CN103838257A - Telescope rack control system - Google Patents
Telescope rack control system Download PDFInfo
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- CN103838257A CN103838257A CN201310698800.0A CN201310698800A CN103838257A CN 103838257 A CN103838257 A CN 103838257A CN 201310698800 A CN201310698800 A CN 201310698800A CN 103838257 A CN103838257 A CN 103838257A
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Abstract
The invention discloses a telescope rack control system. The signal input end of a motion controller is connected with an azimuth axis encoder and a pitch axis encoder, the signal output end of the motion controller is connected with an azimuth axis actuator and a pitch axis actuator in a controlled mode, and the azimuth axis actuator and the pitch axis actuator are connected with an azimuth axis torque motor and a pitch axis torque motor in a control mode respectively; a single chip microcomputer control system comprises a single chip microcomputer, the signal input end of the single chip microcomputer is connected with a pitch axis speed measuring motor, an azimuth axis speed measuring motor, a pitch axis limit switch, an azimuth axis limit switch and a position sensor, the signal output end of the single chip microcomputer is connected with an azimuth axis actuator power source, a pitch axis actuator power source, an azimuth axis power-off brake, a pitch axis power-off brake and a stepping motor actuator, and the stepping motor actuator is connected with a stepping motor; a computer is connected with the motion controller and the single chip microcomputer in a controlled mode. It can be effectively prevented that an azimuth axis and a pitch axis exceed a motion range to cause faults, and safe operation of a telescope is ensured.
Description
Technical field
The present invention relates to control and person in electronics especially a kind of telescope mill stand control system.
Background technology
Existing telescopic system is difficult to realize to be followed the tracks of fast to random moving target, needs a kind of telescopic system to have speed faster, larger acceleration, and higher precision, and safeguard measure is perfect simultaneously, and automaticity is high.
Summary of the invention
The invention provides a kind of telescope mill stand control system; solve the requirement of telescopic system speed, acceleration and precision; simultaneously; design multiple protective; prevent system down; design the functions such as closed loop focusing, specifically possessed following functions: azimuth axis servocontrol, pitch axis servocontrol, position limitation protection, stall protection, closed loop focusing control etc.
The technical solution used in the present invention is:
A kind of telescope mill stand control system, it is characterized in that: include computing machine, servo-control system and single-chip computer control system, servo-control system includes motion controller, the signal input part connection orientation shaft encoder of motion controller, pitch axis scrambler, the signal output part control linkage azimuth axis driver of motion controller, pitch axis driver, azimuth axis driver, pitch axis driver control linkage azimuth axis torque motor, pitch axis torque motor respectively; Single-chip computer control system includes single-chip microcomputer, the signal input part of single-chip microcomputer is connected with pitch axis speed measuring motor, azimuth axis speed measuring motor, pitch axis limit switch, azimuth axis limit switch, position transducer, the signal output part connection orientation axle drive power supply of single-chip microcomputer, pitch axis drive power supply, azimuth axis electricity loss brake, pitch axis electricity loss brake, stepper motor driver, stepper motor driver connects stepper motor, computer control connects motion controller, single-chip microcomputer, and computing machine also connects host computer.
Described a kind of telescope mill stand control system, is characterized in that: described host computer adopts industrial control computer.
Telescope mill stand control system comprises servo-control system and two parts of single-chip computer control system.Function is as follows:
1, servo-control system: computer control motion controller, motion controller is divided into two-way, one control azimuth, tunnel axle driver, azimuth axis driver control azimuth axis motor, motion controller obtains position and the velocity information of azimuth axis by azimuth axis scrambler simultaneously; Pitch axis driver is controlled on another road, pitch axis driver control pitch axis motor, and motion controller obtains position and the velocity information of pitch axis by pitch axis scrambler simultaneously.
2, single-chip computer control system: computing machine is by serial communication interface and microcontroller communication, and single-chip computer control system completes following a few partial function.
(1) drive power supply of control azimuth axle and pitch axis.
(2) electricity loss brake of control azimuth axle and pitch axis.
(3) regulate telescope focal length, by control step motor driver, and then control step motor focuses, and obtains current focal position by position transducer simultaneously, forms the focus control of a closed loop.
(4) read the speed measuring motor magnitude of voltage of azimuth axis and pitch axis, obtain the travelling speed of azimuth axis and pitch axis.
(5) read the limit switch state of azimuth axis and pitch axis.
The invention has the advantages that:
The present invention adopts industrial control computer as host computer, has good extendability, and antijamming capability is strong; The power supply control, system protection and the focusing that adopt single-chip microcomputer to do system are controlled, and have the feature flexible, volume is little, antijamming capability is strong of controlling; Adopt orientation and the pitch axis of direct current torque motor Direct Driving System, good rigidly, precision is high, and noise is little; Adopt reflective encoder as speed and position detecting element, reliable and stable, there are enough precision and resolution; Mill stand control system is provided with double speed-limiting protection function at azimuth axis and pitch axis, and double position limitation protection function, prevents that azimuth axis and pitch axis from exceeding range of movement and causing fault, guarantees telescope safe operation.
Accompanying drawing explanation
Fig. 1 is mill stand control system principle diagram.
Fig. 2 is servo-control system theory diagram.
Embodiment
Mill stand control system principle diagram as shown in Figure 1, a kind of telescope mill stand control system, include computing machine 2, servo-control system and single-chip computer control system, servo-control system includes motion controller 3, the signal input part connection orientation shaft encoder 4 of motion controller 3, pitch axis scrambler 5, the signal output part control linkage azimuth axis driver 6 of motion controller 3, pitch axis driver 7, azimuth axis driver 6, pitch axis driver 7 control linkage azimuth axis torque motor 8, pitch axis torque motor 9 respectively, single-chip computer control system includes single-chip microcomputer 10, the signal input part of single-chip microcomputer 10 is connected with pitch axis speed measuring motor 11, azimuth axis speed measuring motor 12, pitch axis limit switch 13, azimuth axis limit switch 14, position transducer 15, the signal output part connection orientation axle drive power supply 16 of single-chip microcomputer 10, pitch axis drive power supply 17, azimuth axis electricity loss brake 18, pitch axis electricity loss brake 19, stepper motor driver 20, stepper motor driver 20 connects stepper motor 21, computing machine 2 control linkage motion controllers, single-chip microcomputer, computing machine 2 also connects host computer 1.
Principle of the present invention and embodiment implementation process:
One, azimuth axis, pitch axis servo-control system
1. ultimate principle
The structure of the servo-control system of azimuth axis and pitch axis is identical, servo-control system is made up of computing machine, motion controller, driver, torque motor, scrambler, form a complete closed-loop system that comprises electric current loop, speed ring, position ring, as shown in Figure 2.
Computing machine requires (position command) according to the control command of host computer and motion, and the movement locus of azimuth axis and pitch axis, through suitable algorithm (position PID adjusting), is sent to speed control command.The renewal frequency of speed control command is tens hertz of scopes to hundreds of hertz.
Motion controller, according to the speed feedback of the speed control command of computing machine and scrambler, regulates through PID, and output is controlled voltage to driver.
Driver will be controlled voltage transformation and become pwm signal, through amplifying rear drive motor.The current feedback of internal drive is used for the impact of regulating load moment variations on speed.
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2. the selection of main devices
(1) computing machine is selected industrial computer, and Windows XP operating system has multiple PCI and spreads slot, has USB interface, RS232/RS422/RS485 interface, lan network interface etc., can meet the requirement of control and communication completely.
(2) motion controller is selected 7342 two axle movement control cards of America NI company, has 16 DAC(± 10V) or 10 PWM(23.2KHz) output, differential or single-ended encoder input (20MHz bandwidth), every axle minimal sampling time 62.5 μ s.
(3) scrambler is selected the steel loop reflective gratings scrambler of RENISHAW company of Britain, joins 200 segmentation read heads.Azimuth axis scrambler external diameter is 115 millimeters, and resolution is 0.36 rad, and precision is 1.94 rads.Pitch axis scrambler external diameter is 103 millimeters, and resolution is 0.4 rad, and precision is 2.16 rads.Can meet resolution and precision that servo-drive system requires.
(4) motor is selected the direct current torque motor of Chengdu Wei Jing Electric Machine Co., Ltd (Chengdu 906 factories).Azimuth axis motor is J340LYX05G, crest voltage 60V, moment 180N.m, no-load speed 60rpm.Pitch axis motor is J160LYX125G, crest voltage 60V, moment 50N.m, no-load speed 80rpm.
Two, single-chip computer control system
1, single-chip computer control system completes following a few partial function.
(1) drive power supply of control azimuth axle and pitch axis, in the time that system is normally moved, for azimuth axis and the power supply of pitch axis servo-drive system, in shutdown and in emergency circumstances power-off.
(2) electricity loss brake of control azimuth axle and pitch axis, in the time that system is normally moved, azimuth axis and pitch axis electricity loss brake are not braked, in shutdown or in emergency circumstances braking.
(3) realize the closed loop adjustment of telescope focal length, by control step motor rotate and reverse focus, the rotation of motor can make position transducer position change, and the position of putting sensor by reading obtains the position of focal length, forms the focus control of a closed loop.
(4) tachometric survey of azimuth axis and pitch axis, by reading the speed measuring motor magnitude of voltage of azimuth axis and pitch axis, obtains the travelling speed of azimuth axis and pitch axis, and this speed is mainly used in the speed limiting function of system, and anti-locking system is out of control.
(5) reading of the limit switch state of azimuth axis and pitch axis, limit switch is mainly used in preventing that azimuth axis and pitch axis rotational angle from transfiniting.
2, the selection of main devices
Single-chip microcomputer is selected the dsPIC33FJ32MC304 of Microchip company, is a High Performance SCM with DSP function, the operating rate of the highest 40MIPS, be with 12 high-precision a/d converters, peripheral interface circuit is abundant.
Three, speed-limiting protection function
Azimuth axis and pitch axis are provided with double independently speed limiting function.
1, the travelling speed of azimuth axis and pitch axis is provided by motion controller, motion controller can obtain the travelling speed of azimuth axis and pitch axis in real time by the scrambler on azimuth axis and pitch axis simultaneously, therefore by the speed output area of software limitations motion controller, when normally moving, system can guarantee that the highest running speed of system is in the scope of setting.In the time that motion controller speed limit is out of control, will provide stall protection by single-chip computer control system.
2, single-chip microcomputer can obtain the travelling speed of azimuth axis and pitch axis in real time by the speed measuring motor on azimuth axis and pitch axis, in the time that single-chip microcomputer detects that speed exceedes the maximum permission range of operation of setting, disconnect the power supply of motor driver and electricity loss brake simultaneously, make azimuth axis and pitch axis braking.
Four, position limitation protection function
Azimuth axis and pitch axis are respectively equipped with double independently limit function.
1, the limit function of azimuth axis: motion controller obtains the run location of azimuth axis in real time by the scrambler on azimuth axis, when azimuth axis run to approaching-360 ° or+360 ° time, motion controller can reduce travelling speed automatically, when arrive-361 ° or+361 ° time, motion controller can automatic spacing; If motion controller is spacing malfunctioning, when arrive-365 ° or+365 ° time, hardware limit switch will be connected, single-chip microcomputer detects after hardware limit switch connection, disconnects the power supply of azimuth axis motor driver and azimuth axis electricity loss brake simultaneously, and azimuth axis is braked.
2, the limit function of pitch axis: motion controller obtains the run location of pitch axis in real time by the scrambler on pitch axis, when pitch axis run to approach 0 ° or+90 ° time, motion controller can automatically reduce travelling speed, when arrive-1 ° or+91 ° time, motion controller can automatic spacing; If motion controller is spacing malfunctioning, when arrive-5 ° or+95 ° time, hardware limit switch will be connected, single-chip microcomputer detects after hardware limit switch connection, disconnects the power supply of pitch axis motor driver and pitch axis electricity loss brake simultaneously, and pitch axis is braked.
Five, closed loop focusing function
The execution of focusing is completed by Single-chip Controlling stepper motor, and computing machine sends to single-chip microcomputer by serial ports by focusing information.Single-chip microcomputer produces the control signal to stepper motor according to these information, the positional information of the position transducer sampling is fed back to computing machine by serial ports simultaneously, and shows on computers current focal position.Focusing point two kinds of patterns are carried out:
1, speed and direction mode, single-chip microcomputer is accepted speed and the direction order of computing machine by serial ports, and stepper motor is according to the given velocity reversal operation of computing machine.
2, station-keeping mode, single-chip microcomputer accepts by serial ports the position location that computing machine is given, and Single-chip Controlling stepper motor stops focusing after arriving position location.
Claims (2)
1. a telescope mill stand control system, it is characterized in that: include computing machine, servo-control system and single-chip computer control system, servo-control system includes motion controller, the signal input part connection orientation shaft encoder of motion controller, pitch axis scrambler, the signal output part control linkage azimuth axis driver of motion controller, pitch axis driver, azimuth axis driver, pitch axis driver control linkage azimuth axis torque motor, pitch axis torque motor respectively; Single-chip computer control system includes single-chip microcomputer, the signal input part of single-chip microcomputer is connected with pitch axis speed measuring motor, azimuth axis speed measuring motor, pitch axis limit switch, azimuth axis limit switch, position transducer, the signal output part connection orientation axle drive power supply of single-chip microcomputer, pitch axis drive power supply, azimuth axis electricity loss brake, pitch axis electricity loss brake, stepper motor driver, stepper motor driver connects stepper motor, computer control connects motion controller, single-chip microcomputer, and computing machine also connects host computer.
2. a kind of telescope mill stand control system according to claim 1, is characterized in that: described host computer adopts industrial control computer.
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| CN201310698800.0A CN103838257B (en) | 2013-12-18 | 2013-12-18 | A kind of telescope mill stand control system |
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| CN201310698800.0A CN103838257B (en) | 2013-12-18 | 2013-12-18 | A kind of telescope mill stand control system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104156008A (en) * | 2014-07-25 | 2014-11-19 | 中国科学院合肥物质科学研究院 | Frame control system for atmospheric coherent length measuring instrument |
| CN104571142A (en) * | 2014-12-01 | 2015-04-29 | 中国科学院合肥物质科学研究院 | Atmospheric parameter tracking measurement system |
| CN105487465A (en) * | 2015-12-21 | 2016-04-13 | 中国科学院长春光学精密机械与物理研究所 | Accelerometer-based large-size photoelectric telescope auxiliary safety protection system |
| CN107643770A (en) * | 2017-09-15 | 2018-01-30 | 中国科学院长春光学精密机械与物理研究所 | A kind of telescope control system and method |
| CN110361829A (en) * | 2019-07-10 | 2019-10-22 | 中国科学院长春光学精密机械与物理研究所 | A kind of telescope Pointing Calibration method and telescope |
| CN111770267A (en) * | 2020-06-17 | 2020-10-13 | 西安方元明科技股份有限公司 | High-precision follow-up system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104156008A (en) * | 2014-07-25 | 2014-11-19 | 中国科学院合肥物质科学研究院 | Frame control system for atmospheric coherent length measuring instrument |
| CN104571142A (en) * | 2014-12-01 | 2015-04-29 | 中国科学院合肥物质科学研究院 | Atmospheric parameter tracking measurement system |
| CN104571142B (en) * | 2014-12-01 | 2018-09-04 | 中国科学院合肥物质科学研究院 | A kind of atmospheric parameter tracing measurement system |
| CN105487465A (en) * | 2015-12-21 | 2016-04-13 | 中国科学院长春光学精密机械与物理研究所 | Accelerometer-based large-size photoelectric telescope auxiliary safety protection system |
| CN105487465B (en) * | 2015-12-21 | 2018-06-26 | 中国科学院长春光学精密机械与物理研究所 | Large photoelectric telescope auxiliary security protection system based on accelerometer |
| CN107643770A (en) * | 2017-09-15 | 2018-01-30 | 中国科学院长春光学精密机械与物理研究所 | A kind of telescope control system and method |
| CN110361829A (en) * | 2019-07-10 | 2019-10-22 | 中国科学院长春光学精密机械与物理研究所 | A kind of telescope Pointing Calibration method and telescope |
| CN111770267A (en) * | 2020-06-17 | 2020-10-13 | 西安方元明科技股份有限公司 | High-precision follow-up system |
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| CN103838257B (en) | 2018-03-09 |
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Inventor after: Tan Fengfu Inventor after: Qin Laian Inventor before: Tan Fengfu Inventor before: Qin Laian Inventor before: He Feng Inventor before: Zhang Silong Inventor before: Hou Zaihong |
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Effective date of registration: 20211110 Address after: 230000 No. 350 kekekedao Road, Jinggang Town, Shushan District, Hefei City, Anhui Province Patentee after: Anhui Zhongke Future Technology Co., Ltd Address before: 230031 shushanhu Road, Hefei City, Anhui Province Patentee before: Hefei Institute of material sciences, Chinese Academy of Sciences |