CN104733829A - Cable drive system for astronomical telescope - Google Patents
Cable drive system for astronomical telescope Download PDFInfo
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- CN104733829A CN104733829A CN201310705007.9A CN201310705007A CN104733829A CN 104733829 A CN104733829 A CN 104733829A CN 201310705007 A CN201310705007 A CN 201310705007A CN 104733829 A CN104733829 A CN 104733829A
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Abstract
The invention discloses a cable drive system for an astronomical telescope. The cable drive system for the astronomical telescope comprises supporting cables, a tower top guide mechanism, a drive mechanism, an electric control system, cabled yarns and cabled yarn entry connection mechanisms, wherein the drive mechanism and the electric control system are used for controlling the lengths of the supporting cables, and the cabled yarns are used for enabling a feed source cabin and the outside to the connected. The feed source cabin is suspended on a focus position above an active reflecting face of a radio telescope through a supporting tower and the supporting cables, and the electric control system controls the drive mechanism to adjust the lengths of the supporting cables in order to control the position of the feed source cabin to change along with change of the focus position, wherein one cabled yarn and one cabled yarn entry connection structure are arranged on each supporting cable. Compared with the prior art, the cable drive system for the astronomical telescope is larger in size, higher in control accuracy and more stable and more reliable.
Description
Technical field
The present invention relates in astronomical field, particularly relate to a kind of astronomical telescope rope drive system.
Background technology
500 meters of bore spherical radio telescope (Five hundred meters Aperture Spherical Telescope, be called for short FAST) be that national science and education leading group reviews one of large science and technology infrastructure of the country nine determined, adopt the dominant landform condition of the design of China scientist original creation and the Karst depression of China's South of Guizhou, build the highly sensitive huge radio telescope that about 30 football pitch is large.To become the radio telescope of maximum caliber in the world after FAST builds up, FAST will keep the status of world-class equipment for 20 ~ 30 years in future.Mainly contain three autonomous innovations: utilize natural Karst depression platform location, unique Guizhou; Invention active deformation reflecting surface; Light-duty rope tractor and parallel robot, realize the hi-Fix of telescope receiver.
Rope driving mechanism is the important component part of FAST, and its performance directly affects the receiving sensitivity of radio telescope, precision and effect.Using a kind of flexible cable of rope traction and parallel-connection mechanism to drive is one of technological innovation of FAST: 6 the hundred meters of high towers being evenly distributed on diameter 600 meters of circumference support 6 cable wires, 6 cable wires form a rope traction and parallel-connection mechanism, the FAST Cabin that this mechanism drags 30 tons does astronomical pursuit movement within the scope of 200 meters, 150 meters of high-altitudes, drive adjustment by a rope and reach maximum departure 48 millimeters, pose angle error 1 degree.
The applicant is disclose a kind of passive cable-leading-in-cavity connection mechanism of large-aperture radio telescope in the patent of 200910079870.1 at previous a application number, this mechanism comprises support tower, Cabin, supporting cables, Cabin is suspended on the focal position in radio telescope active reflecting plane overhead by support tower and supporting cables, Cabin position and supporting cables length all change with the change of focal position, wherein, described Cabin and the extraneous cable connected outwards are drawn along a wherein supporting cables.
But in large span space, how to realize the control of 6 ropes space in parallel 6DOF attitude, and wide-angle, elongated degree, outdoor wind carry lower steel wire rope pulls cable cable coaster more reliable, weight is lighter, is diligent the pursued target of this area scientific research personnel.
Summary of the invention
The object of the invention is just that providing a kind of carries lower reliable control astronomical telescope rope drive system at wide-angle, elongated degree, outdoor wind.
For achieving the above object, a kind of astronomical telescope of the present invention with rope drive system comprise support tower, supporting cables, for control described supporting cables length driving mechanism and electric-control system, for being connected Cabin and extraneous cable and cable Jin Cang bindiny mechanism thereof; Cabin is suspended on the focal position in radio telescope active reflecting plane overhead by support tower and supporting cables, electric-control system regulates the length of described supporting cables and then control Cabin position to change with the change of focal position by controlling driving mechanism, wherein, described cable and cable enter cabin syndeton and are arranged in each root supporting cables.
Further, described driving mechanism comprises several and described supporting cables driver element one to one, and namely each driver element controls separately a described supporting cables; Described driver element comprises servomotor, reductor, brake and hoist engine.
Further, be provided with bottom leading block bottom described support tower, support tower top is provided with top leading block, and described supporting cables sequentially passes through bottom leading block and is connected with described Cabin with top leading block after described driver element extraction.
Further, described supporting cables is connected with the Cabin bearing that described Cabin is arranged by wire-rope connecting device; Described wire-rope connecting device mainly comprises Y-piece, steel wire rope anchor head, pulling force sensor; Described Y-piece one end is fork-shaped connecting lateral plate, and the other end is provided with connecting through hole, is provided with oscillating bearing in connecting through hole, and oscillating bearing is connected with described Cabin bearing by bearing pin; Described fork-shaped connecting lateral plate is connected with described steel wire rope anchor head one end by pulling force sensor, and the steel wire rope anchor head other end is fixedly connected with described supporting cables; Described pulling force sensor is connected with described electric-control system, for detecting the pulling force that described supporting cables is born while connecting supporting cables and Cabin.
Further, described wire-rope connecting device also comprises protection side plate, and protection side plate one end is connected with the described fork-shaped connecting lateral plate of described Y-piece, and the other end is connected with described steel wire rope anchor head, and in normal working conditions, protection side plate does not stress.
Further, described astronomical telescope rope drive system comprises 6 covers around support tower, supporting cables and the driver element described in described Cabin even circumferential setting; Described Cabin is circumferentially evenly provided with three described Cabin bearings, and wherein every two supporting cables are fixed on a Cabin bearing by described wire-rope connecting device, forms a hitch point.
Further, described top leading block is rotated with the change of steel wire rope angle by the pivoting support lain in a horizontal plane on support tower pulley support seat.
Further, described electric-control system comprises astronomical planning computer, six rope parallel model computer for controlling, Programmable Multi-Axis Controller, tower top absolute value encoder, described pulling force sensor, Cabin position and attitude measuring system, servo-control system;
This theoretical running orbit for planning the theoretical running orbit of described Cabin, and is transferred to described six rope parallel model computer for controlling by described astronomical planning computer;
This data transfer for the numerical value of the actual path point of the position and attitude of measuring described Cabin, and is given six rope parallel model computer for controlling by described position and attitude measuring system;
Described six rope parallel model computer for controlling are used for the Suo Li inquiring each described supporting cables corresponding to goal theory tracing point according to received described theoretical running orbit in its Cabin pose optimized in advance and Suo Li relational database; And the numerical value of described theoretical running orbit and described actual path point is compared, calculate the displacement vector of described supporting cables and described Cabin tie point;
Described pulling force sensor is connected with described Programmable Multi-Axis Controller, for measuring the current actual tension of described supporting cables;
Described tower top absolute value encoder is connected with described Programmable Multi-Axis Controller, for monitoring the rotating speed of described top leading block;
Described reel absolute value encoder is connected with described Programmable Multi-Axis Controller, for monitoring the rotating speed of the cable drum of described hoist engine;
Described Programmable Multi-Axis Controller is connected with described six rope parallel model computer for controlling, for current actual tension described in the Suo Liyu of the supporting cables corresponding to described goal theory tracing point is compared, according to institute's displacement vector, and after the rotating speed of top leading block described in comprehensive compensation and the rotating speed difference of described cable drum, real-time synchronization ground sends the instruction of shrinking or releasing described supporting cables to described servo-control system;
Described servo-control system is connected with described Programmable Multi-Axis Controller, for supporting cables described in real-time synchronization receiving/releasing; Described servo-control system comprises six cover servo control units, and each servo control unit comprises servo-driver, servomotor and motor rotary encoder.
Further, described position and attitude measuring system is several total powerstations and/or several GPS locator.
Further, described pose and Suo Li relational database, be with the six rope stress equalizations connected with Cabin for optimization aim, set up Cabin space six rope tractive force balance and torque equilibrium equation resolves acquisition.
Accompanying drawing explanation
Fig. 1 is that the present invention forms structural scheme of mechanism;
Fig. 2 is front view of the present invention;
Fig. 3 a is wire-rope connecting device configuration diagram;
Fig. 3 b is wire-rope connecting device horizontal cross;
Fig. 4 is Cabin bearing distribution diagram;
Fig. 5 is electrical control system structure diagram of the present invention;
Fig. 6 is that Cabin solves from current actual positions to next theory target position vector;
Fig. 7 is the resolution of vectors of supporting cables in Cabin motion process.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
As depicted in figs. 1 and 2, a kind of astronomical telescope of the present invention rope drive system comprises a Cabin 1, six seat supports tower 2, six cover supporting cables 3, for controlling the driving mechanism 7 of described supporting cables length with electric-control system, for being connected Cabin and extraneous cable 4 and cable Jin Cang bindiny mechanism 5 thereof; Cabin 1 is suspended on the focal position in radio telescope active reflecting plane 6 overhead by support tower 2 and supporting cables 3, electric-control system regulates the length of described supporting cables and then control Cabin position and attitude to change with the change of focal position by controlling driving mechanism, wherein, described cable 4 and cable enter cabin syndeton 5 and are arranged on wherein in supporting cables 3.
Driving mechanism comprises several and described supporting cables driver element one to one, and namely each driver element controls separately a described supporting cables 3; Described driver element comprises servomotor and hoist engine.
Be provided with bottom leading block 21 bottom described support tower 2, support tower top is provided with top leading block 22, and described supporting cables 3 sequentially passes through bottom leading block 21 and is connected with described Cabin 1 with top leading block 22 after described driver element extraction.
Supporting cables 3 is connected with the Cabin bearing F18 that described Cabin 1 is arranged by wire-rope connecting device 11; As shown in Figure 3, described wire-rope connecting device 11 mainly comprises Y-piece F1, steel wire rope anchor head F12, pulling force sensor F10; Described Y-piece F1 one end is fork-shaped connecting lateral plate, and the other end is provided with connecting through hole, is provided with oscillating bearing F3 in connecting through hole, and oscillating bearing F3 is connected with described Cabin bearing F18 by bearing pin F4; Described fork-shaped connecting lateral plate is connected with described steel wire rope anchor head F12 one end by pulling force sensor F10, and the steel wire rope anchor head F12 other end is fixedly connected with described supporting cables 3; Described pulling force sensor F10 is connected with described electric-control system, for detecting the pulling force that described supporting cables 3 is born while connecting supporting cables 3 and Cabin 1.Oscillating bearing F3 is installed in Y-piece F1, so that when there is angle change relative to Cabin bearing F18 in Y-piece F1 under the effect of supporting cables 3, avoid producing additional bending moment to Y-piece F1, what greatly reduce Y-piece F1 is subject to force intensity, improves the reliability driven Cabin.
Wire-rope connecting device 11 also comprises two block protection side plate F9, protection side plate F9 one end and the described fork-shaped connecting lateral plate of described Y-piece F1 is mutual is correspondingly provided with through hole, and is linked together by bearing pin F8; The other end and described steel wire rope anchor head F12 are mutual is correspondingly provided with through hole, and is connected by bearing pin F11, and bearing pin F8 and F9 and through hole directly leave gap, and thus, in normal working conditions, protection side plate does not stress.When transducer F10 ruptures, protection side plate can ensure the effective connection between Y-piece F1 and steel wire rope anchor head F12, to support Cabin.
As shown in Figure 4,6 covers of astronomical telescope rope drive system are around support tower, supporting cables 3 and the driver element described in described Cabin even circumferential setting; Described Cabin 1 is circumferentially evenly provided with three described Cabin bearing F18, and each Cabin bearing F18 symmetrical expression design, wherein every two supporting cables are fixed on a Cabin bearing F18 by wire-rope connecting device 11, form 1 hitch point.Three hitch points between any two be spaced apart 120 degree, be namely evenly distributed on Cabin 1 circumferentially, can ensure that Cabin 1 moves under the effect of three hitch points so aloft, ensure that the resistance to torsion of Cabin is best, simplify control system.
Top leading block 22 is arranged on the support tower bearing of support tower 2 top setting, and support tower bearing is connected with support tower by the pivoting support that can horizontally rotate, and top leading block can horizontally rotate with the change of supporting cables angle thus.Cabin is in running, and top leading block place supporting cables and upper guide have certain angle to change to pulley center line, and the easy like this supporting cables that causes is jumped out from the grooving the leading block of top, and serious wear.For avoiding this problem, arrange pivoting support between support tower rest base and support tower, support tower bearing can be arranged on described support tower top platform with horizontally rotating thus.Thus, ensure that Cabin is in running, top leading block can be servo-actuated, and the center line angle of top leading block place supporting cables and top leading block can not exceed allowable value.
As shown in Figure 5, electric-control system comprises astronomical planning computer, six rope parallel model computer for controlling, Programmable Multi-Axis Controller, the first to six tower top absolute value encoder, the first to six reel absolute value encoder, the first to six pulling force sensor, Cabin position and attitude measuring system, servo-control system;
This theoretical running orbit for planning the theoretical running orbit of described Cabin, and is transferred to described six rope parallel model computer for controlling by described astronomical planning computer;
This data transfer for the numerical value of the actual path point of the position and attitude of measuring described Cabin, and is given six rope parallel model computer for controlling by described position and attitude measuring system;
Described six rope parallel model computer for controlling are used for the Suo Li inquiring each described supporting cables corresponding to goal theory tracing point according to received described theoretical running orbit in its Cabin pose optimized in advance and Suo Li relational database; And the numerical value of described theoretical running orbit and described actual path point is compared, calculate the displacement vector of described supporting cables and described Cabin tie point;
The first to six pulling force sensor is arranged on six wire-rope connecting devices connecting Cabin and supporting cables respectively, is connected, for measuring the current actual tension of described supporting cables with described Programmable Multi-Axis Controller;
The first to six tower top absolute value encoder is arranged on the top of support tower respectively, is connected with described Programmable Multi-Axis Controller, for monitoring the rotating speed of described top leading block;
The first to six reel absolute value encoder according on the hoist engine on the driver element arranged bottom support tower, is connected with described Programmable Multi-Axis Controller respectively, for monitoring the rotating speed of the cable drum of described hoist engine;
Described Programmable Multi-Axis Controller is connected with described six rope parallel model computer for controlling, for current actual tension described in the Suo Liyu of the supporting cables corresponding to described goal theory tracing point is compared, according to institute's displacement vector, and after the rotating speed of top leading block described in comprehensive compensation and the rotating speed difference of described cable drum, real-time synchronization ground sends the instruction of shrinking or releasing described supporting cables to described servo-control system;
Described servo-control system is connected with described Programmable Multi-Axis Controller, for supporting cables described in real-time synchronization receiving/releasing; Described servo-control system comprises six cover servo control units, and each servo control unit comprises servo-driver, servomotor and motor rotary encoder.
Described position and attitude measuring system is several total powerstations and/or several GPS locator.
Pose and Suo Li relational database, be with the six rope stress equalizations connected with Cabin for optimization aim, set up Cabin space six rope tractive force balance and torque equilibrium equation resolves acquisition.
During work, as shown in Figure 6, first plan that machine is to issuing the theoretical running orbit L of the Cabin planned to six rope parallel model computer for controlling by astronomy, six rope parallel model computer for controlling carry out inquiring about Suo Li corresponding to current goal theory locus point P1 in the pose Suo Li relational database optimized in advance, as the territory center value in the Suo Li amplitude limit territory in the current running of system, territory circle considers by the certain multiple of the corresponding Suo Li difference of adjacent theory target pose, simultaneously by three total powerstations (or six GPS locator, the two is for subsequent use each other as redundant configuration, based on total powerstation) the Cabin pose that resolves of actual measurement is as current actual path point R1, the tension force of six pulling force sensor measurements is current actual tension, vector between next goal theory tracing point S2 and current actual measurement track point solves by this running orbit direction, on this basis again according to the annexation of Cabin structure and six roots of sensation supporting cables, resolve the six roots of sensation supporting cables of parallel running in this process and the displacement vector of Cabin tie point.
As shown in Figure 7, the resolution of vectors of each supporting cables 3 when Cabin 1 runs to next target location S2 from current actual positions R1, line segment with arrow in figure is the vector amount of solving of each supporting cables 3, and from pose Suo Li relational database, inquire about the tension force of each supporting cables 3 and the tension force amplitude limit thresholding of the corresponding pose of Cabin 1, before this parameter is sent to Programmable Multi-Axis Controller, consider that support tower 2 is in the malformation under the effect of tower top pulley wire rope simultaneously, steel wire rope stress deformation, the impact of wind, the output variable of six rope Parallel Control model cootrol computers is it can be used as after comprehensive compensation, this output variable comprises the thresholding in rope stretching amount and tension force amplitude limit territory.This output variable is sent to Programmable Multi-Axis Controller (AC500) by six rope parallel model computer for controlling by PROFINET network, six servo-drivers are delivered to again by the real-time synchronization function number of Programmable Multi-Axis Controller, six servo-drivers drive servomotor more respectively, realize the Parallel Control of six rope rope stretching amounts, reach precision and the TRAJECTORY CONTROL requirement of system.The first to six motor rotary encoder then carries out measurement and monitoring to the rotation of servomotor, and by information feed back to servo-driver or Programmable Multi-Axis Controller.
Programmable Multi-Axis Controller assigns goal tension, target location, target step (i.e. the speeds control of the unit interval of servomotor) to six servo-drivers (ACSM1), electric-control system is given as master using the target location in motion process, goal tension is given as adding, and it is revised, if in extent of amendment, be added to after revising main given, exceed position and tension range and then turn back to model and carry out Distribution Calculation again according to current detection pose.
The first to six driven by servomotor hoist engine separately rotates, and cable drum rotates receiving/releasing six roots of sensation supporting cables, and then achieves the adjustment of Cabin position and attitude.
The invention solves the gesture stability problem of six Suo Binglian space six-freedom degrees in large span space, and carry the robust techniques problem of lower steel wire rope being pulled cable coaster at wide-angle, outdoor wind, compared with prior art, range of operation is larger, control precision is higher, and more steadily with reliable.
Claims (10)
1. an astronomical telescope rope drive system, is characterized in that, it comprise support tower, supporting cables, for control described supporting cables length driving mechanism and electric-control system, for being connected Cabin and extraneous cable and cable Jin Cang bindiny mechanism thereof; Cabin is suspended on the focal position in radio telescope active reflecting plane overhead by support tower and supporting cables, electric-control system regulates the length of described supporting cables and then control Cabin position to change with the change of focal position by controlling driving mechanism, wherein, described cable and cable enter cabin syndeton and are arranged in each root supporting cables.
2. astronomical telescope rope drive system as claimed in claim 1, it is characterized in that, described driving mechanism comprises several and described supporting cables driver element one to one, and each driver element controls separately a described supporting cables; Described driver element comprises servomotor and hoist engine.
3. astronomical telescope rope drive system as claimed in claim 1, it is characterized in that, bottom leading block is provided with bottom described support tower, support tower top is provided with top leading block, and described supporting cables sequentially passes through bottom leading block and is connected with described Cabin with top leading block after described driver element extraction.
4. astronomical telescope rope drive system as claimed in claim 3, it is characterized in that, described supporting cables is connected with the Cabin bearing that described Cabin is arranged by wire-rope connecting device; Described wire-rope connecting device mainly comprises Y-piece, steel wire rope anchor head, pulling force sensor; Described Y-piece one end is fork-shaped connecting lateral plate, and the other end is provided with connecting through hole, is provided with oscillating bearing in connecting through hole, and oscillating bearing is connected with described Cabin bearing by bearing pin; Described fork-shaped connecting lateral plate is connected with described steel wire rope anchor head one end by pulling force sensor, and the steel wire rope anchor head other end is fixedly connected with described supporting cables; Described pulling force sensor is connected with described electric-control system, for detecting the pulling force that described supporting cables is born while connecting supporting cables and Cabin.
5. astronomical telescope rope drive system as claimed in claim 4; it is characterized in that; described wire-rope connecting device also comprises protection side plate; protection side plate one end is connected with the described fork-shaped connecting lateral plate of described Y-piece; the other end is connected with described steel wire rope anchor head; in normal working conditions, side plate is protected not stress.
6. astronomical telescope rope drive system as claimed in claim 4, is characterized in that, described astronomical telescope rope drive system comprise six covers arrange around described Cabin even circumferential described in support tower, supporting cables and driver element; Described Cabin is circumferentially evenly provided with three described Cabin bearings, and wherein every two supporting cables are fixed on a Cabin bearing by described wire-rope connecting device, forms a hitch point.
7. astronomical telescope rope drive system as claimed in claim 3, is characterized in that, described top leading block is rotated with the change of steel wire rope angle by the pivoting support lain in a horizontal plane on the pulley support seat of described support tower tower top.
8. astronomical telescope rope drive system as claimed in claim 1, it is characterized in that, described electric-control system comprises astronomical planning computer, six rope parallel model computer for controlling, Programmable Multi-Axis Controller, tower top absolute value encoder, described pulling force sensor, Cabin position and attitude measuring system, servo-control system;
This theoretical running orbit for planning the theoretical running orbit of described Cabin, and is transferred to described six rope parallel model computer for controlling by described astronomical planning computer;
This data transfer for the numerical value of the actual path point of the position and attitude of measuring described Cabin, and is given six rope parallel model computer for controlling by described position and attitude measuring system;
Described six rope parallel model computer for controlling are used for the Suo Li inquiring each described supporting cables corresponding to goal theory tracing point according to received described theoretical running orbit in its Cabin pose optimized in advance and Suo Li relational database; And the numerical value of described theoretical running orbit and described actual path point is compared, calculate the displacement vector of described supporting cables and described Cabin tie point;
Described pulling force sensor is connected with described Programmable Multi-Axis Controller, for measuring the current actual tension of described supporting cables;
Described tower top absolute value encoder is connected with described Programmable Multi-Axis Controller, for monitoring the rotating speed of described top leading block;
Described reel absolute value encoder is connected with described Programmable Multi-Axis Controller, for monitoring the rotating speed of the cable drum of described hoist engine;
Described Programmable Multi-Axis Controller is connected with described six rope parallel model computer for controlling, for current actual tension described in the Suo Liyu of the supporting cables corresponding to described goal theory tracing point is compared, according to institute's displacement vector, and after the rotating speed of top leading block described in comprehensive compensation and the rotating speed difference of described cable drum, real-time synchronization ground sends the instruction of shrinking or releasing described supporting cables to described servo-control system;
Described servo-control system is connected with described Programmable Multi-Axis Controller, for supporting cables described in real-time synchronization receiving/releasing; Described servo-control system comprises six cover servo control units, and each servo control unit comprises servo-driver, servomotor and motor rotary encoder.
9. astronomical telescope rope drive system as claimed in claim 7, it is characterized in that, described position and attitude measuring system is several total powerstations and/or several GPS locator.
10. astronomical telescope rope drive system as claimed in claim 7, it is characterized in that, described pose and Suo Li relational database, be with the six rope stress equalizations connected with Cabin for optimization aim, set up Cabin space six rope tractive force balance and torque equilibrium equation resolves acquisition.
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| CN109119741A (en) * | 2018-09-29 | 2019-01-01 | 中国科学院国家天文台 | A kind of complete movable huge radio telescope |
| CN109301440A (en) * | 2018-10-23 | 2019-02-01 | 中国科学院国家天文台 | A kind of pose adjusting and control system based on rope |
| CN109301440B (en) * | 2018-10-23 | 2023-10-13 | 中国科学院国家天文台 | Pose adjusting and controlling system based on cable |
| CN109857152A (en) * | 2019-01-25 | 2019-06-07 | 中国科学院国家天文台 | A kind of feed telescope support system changes source planing method |
| CN109895117A (en) * | 2019-04-23 | 2019-06-18 | 中国科学院国家天文台 | A kind of giant telescope reflecting surface maintenance device |
| CN109895117B (en) * | 2019-04-23 | 2023-10-24 | 中国科学院国家天文台 | Giant telescope reflecting surface maintenance device |
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Effective date of registration: 20180426 Address after: No. 20, Tun Tun Road, Chaoyang District, Beijing, Beijing Co-patentee after: Dalian Huarui Heavy Industry Group Co., Ltd. Patentee after: State Astronomical Observatory, CAS Address before: No. 20, Tun Tun Road, Chaoyang District, Beijing, Beijing Patentee before: State Astronomical Observatory, CAS |