion controller.
In prioritization scheme of the present invention, as a further improvement on the present invention, troubleshooting capability is added:
Pressure motor adopts reaction stepping motor, and motor driver changes stepper motor driver into.The advantage of the method is, when normal pressure active adjustment mechanism-trouble, the self-lock force relying on stepper motor to power on appoints the normal pressure that so can maintain between driving wheel and engaged wheel.Thus ensure telescopical normal observation.Another kind method increases mechanical hatching gate on original direct current generator, and when the power down of normal pressure control system, dependence band brake apparatus still can maintain the normal pressure between driving wheel and engaged wheel.Thus ensure telescopical normal observation.
As a further improvement on the present invention, normal pressure dynamic response capability is improved:
Pressure motor changes rare-earth permanent-magnetic synchronous torque motor into, cancels speed reduction unit simultaneously.The advantage of the method is, torque motor moment of torsion is enough large, and owing to eliminating speed reduction unit, thus the dynamic responding speed of normal pressure active adjustment mechanism is faster.
The scheme completing the application's second invention task is, the equipment that said method uses: the opertaing device that between a kind of astronomical telescope principal and subordinate friction pulley, normal pressure regulates, by PMAC 2A-PC/104 motion controller, normal pressure motor, motor driver, draw/pressure transducer forms.Every a pair friction-driven transmission corresponding a set of normal pressure motor, motor driver, draw/pressure transducer, control by a PMAC 2A-PC/104 motion controller is unified.The normal pressure that this method can control at most 8 tunnel friction-driven simultaneously realizes active adjustment.For very big telescope, if the friction adopted is counted more than 8, as long as increase same a set of by PMAC 2A-PC/104 motion controller, normal pressure motor, motor driver, draw/the system that forms of pressure transducer, other 8 tunnel normal pressure active adjustment control system can be expanded.
Repeatedly say, the method for operating that each step of the present invention more specifically and is more optimized is:
Telescope main control computer instruction normal pressure control system ensures certain normal pressure, and the numerical value of normal pressure is from telescope actual motion state and experimental calibration in advance.This normal pressure order passes to PMAC 2A-PC/104 motion controller by USB port.PMAC 2A-PC/104 motion control card adopts the structure of built-in PC/104 computing machine of standard, and its compact size, system extension are convenient.DSP major clock, maximum optional 80MHZ.The communication of host computer and PMAC 2A-PC/104 motion controller employs the PComm32PRO communication driver storehouse that Delta Tau company of the U.S. develops.
PMAC 2A-PC/104 drives the normal pressure motor of their correspondences by each motor driver.Apply pressure by the ball screw be connected with motor shaft to the active friction wheel be arranged on elastic plate, force driving wheel and engaged wheel (i.e. telescope body) to fit tightly.
Normal pressure between each road driving wheel and engaged wheel by the S type being arranged on this road draw/pressure transducer records, S type draws/pressure transducer is installed between ball screw and driving wheel.Normal pressure closed-loop control system feeds back to command input end, compared with the normal pressure order of reference input the normal pressure between principal and subordinate's two-wheeled of surveying.Closed-loop system continuously detects normal pressure, and inputted by the corresponding A/D analog input port of PMAC 2A-PC/104, its resolution is 12.PMAC 2A-PC/104 controller is by measured value and reference input subtraction, the error signal of trying to achieve carries out through PMAC 2A-PC/104 the analog signals transferring-10V ~+10V after PID arithmetic to, this signal, as the electric current loop command signal of motor driver, sends to motor driver by the DAC analog output mouth of PMAC 2A-PC/104.After amplifying through the power model of motor driver, drive brshless DC motor motion, normal pressure can be changed according to the requirement of reference input completely accurately.Closed-loop control system adopts double-loop control, and inner ring is electric current loop, and outer shroud is normal pressure closed loop.Inner ring completes in brushless motor driver inside, and normal pressure closed loop is completed by PMAC 2A-PC/104 motion controller.
The present invention can control direct current generator and accurately be maintained by pressure in certain value, when load because when the reason generation normal pressures such as wearing and tearing, thermal deformation, machining precision change, normal pressure active adjustment control system adjusts motor in real time and carries out pressurizeing or reducing pressure, to maintain desirable friction drive.The precision of normal pressure is primarily of drawing/the precision of pressure transducer, the calibration precision decision of elastic plate.In addition, it is to be noted that namely the present invention may be used for single-point friction-driven, also may be used for multiple spot friction-driven.
Accompanying drawing explanation
Fig. 1 is normal pressure Control system architecture schematic diagram;
Fig. 2 is single channel normal pressure control system block diagram;
Fig. 3 is normal pressure control system transport function block diagram;
Fig. 4 is that normal pressure controls electric current loop transport function block diagram;
Fig. 5 is that normal pressure controls electric current loop simplified block diagram.
Embodiment
Embodiment 1, as shown in Figure 1, the normal pressure that simultaneously can realize 8 tunnel friction-driven controls normal pressure control system.The control system block diagram on each road as shown in Figure 2.Its transport function block diagram as shown in Figure 3.Specifically realized by following a few part:
(1) normal pressure drive motor
Normal pressure drive motor have selected band reductor have brushless motor, its performance parameter is as shown in table 1.
1 DC speed-reducing important technological parameters
| 36ZY126000 | |
| Reduction gear ratio | 1/270 |
| Rotating speed | 22 r/min |
| Voltage | 12 VDC |
| No-load current | ≤350 mA |
| Load current | ≤1300 mA |
| Torque | 20 Kg.cm |
The reduction gear ratio of reductor is
, it is input as the Driving Torque of direct current permanent magnet motor
, transmission efficiency is
, export as moment of torsion
, have
（1）
Speed reduction unit directly can be reduced to proportional component, and its transport function is
（2）
(2) motor driver
The actual motor driver adopted is 2KS010B-10A-24V in embodiment 1.
The electric current loop of normal pressure active adjustment mechanism realizes closed loop by this motor driver.
There is armature supply negative feedback in electric current loop, in electric current loop, also there is the cross feedback that counter electromotive force of motor produces simultaneously.Generally speaking, due to the electromagnetic time constant of armature circuit
than electromechanical time constant
t m much smaller, thus the change of counter electromotive force of motor is slower than the adjustment process of electric current, and at the end of Current adjustment process, back electromotive force change is also very little, so in electric current loop regulates, can suppose back electromotive force
econstant, namely
, ignore the impact of back electromotive force, the electric current loop obtained as shown in Figure 4.
be current feedback coefficient, it is determined by the maximum input signal of electric current loop and the maximum output current of driver.Simultaneously
also the product of current sensor coefficient and feedback channel amplifier coefficient is equaled.
Electric current loop is corrected to typical I type system, and current regulator adopts PI to control,
（3）
Wherein,
for the scale-up factor of current regulator,
for the time constant of current regulator.
With
the limit offseting the Great inertia link of control object zero point, obtain the reduced form of the Dynamic structure diagram of electric current loop as shown in Figure 5.
Wherein,
,
rfor armature resistance,
for the enlargement factor of power amplifier.
Thus the closed loop transfer function, can trying to achieve electric current loop is
（4）
The electric current loop closed loop transfer function, adding current regulator is similar to first order inertial loop below
（5）
In formula,
for total time constant of electric current loop.
Due to
very little, ignore its impact, then the equivalent transfer function of electric current loop can be reduced to further
（6）
When designing normal pressure controller, the electric current loop designed as a link in pressure closed loop, form the control object of pressure closed loop together with other links.
The voltage 10V of the maximum control signal of the electric current loop of input, the maximum output current of amplifier is ± 10A, according to the principle of signal level coupling, then has current feedback coefficient
（7）
(3) screw mandrel pressurization link
Screw mandrel pressue device adopts ball-screw, and ball-screw-transmission efficiency is
,
lfor ball-screw helical pitch,
l=4mm.Screw mandrel pressue device utilizes ball-screw that rotary motion is become rectilinear motion, and the torque axis of motor is changed to axial power output, finally realizes normal pressure between driving wheel and engaged wheel.
（8）
The transport function of whole like this screw mandrel pressue device
（9）
(4) elastic plate link
Driving wheel relies on by two pieces of elastic steel plate supports.If spring steel plate deformation force is
, the axial power output of ball screw can be consumed by spring steel plate distortion
, i.e. true normal pressure
（10）
The Rigidity Experiment of spring steel plate is measured
, the gap width of driving wheel and engaged wheel, namely the deformation values feeler gauge of spring steel plate records
.
（11）
So maximum pressure between driving wheel and engaged wheel
（12）
Real operation interval is 0 ~ 250 N.
(5) detection of positive pressure signal and filtering link
2 pressure transducer important technological parameters
| Pressure transducer CFBLS | |
| Range | 0 - ±30 Kg |
| Output current signal | 4-20 mA |
| Sensitivity | 2.0±0.01 mV/V |
| Safe overload | 150%FS |
| Sensitivity temperature coefficient | ≤±0.02% FS/10℃ |
| Zero temperature coefficient | ≤±0.02% FS/10℃ |
| Repeatability | ≤±0.01% FS |
| Non-linear | ≤±0.02% FS |
| Delayed | ≤±0.02% FS |
| Supply voltage | 10-15VDC |
The detection of positive pressure signal, should select can the sensitive and position of true reflection pressure information, avoids the cavity of pressure signal in pipeline, reduce the loss of signal in transmission, and this position is applicable to setting pressure sensor as far as possible.According to these principles, the pressure transducer of native system is arranged between ball screw pressue device and driving wheel.CFBLS draws/and pressure transducer adopts S type structure, and sealing grade is IP65, and tension and compression all can use, and has superior antitorque, anti-side, offset load resistance, and its precision is higher, reproducible, the linearity is relatively good, delayed little.
In order to remove the harmonic signal in normal pressure feedback signal, normal pressure feedback signal after filtering, will adopt the digital averaging filtering method of digital filtering.Continuous sampling N normal pressure feedback signal, its arithmetic mean
namely as real positive pressure value.In embodiment 1, get N=10, every 10 milliseconds sampling should be carried out, continuous sampling 10 times.
Pressure feedback filtering link can regard first order inertial loop as
（13）
for time constant,
for the gain of normal pressure feedback filtering.
Normal pressure control system open-loop transfer function
（14）
The object of normal pressure closed loop keeps normal pressure to be consistent in real time with setting value in dynamic process, wishes that overshoot is less.PI controller selected by normal pressure controller, control system is corrected to typical I type system.
（15）
Obtain
（16）
Get
, obtain
（17）
Wherein
（18）
Can obtain
（19）
Consider to enable normal pressure non-overshoot and respond fast, therefore making system be in Critical damping state
, now,
.According to table 1, can approximate treatment go out
.
Embodiment 2
Substantially the same manner as Example 1, but piezo actuator changes reaction stepping motor into, and motor driver changes stepper motor driver into.The advantage of the method is, when normal pressure active adjustment mechanism-trouble, the self-lock force relying on stepper motor to power on still can maintain the normal pressure between driving wheel and engaged wheel.Thus ensure telescopical normal observation.
Embodiment 3
Substantially the same manner as Example 1, but piezo actuator changes the rare-earth permanent-magnetic synchronous torque motor of band mechanical hatching gate into, cancels speed reduction unit simultaneously.The advantage of the method is, torque motor moment of torsion is enough large, eliminate speed reduction unit, thus the dynamic responding speed of normal pressure active adjustment mechanism is faster.And normal pressure active adjustment mechanism damage even system power failure time, rely on band brake apparatus appoint the normal pressure that so can maintain between driving wheel and engaged wheel.Thus ensure telescopical normal observation.
Claims (5)
1. the control method that between astronomical telescope principal and subordinate friction pulley, normal pressure regulates, it is characterized in that, step is as follows:
(1). telescope main control computer instruction normal pressure control system ensures certain normal pressure, and this normal pressure order passes to PMAC 2A-PC/104 motion controller by USB port;
(2) .PMAC 2A-PC/104 drives the normal pressure motor of their correspondences by each motor driver; Apply pressure by the ball screw be connected with motor shaft to the active friction wheel be arranged on elastic plate, force driving wheel and engaged wheel to fit tightly;
. the normal pressure between each road driving wheel and engaged wheel by the S type being arranged on this road draw/pressure transducer records, S type draws/pressure transducer is installed between ball screw and driving wheel;
. normal pressure closed-loop control system actual measurement to principal and subordinate's two-wheeled between normal pressure feed back to command input end, compared with the normal pressure order of step (1) reference input;
(5). closed-loop system continuously detects normal pressure, and inputted by the corresponding A/D analog input port of PMAC 2A-PC/104, its resolution is 12;
(6) .PMAC 2A-PC/104 controller is by the numerical value subtraction in the normal pressure order of measured value and step (1) reference input, tries to achieve error signal;
(7). (6) the tried to achieve error signal of step is carried out after PID arithmetic through PMAC 2A-PC/104, transfer the analog signals of-10V ~+10V to, this signal, as the electric current loop command signal of motor driver, sends to motor driver by the DAC analog output mouth of PMAC 2A-PC/104;
. Analog control signal, after amplifying through the power model of motor driver, drives normal pressure motor movement, make normal pressure can completely according to step (1) the normal pressure numerical value of reference input requirement and change accurately;
Described closed-loop control system adopts double-loop control, and inner ring is electric current loop, and outer shroud is normal pressure closed loop; Inner ring completes in brushless motor driver inside, and normal pressure closed loop is completed by PMAC 2A-PC/104 motion controller.
2. the control method that between astronomical telescope principal and subordinate friction pulley according to claim 1, normal pressure regulates, is characterized in that, described pressure motor adopts reaction stepping motor, and motor driver adopts stepper motor driver.
3. the control method that between astronomical telescope principal and subordinate friction pulley according to claim 1, normal pressure regulates, is characterized in that, described pressure motor adopts rare-earth permanent-magnetic synchronous torque motor, cancels speed reduction unit simultaneously.
4., according to the control method that normal pressure between the astronomical telescope principal and subordinate friction pulley one of claim 1-3 Suo Shu regulates, it is characterized in that, described step (1) in PMAC 2A-PC/104 motion controller adopt the structure of built-in PC/104 computing machine of standard.
5. the equipment that the control method that described in claim 1, between astronomical telescope principal and subordinate friction pulley, normal pressure regulates uses: the opertaing device that between a kind of astronomical telescope principal and subordinate friction pulley, normal pressure regulates, it is characterized in that, this equipment by PMAC 2A-PC/104 motion controller, normal pressure motor, motor driver, draw/pressure transducer forms; Every a pair friction-driven transmission corresponding a set of normal pressure motor, motor driver, draw/pressure transducer, control by a PMAC 2A-PC/104 motion controller is unified.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210260657.2A CN102778904B (en) | 2012-07-25 | 2012-07-25 | Control method and equipment for regulating positive pressure between main friction wheel and auxiliary friction wheel of astronomical telescope |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210260657.2A CN102778904B (en) | 2012-07-25 | 2012-07-25 | Control method and equipment for regulating positive pressure between main friction wheel and auxiliary friction wheel of astronomical telescope |
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| CN104615167A (en) * | 2014-11-28 | 2015-05-13 | 中国科学院长春光学精密机械与物理研究所 | Output protection circuit of active optical force actuator of telescope |
| CN107943123A (en) * | 2017-11-02 | 2018-04-20 | 中国科学院长春光学精密机械与物理研究所 | The control system and control method of a kind of force actuator |
| CN108873240A (en) * | 2018-06-28 | 2018-11-23 | 中国科学院国家天文台南京天文光学技术研究所 | The rotary positioning apparatus and control method of astronomical telescope third reflecting mirror |
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| US6327081B1 (en) * | 2000-05-08 | 2001-12-04 | Optec, Inc. | Temperature compensating focuser for telescope |
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|---|---|---|---|---|
| US6327081B1 (en) * | 2000-05-08 | 2001-12-04 | Optec, Inc. | Temperature compensating focuser for telescope |
| CN1799769A (en) * | 2006-01-16 | 2006-07-12 | 中国科学院国家天文台南京天文光学技术研究所 | Force control method for lap surface control of stressed lap and equipment thereof |
| CN101149470A (en) * | 2007-10-12 | 2008-03-26 | 中国科学院国家天文台南京天文光学技术研究所 | Telescope rolling friction drive positive pressure dynamic correction system |
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