CN104733829B - Cable drive system for astronomical telescope - Google Patents
Cable drive system for astronomical telescope Download PDFInfo
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- CN104733829B CN104733829B CN201310705007.9A CN201310705007A CN104733829B CN 104733829 B CN104733829 B CN 104733829B CN 201310705007 A CN201310705007 A CN 201310705007A CN 104733829 B CN104733829 B CN 104733829B
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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, especially relate to a kind of astronomical telescope rope drive system.
Background technology
500 meters of bore spherical radio telescopes（Five hundred meters Aperture Spherical
Telescope, abbreviation FAST）It is one of big science and technology infrastructure of country nine that national science and education leading group review determines, adopts
The design of China scientist original creation and the dominant landform condition of the Karst depression of China's South of Guizhou, build one about 30
The big highly sensitive huge radio telescope in football pitch.FAST looks in the distance in the radio for becoming maximum caliber in the world after building up
Mirror, FAST will keep the status of world-class equipment for 20～30 years in future.Mainly there are three autonomous innovations：Using unique
The natural Karst depression platform location in Guizhou；Invention active deformation reflecting surface；Light-duty rope tractor and parallel robot, realize hoping
The hi-Fix of remote mirror receiver.
Rope drive mechanism is the important component part of FAST, its performance directly affect radio telescope receiving sensitivity,
Precision and effect.It is one of technological innovation of FAST to be driven using a kind of flexible cable of rope traction and parallel-connection mechanism：It is evenly distributed on
6 hundred meters of high towers of 600 meters of circumference of diameter support 6 cable wires, 6 cable wires to form a rope traction and parallel-connection mechanism, and the mechanism drags
Dynamic 30 tons FAST Cabins do astronomical pursuit movement in the range of 150 meters of 200 meters of high-altitudes, drive adjustment by a rope and reach most
Big 48 millimeters of error of control, 1 degree of pose angle error.
A kind of heavy caliber is disclosed in the patent of the applicant's a Application No. 200910079870.1 previously to penetrate
Radiotelescope passive cable Jin Cang bindiny mechanisms, the mechanism includes support tower, Cabin, supporting cables, and Cabin is by supporting
Tower and supporting cables are suspended on the focal position in radio telescope active reflecting plane overhead, and Cabin position and supporting cables length are equal
Change with the change of focal position, wherein, the cable that the Cabin connects with the external world outwards draws along wherein one supporting cables
Go out.
But the control of 6 ropes parallel connection space 6DOF attitude how is realized in large span space, and wide-angle,
The relatively reliable of cable cable coaster, weight are pulled under change length, outdoor wind load on steel wire rope lighter, be this area scientific research personnel
The target pursued diligently.
The content of the invention
The object of the invention is that offer is a kind of and reliably controls astronomical telescope in wide-angle, under becoming length, outdoor wind load
Use rope drive system.
For achieving the above object, a kind of astronomical telescope rope drive system of the invention includes support tower, supporting cables, is used for
Control the drive mechanism and electric-control system of the supporting cables length, enter cabin with the cable and its cable in the external world for connecting Cabin
Bindiny mechanism；Cabin is suspended on the focal position in radio telescope active reflecting plane overhead by support tower and supporting cables,
Electric-control system adjusts the length of the supporting cables by controlling drive mechanism and then controls Cabin position with focal position
Change and change, wherein, the cable and cable enter cabin attachment structure and are arranged in each supporting cables.
Further, the drive mechanism includes several and the one-to-one driver element of the supporting cables, i.e. each drive
Moving cell individually controls the supporting cables；The driver element includes servomotor, reductor, brake and hoist engine.
Further, the support tower bottom is provided with bottom leading block, and support tower top is provided with top leading block,
The supporting cables sequentially pass through bottom leading block and top leading block and the Cabin from after driver element extraction
Connection.
Further, the supporting cables are connected by wire-rope connecting device with the Cabin bearing of setting on the Cabin
Connect；The wire-rope connecting device mainly includes Y-piece, steel wire rope anchor head, pulling force sensor；Described Y-piece one end is fork
Shape connecting lateral plate, the other end is provided with connection through hole, and oscillating bearing is provided with connection through hole, and oscillating bearing is by bearing pin and the feedback
The bearing connection of source cabin；The fork-shaped connecting lateral plate is connected by pulling force sensor with described steel wire rope anchor head one end, wire cable anchor
The head other end is fixedly connected with the supporting cables；The pulling force sensor is connected with the electric-control system, for supporting in connection
The pulling force that the supporting cables are born is detected while rope is with Cabin.
Further, the wire-rope connecting device also includes protection side plate, protects the institute of side plate one end and the Y-piece
The connection of fork-shaped connecting lateral plate is stated, the other end is connected with the steel wire rope anchor head, in normal working conditions, protects side plate not receive
Power.
Further, astronomical telescope rope drive system includes 6 sets around Cabin even circumferential setting
Described support tower, supporting cables and driver element；Three Cabin bearings are evenly arranged with the Cabin circumference, its
In be fixed on a Cabin bearing by the wire-rope connecting device per two supporting cables, constitute a hitch point.
Further, the top leading block is by lying in a horizontal plane in the pivoting support on support tower pulley support seat with steel
Cord angle change and rotate.
Further, the electric-control system includes astronomical planning computer, six rope parallel model control computers, programmable fortune
Movement controller, tower top absolute value encoder, described pulling force sensor, Cabin position and attitude measuring system, SERVO CONTROL system
System；
The astronomical planning computer is used to plan the Cabin theory running orbit, and the theoretical running orbit is passed
It is defeated by the six ropes parallel model control computer；
The position and attitude measuring system is used to measure the numerical value of the position of the Cabin and the actual path point of attitude,
And give six rope parallel model control computers by the data transfer；
The six ropes parallel model control computer is used for excellent in advance at it according to the described theoretical running orbit for being received
The Cabin pose changed and each described supporting cables corresponding to goal theory tracing point are inquired in Suo Li relational databases
Suo Li；And be compared the numerical value of the theoretical running orbit and actual path point, calculate the supporting cables and institute
State the displacement vector of Cabin junction point；
The pulling force sensor is connected with the Programmable Multi-Axis Controller, for measuring the currently practical of the supporting cables
Tension force；
The tower top absolute value encoder is connected with the Programmable Multi-Axis Controller, and for monitoring the top cunning is oriented to
The rotating speed of wheel；
The reel absolute value encoder is connected with the Programmable Multi-Axis Controller, for monitoring the steel of the hoist engine
The rotating speed of cord reel；
The Programmable Multi-Axis Controller is connected with the six ropes parallel model control computer, for the target to be managed
By the supporting cables corresponding to tracing point Suo Liyu described in currently practical tension force be compared, it is according to institute's displacement vector and comprehensive
After closing the compensation rotating speed of top leading block and the rotating speed difference of the cable drum, real-time synchronization ground is to the servo
Control system sends the instruction for shrinking or releasing the supporting cables；
The servo-control system is connected with the Programmable Multi-Axis Controller, for supporting described in real-time synchronization receiving/releasing
Rope；The servo-control system includes six sets of servo control units, and each servo control unit includes servo-driver, servo electricity
Machine and motor rotary encoder.
Further, the position and attitude measuring system is several total powerstations and/or several GPS locators.
Further, the pose and Suo Li relational databases are the six rope stress equalizations to couple with Cabin as optimization
Target, sets up the rope tractive force balance of Cabin space six and torque equilibrium equation is resolved and obtained.
Description of the drawings
Fig. 1 is composition mechanism schematic diagram of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 a are wire-rope connecting device configuration diagram；
Fig. 3 b are wire-rope connecting device horizontal cross；
Fig. 4 is that Cabin bearing is distributed diagram；
Fig. 5 is electrical control system structure diagram of the present invention；
Fig. 6 is solved from current actual positions for Cabin to next theory target position vector；
Fig. 7 is the resolution of vectors of supporting cables in Cabin motor process.
Specific embodiment
The specific embodiment of the present invention is illustrated below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of astronomical telescope of the invention rope drive system includes a Cabin 1, six
Support 2, six sets of supporting cables 3 of tower, the drive mechanism 7 for controlling the supporting cables length and electric-control system, for connecting Cabin
With extraneous cable 4 and its cable Jin Cang bindiny mechanisms 5；Cabin 1 is suspended in radio and is looked in the distance by support tower 2 and supporting cables 3
On the focal position in the overhead of mirror Active Reflector 6, electric-control system adjusts the length of the supporting cables by controlling drive mechanism
And then control Cabin position and attitude changes with the change of focal position, wherein, the cable 4 and cable enter cabin attachment structure
5 are disposed therein in supporting cables 3.
Drive mechanism is individually controlled including several with the one-to-one driver element of the supporting cables, i.e. each driver element
Piece supporting cables 3 of system；The driver element includes servomotor and hoist engine.
The bottom of the support tower 2 is provided with bottom leading block 21, and support tower top is provided with top leading block 22, institute
State supporting cables 3 and sequentially pass through bottom leading block 21 and top leading block 22 and the feed from after driver element extraction
Cabin 1 connects.
Supporting cables 3 are connected by wire-rope connecting device 11 with the Cabin bearing F18 arranged on the Cabin 1；Such as
Shown in Fig. 3, the wire-rope connecting device 11 mainly includes Y-piece F1, steel wire rope anchor head F12, pulling force sensor F10；It is described
Y-piece F1 one end is fork-shaped connecting lateral plate, and the other end is provided with connection through hole, in connection through hole oscillating bearing F3, joint shaft are provided with
Hold F3 to be connected with the Cabin bearing F18 by bearing pin F4；The fork-shaped connecting lateral plate by pulling force sensor F10 with it is described
Steel wire rope anchor head F12 one end connects, and the steel wire rope anchor head F12 other ends are fixedly connected with the supporting cables 3；The pulling force sensor
F10 is connected with the electric-control system, for detecting what the supporting cables 3 were born while supporting cables 3 are connected with Cabin 1
Pulling force.Oscillating bearing F3 is installed in Y-piece F1, so that Y-piece F1 is propped up in the presence of supporting cables 3 relative to Cabin
When seat F18 occurs angle change, it is to avoid produce additional bending moment to Y-piece F1, the stress for greatly reducing Y-piece F1 is strong
Degree, improves the reliability driven to Cabin.
Wire-rope connecting device 11 also includes two block protection side plate F9, protects the institute of side plate F9 one end and the Y-piece F1
State fork-shaped connecting lateral plate and be mutually correspondingly arranged on through hole, and linked together by bearing pin F8；The other end and the wire cable anchor
Head F12 is mutually correspondingly arranged on through hole, and is connected by bearing pin F11, and bearing pin F8 and F9 directly leaves gap with through hole, thus,
In normal working conditions, side plate is protected not stress.In the case that sensor F10 ruptures, protection side plate ensure that fork-shaped
Effectively connection between part F1 and steel wire rope anchor head F12, to support Cabin.
As shown in figure 4, astronomical telescope is surrounded described in Cabin even circumferential setting with 6 sets of rope drive system
Support tower, supporting cables 3 and driver element；Three Cabin bearing F18 are evenly arranged with the circumference of the Cabin 1,
Each Cabin bearing F18 symmetrical expressions are designed, wherein being fixed on a feedback by wire-rope connecting device 11 per two supporting cables
On the bearing F18 of source cabin, 1 hitch point is constituted.Three hitch points between any two at intervals of 120 degree, that is, be evenly distributed on feed
On the circumference of cabin 1, so ensure that Cabin 1 is moved in the air in the presence of three hitch points, it is ensured that Cabin it is anti-
The property turned round preferably, simplifies control system.
Top leading block 22 is arranged on the support tower bearing that the top of support tower 2 is arranged, and support tower bearing passes through can water
The dynamic pivoting support of flat turn is connected with support tower, and thus top leading block can horizontally rotate with supporting cables angle change.
In running, supporting cables are oriented to pulley center line with top at the leading block of top certain angle change to Cabin,
So it is easily caused in grooving of the supporting cables from the leading block of top and jumps out, and serious wear.To avoid the problem, support
Pivoting support is set between tower rest base and support tower, and thus support tower bearing is arranged on the support tower with can horizontally rotating
On top platform.Thereby it is ensured that Cabin, in running, top leading block can be servo-actuated, at the leading block of top
The centrage angle of supporting cables and top leading block is not over allowable value.
As shown in figure 5, electric-control system includes astronomical planning computer, six rope parallel model control computers, programmable fortune
Movement controller, the first to six tower top absolute value encoder, the first to six reel absolute value encoder, the first to six pull sensing
Device, Cabin position and attitude measuring system, servo-control system；
The astronomical planning computer is used to plan the Cabin theory running orbit, and the theoretical running orbit is passed
It is defeated by the six ropes parallel model control computer；
The position and attitude measuring system is used to measure the numerical value of the position of the Cabin and the actual path point of attitude,
And give six rope parallel model control computers by the data transfer；
The six ropes parallel model control computer is used for excellent in advance at it according to the described theoretical running orbit for being received
The Cabin pose changed and each described supporting cables corresponding to goal theory tracing point are inquired in Suo Li relational databases
Suo Li；And be compared the numerical value of the theoretical running orbit and actual path point, calculate the supporting cables and institute
State the displacement vector of Cabin junction point；
The first to six pulling force sensor is separately mounted on the wire-rope connecting device of six connection Cabins and supporting cables,
It is connected with the Programmable Multi-Axis Controller, for measuring the currently practical tension force of the supporting cables；
The first to six tower top absolute value encoder is separately mounted to the top of support tower, with the Programmable Multi-Axis Controller
Connection, for monitoring the rotating speed of the top leading block；
The first to six reel absolute value encoder is respectively according to the hoist engine on the driver element for supporting tower bottom to arrange
On, it is connected with the Programmable Multi-Axis Controller, for monitoring the rotating speed of the cable drum of the hoist engine；
The Programmable Multi-Axis Controller is connected with the six ropes parallel model control computer, for the target to be managed
By the supporting cables corresponding to tracing point Suo Liyu described in currently practical tension force be compared, it is according to institute's displacement vector and comprehensive
After closing the compensation rotating speed of top leading block and the rotating speed difference of the cable drum, real-time synchronization ground is to the servo
Control system sends the instruction for shrinking or releasing the supporting cables；
The servo-control system is connected with the Programmable Multi-Axis Controller, for supporting described in real-time synchronization receiving/releasing
Rope；The servo-control system includes six sets of servo control units, and each servo control unit includes servo-driver, servo electricity
Machine and motor rotary encoder.
The position and attitude measuring system is several total powerstations and/or several GPS locators.
Pose and Suo Li relational databases, be the six rope stress equalizations to couple with Cabin as optimization aim, set up feedback
The rope tractive force balance of source cabin space six and torque equilibrium equation are resolved and obtained.
During work, as shown in fig. 6, planning from astronomical planning machine to issuing to six rope parallel model control computers first
Cabin theory running orbit L, six rope parallel model control computers are in the pose Suo Li relational databases for having optimized in advance
In carry out inquiring about the corresponding Suo Li of current goal theory locus point P1, as the Suo Li amplitude limits domain in the current running of system
Domain center value, domain circle is considered by the certain multiple of adjacent theory target pose correspondence Suo Li differences, while by three total powerstations（Or six
GPS locator, it is standby each other both as redundant configuration, based on total powerstation）The Cabin pose conduct that actual measurement is resolved
Currently practical tracing point R1, the tension force of six pulling force sensor measurements is currently practical tension force, will on the running orbit direction
Vector is solved between next goal theory tracing point S2 and current actual measurement track point, is tied further according to Cabin on this basis
Structure and the annexation of six roots of sensation supporting cables, resolve the six roots of sensation supporting cables of parallel running during this and the displacement of Cabin junction point
Vector.
As shown in fig. 7, Cabin 1 from current actual positions R1 run to next target location S2 when each supporting cables 3
Resolution of vectors, the line segment with arrow is the vector solution amount of each supporting cables 3 in figure, and is looked into from pose Suo Li relational databases
The tension force and tension force amplitude limit thresholding of each supporting cables 3 of the correspondence pose of Cabin 1 are ask, the parameter is sent to Programmable Multi-Axis Controller
Before, while consider malformation, steel wire rope stress deformation, the impact of wind of the support tower 2 in the case where acting on around tower top pulley wire rope,
As the output of six rope Parallel Control model cootrol computers after comprehensive compensation, the output includes rope stretching amount and tension force
The thresholding in amplitude limit domain.The output is sent to programmable movements by six rope parallel model control computers by PROFINET networks
Controller（AC500）, then six servo-drivers are transported to by the real-time synchronization function of Programmable Multi-Axis Controller, six are watched
Take driver and drive servomotor respectively again, realize the Parallel Control of six rope rope stretching amounts, reach the precision and TRAJECTORY CONTROL of system
Require.Rotation of the first to the six motor rotary encoder then to servomotor is measured and monitored, and feeds back information to watch
Take driver or Programmable Multi-Axis Controller.
Programmable Multi-Axis Controller assigns goal tension, target location, target step（That is unit interval of servomotor
Speed controlling）To six servo-drivers（ACSM1）, electric-control system is using the target location in motor process as main given, mesh
Mark tension force gives as additional, and it is modified, and is added to after being modified if in the range of amendment main given, surpasses
Out position and tension range then return to model and are allocated calculating again according to current detection pose.
The first to six servomotor drives respective hoist engine to rotate, cable drum rotation receiving/releasing six roots of sensation supporting cables, enters
And realize the adjustment of Cabin position and attitude.
The present invention solves the problems, such as the gesture stability of six Suo Binglian spaces six-freedom degrees in large span space, and big
The robust techniques problem of cable coaster is pulled under angle, outdoor wind load on steel wire rope, compared with prior art, range of operation is more
Greatly, control accuracy is higher, and more steady and reliable.
Claims (8)
1. a kind of astronomical telescope rope drive system, it is characterised in that it includes support tower, supporting cables, described for controlling
The drive mechanism and electric-control system of supporting cables length, for connect Cabin with the external world cable and its cable enter cabin and be connected machine
Structure；Cabin is suspended on the focal position in radio telescope active reflecting plane overhead by support tower and supporting cables, automatically controlled system
The length for uniting by controlling drive mechanism to adjust the supporting cables further controls Cabin position with the change of focal position
Change, wherein, the cable and cable enter cabin attachment structure and are arranged in each supporting cables；The support tower bottom is provided with
Bottom leading block, support tower top is provided with top leading block, and the supporting cables are from order after driver element extraction
It is connected with the Cabin through bottom leading block and top leading block；The supporting cables by wire-rope connecting device with
The Cabin bearing connection arranged on the Cabin；The wire-rope connecting device includes 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 connection through hole, in connection through hole joint shaft is provided with
Hold, oscillating bearing is connected by bearing pin with the Cabin bearing；The fork-shaped connecting lateral plate by pulling force sensor with it is described
Steel wire rope anchor head one end connects, and the steel wire rope anchor head other end is fixedly connected with the supporting cables；The pulling force sensor with it is described
Electric-control system connects, for detecting the pulling force that the supporting cables are born while supporting cables are connected with Cabin.
2. astronomical telescope as claimed in claim 1 rope drive system, it is characterised in that the drive mechanism includes several
With the one-to-one driver element of the supporting cables, each driver element piece supporting cables of independent control；It is described to drive list
Unit includes servomotor and hoist engine.
3. astronomical telescope as claimed in claim 1 rope drive system, it is characterised in that the wire-rope connecting device is also wrapped
Include protection side plate, protection side plate one end is connected with the fork-shaped connecting lateral plate of the Y-piece, the other end and the steel wire rope
Anchor head connects, and in normal working conditions, protection side plate does not stress.
4. astronomical telescope as claimed in claim 1 rope drive system, it is characterised in that the astronomical telescope is driven with rope
System includes six sets of described support towers arranged around the Cabin even circumferential, supporting cables and driver elements；The feedback
Three Cabin bearings are evenly arranged with the circumference of source cabin, wherein passing through the wire-rope connecting device per two supporting cables
It is fixed on a Cabin bearing, constitutes a hitch point.
5. astronomical telescope as claimed in claim 1 rope drive system, it is characterised in that the top leading block passes through water
Pivoting support of the placing flat on the pulley support seat of the support column overhead is rotated with steel wire rope angle change.
6. astronomical telescope as claimed in claim 1 rope drive system, it is characterised in that the electric-control system includes astronomical rule
Draw computer, six rope parallel model control computers, Programmable Multi-Axis Controller, tower top absolute value encoder, described pulling force
Sensor, Cabin position and attitude measuring system, servo-control system；
The astronomical planning computer is used to plan the Cabin theory running orbit, and the theoretical running orbit is transferred to
The six ropes parallel model control computer；
The position and attitude measuring system is used to measure the numerical value of the position of the Cabin and the actual path point of attitude, and will
The data transfer gives six rope parallel model control computers；
The six ropes parallel model control computer is used to be optimized in advance at it according to the described theoretical running orbit for being received
Cabin pose and Suo Li relational databases in inquire the Suo Li of each described supporting cables corresponding to goal theory tracing point；
And be compared the numerical value of the theoretical running orbit and actual path point, calculate the supporting cables and the feed
The displacement vector of cabin junction point；
The pulling force sensor is connected with the Programmable Multi-Axis Controller, for measuring currently practical of the supporting cables
Power；
The tower top absolute value encoder is connected with the Programmable Multi-Axis Controller, for monitoring the top leading block
Rotating speed；
Reel absolute value encoder is connected with the Programmable Multi-Axis Controller, for monitor hoist engine cable drum turn
Speed；
The Programmable Multi-Axis Controller is connected with the six ropes parallel model control computer, for by the goal theory rail
Currently practical tension force described in the Suo Liyu of the supporting cables corresponding to mark point is compared, and according to institute's displacement vector, and comprehensively mends
After repaying the rotating speed of the top leading block and the rotating speed difference of the cable drum, real-time synchronization ground is to the SERVO CONTROL
System sends the instruction for shrinking or releasing the supporting cables；
The servo-control system is connected with the Programmable Multi-Axis Controller, for supporting cables described in real-time synchronization receiving/releasing；Institute
Servo-control system is stated including six sets servo control units, each servo control unit including servo-driver, servomotor with
And motor rotary encoder.
7. astronomical telescope as claimed in claim 6 rope drive system, it is characterised in that the position and attitude measuring system is
Several total powerstations and/or several GPS locators.
8. astronomical telescope as claimed in claim 6 rope drive system, it is characterised in that the pose and Suo Li relation datas
Storehouse, be the six rope stress equalizations to couple with Cabin as optimization aim, set up the rope tractive force balance of Cabin space six and power
Square equilibrium equation is resolved and obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310705007.9A CN104733829B (en) | 2013-12-20 | 2013-12-20 | Cable drive system for astronomical telescope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310705007.9A CN104733829B (en) | 2013-12-20 | 2013-12-20 | Cable drive system for astronomical telescope |
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| CN104733829A CN104733829A (en) | 2015-06-24 |
| CN104733829B true CN104733829B (en) | 2017-05-10 |
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| TWI593529B (en) * | 2017-01-25 | 2017-08-01 | 國立臺北科技大學 | Suspended Machine System and Control Method Thereof |
| CN107803825B (en) * | 2017-12-11 | 2024-01-26 | 西安科技大学 | Variable-configuration flexible cable driven parallel robot |
| CN108946500B (en) * | 2018-08-17 | 2019-12-10 | 中国一冶集团有限公司 | Movable material handling system |
| 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 |
| 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 |
| CN109857152B (en) * | 2019-01-25 | 2022-03-22 | 中国科学院国家天文台 | Source changing planning method for feed source supporting system of radio telescope |
| 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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| CN101826659A (en) * | 2010-03-05 | 2010-09-08 | 中国科学院国家天文台南京天文光学技术研究所 | Active control method of main reflecting surface of 65-meter radio telescope |
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