CN104457816A - Optical telescope rotary encoder absolute position reference point calibration method - Google Patents
Optical telescope rotary encoder absolute position reference point calibration method Download PDFInfo
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- CN104457816A CN104457816A CN201310415873.4A CN201310415873A CN104457816A CN 104457816 A CN104457816 A CN 104457816A CN 201310415873 A CN201310415873 A CN 201310415873A CN 104457816 A CN104457816 A CN 104457816A
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- absolute position
- rotary encoder
- position reference
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Abstract
The invention discloses a rotary encoder absolute position reference point calibration realization method by utilizing the imaging principle of an optical telescope via cooperation of a laser plumb aligner. 1) a benchmark of a vertical direction is generated by utilizing the laser plumb aligner, and the physical phenomenon that light rays parallel with an optical axis are reflected by the system and finally converged in a focus is utilized so that a rotary encoder absolute position reference value is acquired; and 2) after calibration of a pitch axis, telescope pitch axis tracking is started and a fixed star target is horizontally scanned by manually controlling the telescope. An azimuth axis absolute position reference value is calculated according to the fixed star astronomic azimuth and an azimuth rotary encoder current feedback value. Problems that rotary encoder absolute position reference calibration is time-consuming and labor-consuming due to difficulty of target searching caused by absent arrangement of a finderscope because of structural design and the like of a large-scale optical telescope system are solved so that time of the telescope debugging process is substantially saved.
Description
Technical field
The present invention relates to a kind of calibration steps of rotary encoder absolute position reference point, particularly relate to a kind of calibration steps being applied to the incremental encoder absolute position reference point of giant optical telescope.
Background technology
Rotary encoder (also referred to as code-disc), is electromechanical equipment position of rotation or rotation amount being converted into analog or digital signal, is mainly used in the field that scientific research, Industry Control, Robotics etc. need exact rotational position and velocity feedback.Rotary encoder can be divided into absolute type and incremental encoder two kinds.Absolute type encoder is encoded by the position different to turning axle, can export corresponding coding according to the position of rotating shaft.And incremental encoder passes through the output of 2 phase, 90 ° of orthogonal signal A phases and B phase, the rotation variable quantity of feedback rotating shaft, and calculate sense of rotation, position and angle information.But incremental encoder cannot feed back the absolute position of rotating shaft, in position control system, therefore generally add the 3rd output, be commonly referred to as Z phase.Often revolve and turn around, Z phase signals has signal and exports, and is used for judging the absolute position of rotating shaft.
Giant optical telescope has a wide range of applications in the scientific researches such as astronomy, space flight and Important Project field, and for realizing quick to target, accurate tracking imaging, its pitching and two, orientation axle system are all provided with rotary encoder.Incremental encoder because resolving power is high, compact conformation, be convenient to install, be widely adopted in large telescope position and velocity feedback.
For making the position of encoder feedback point to consistent with telescopical absolute astronomy, in system, absolute position feedback module is all installed.Each telescope powers on, starts shooting, and needs to drive telescope to turn to absolute position reference point, and now scrambler exports Z phase signals, as shown in Figure 1.After feedback system receives Z phase signals, the absolute angle of correspondence inserted in the counter of angle position, after this value of feedback of scrambler adds, subtracts on this basis, absolute position, and this process is called " zero " in telescope control system.
Telescope after installation is complete, needs by arranging " zero " numerical value or calibrate, thus the tracking of realize target.Usual acquisition " zero " value is the method by astronomy, and manually tracking telescope makes it point to the large-size celestial such as the sun, the moon, is undertaken " slightly making zero " by the deviation calculating " zero " value and target actual value; On this basis from celestial bodies such as motion tracking fixed star, planets, and realized " essence zero " by the mode of search.Giant optical telescope field of view of receiver angle is only about 300 ", for solving the difficulty of search target, need outfit field angle to be that the finder telescope of 3 ° is as auxiliary when dispatching from the factory.
And due to the restriction of structure, finder cannot be installed in many large telescopes, now utilize field angle to be 300 " telescope implement the search of pitching and horizontal both direction, and to complete " zero " be a thing taken time and effort very much.
Summary of the invention
The object of the invention is to overcome in optical telescope system and finder telescope is not installed, thus " zero " difficult problem brought, propose one and utilize telescope self structure, coordinate a laser plummet, realize " zero " method of rotary encoder.
The object of the present invention is achieved like this:
Utilize the laser of laser plummet as vertical reference, obtain telescope pitch axis rotary encoder " zero value ", then follow the tracks of fixed star by the mode of scanning, obtain transverse axis scrambler " zero value ".
Specifically, the following step is had:
(1) as Fig. 2, above telescope, a laser plummet 4 is installed, and is set to lower bright dipping.Manual actuation telescope pitch axis, progressively aims at zenith direction.Looking in the distance, mirror foci 7 place is observed, when the laser that plumb aligner sends overlaps with focus, according to telescope image-forming principle, known telescope pitch axis now points to " just " zenith, and pitch axis encoder position value should be 90 °, by calculating the deviation with scrambler displayed value, " zero " value of pitch axis scrambler can be obtained.
(2) utilize related software to calculate paths of the stars, only open the drive motor of pitch axis, and control telescope tracking.Manual actuation telescope azimuth axis, it is made to point to the orientation of target fixed star appearance, and observe in telescope imaging CCD device 8, when stars appears at visual field central authorities, write down the numerical value of now azimuth axis scrambler, by comparing " zero " value calculating and can obtain azimuth axis scrambler with fixed star astronomic coordinates.
(3) 2 rotary encoder " zero " values of pitch axis, azimuth axis are inserted encoder system, and many fixed stars are followed the tracks of in examination, for checking " zero " value.
Described telescope image-forming principle refers to, anyly enters visual field, and is parallel to the light of optical axis, through primary mirror 5 and secondary mirror 6, finally all converges at the focus of system.
Described related software is a kind of software write voluntarily, and its major function is telescope place geographic coordinate and fixed star ephemeris predict, calculates the position angle at a certain moment fixed star place, the angle of pitch, and follows the tracks of for telescope.
Described laser plummet and CCD are common apparatus.
The present invention has following advantages and good effect: by the principle of a laser plummet and optical imagery, solve large telescope when not installing finder, target needs pitching and orientation bidimensional search difficulty, thus cause " zero " value of orientation and pitch axis incremental encoder to determine the problem taken time and effort, save debug time.
accompanying drawing explanation
Fig. 1 is rotary encoder schematic diagram
Fig. 2 is laser plummet and optics of telescope structure principle chart
In figure: wherein:
1-rotary encoder 2-rotary encoder read head 3-Z phase absolute position transducer
4-laser plummet 5-optical telescope primary mirror 6-optical telescope secondary mirror
7-optical telescope focus reception screen 8-CCD
Embodiment
Describe in detail below in conjunction with drawings and Examples:
(1) pitch axis " zero " value Z is first set
elwith azimuth axis " zero " value Z
azbe " 0 ", manual actuation telescope pitch axis and azimuth axis make absolute position transducer 3 turn over rotary encoder read head 2 respectively, and now diaxon encoder position value of feedback is " 0 ".
(2) above telescope, a laser plummet 4 is installed, and is set to lower bright dipping.Manual actuation telescope pitch axis, progressively aims at zenith direction.Looking in the distance, mirror foci 7 place is observed, and when the laser that plumb aligner sends overlaps with focus, telescope pitch axis now points to " just " zenith, it is C that pitch axis encoder position feeds back displayed value
el, then pitch axis " zero " value Z
elcan be expressed as:
Z
el＝90°－C
el
By Z
elinsert tracker, again drive telescope pitch axis to make absolute position transducer 3 turn over rotary encoder read head 2, now pitch axis " zero " is calibrated complete, can normal tracking target.
(3) calculate paths of the stars, and control telescope pitch axis from motion tracking.Because pitch axis scrambler absolute position reference has been calibrated complete, the now scanning of bidimensional only remaining azimuth axis one dimension is to be determined.Manual actuation telescope azimuth axis, makes it point to the orientation at target fixed star place, and observes in telescope imaging CCD device 8, when stars appears at visual field central authorities, stops scanning.Present orientation shaft encoder location feedback value is F
az, the fixed star astronomic azimuth value that software calculates is R
az, then " zero " value Z of azimuth axis scrambler
azcan be expressed as:
Z
az＝R
az－F
az
By Z
azinsert tracker, again drive telescope azimuth axis to make absolute position transducer 3 turn over rotary encoder read head 2, now azimuth axis " zero " is calibrated complete, can normal tracking target.
(4) 2 rotary encoder " zero " values of pitch axis, azimuth axis are inserted encoder system, and many fixed stars are followed the tracks of in examination, for checking " zero " effect.
Claims (1)
1. an optical telescope rotary encoder absolute position reference calibration steps, is characterized in that:
Utilize optical telescope image-forming principle, coordinate a laser plummet, realize the calibration of the absolute position reference point of rotary encoder:
Follow these steps to carry out:
1. utilize laser plummet to produce the benchmark of vertical direction, rotate telescope pitch axis and make laser arrive system focus, now pointing of the telescope zenith through major and minor mirror reflection, then by pitch axis rotary encoder fed back values, calculate absolute position reference value;
2. a stars is set, open this axle after the correction of telescope pitch axis absolute position reference point to follow the tracks of, Non-follow control telescope scans target level, when stars appears in visual field, write down present orientation axle rotary encoder fed back values, according to fixed star astronomic azimuth, calculate azimuth axis absolute position reference value;
3. by diaxon reference by location value imbedding system respectively, then the calibration of rotary encoder absolute position reference is complete.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310415873.4A CN104457816A (en) | 2013-09-13 | 2013-09-13 | Optical telescope rotary encoder absolute position reference point calibration method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310415873.4A CN104457816A (en) | 2013-09-13 | 2013-09-13 | Optical telescope rotary encoder absolute position reference point calibration method |
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| CN104457816A true CN104457816A (en) | 2015-03-25 |
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| CN201310415873.4A Pending CN104457816A (en) | 2013-09-13 | 2013-09-13 | Optical telescope rotary encoder absolute position reference point calibration method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946845A (en) * | 2019-04-12 | 2019-06-28 | 武汉大学 | A kind of telescope optic axis is precisely to the adjusting method of zenith |
| CN110955013A (en) * | 2019-12-12 | 2020-04-03 | 中国科学院长春光学精密机械与物理研究所 | Primary mirror position control method and device, large-caliber telescope and readable storage medium |
| CN111089607A (en) * | 2019-12-21 | 2020-05-01 | 北京跟踪与通信技术研究所 | Automatic calibration method for detection capability of telescope system |
-
2013
- 2013-09-13 CN CN201310415873.4A patent/CN104457816A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946845A (en) * | 2019-04-12 | 2019-06-28 | 武汉大学 | A kind of telescope optic axis is precisely to the adjusting method of zenith |
| CN110955013A (en) * | 2019-12-12 | 2020-04-03 | 中国科学院长春光学精密机械与物理研究所 | Primary mirror position control method and device, large-caliber telescope and readable storage medium |
| CN110955013B (en) * | 2019-12-12 | 2021-04-13 | 中国科学院长春光学精密机械与物理研究所 | Primary mirror position control method and device, large-caliber telescope and readable storage medium |
| CN111089607A (en) * | 2019-12-21 | 2020-05-01 | 北京跟踪与通信技术研究所 | Automatic calibration method for detection capability of telescope system |
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Application publication date: 20150325 |
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