CN107369908A - A kind of method for improving radio telescope receiver one-time positioning precision - Google Patents
A kind of method for improving radio telescope receiver one-time positioning precision Download PDFInfo
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- CN107369908A CN107369908A CN201710531998.1A CN201710531998A CN107369908A CN 107369908 A CN107369908 A CN 107369908A CN 201710531998 A CN201710531998 A CN 201710531998A CN 107369908 A CN107369908 A CN 107369908A
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention provides a kind of method for improving radio telescope receiver one-time positioning precision, it comprises the following steps：S1：The pose of receiver is measured using measuring instrument, obtains measured value xM；S2：Joint correction controlled quentity controlled variable is obtained using the correction flow in Controlling model of rectifying a deviationΔθ；S3：Joint correction controlled quentity controlled variableΔθ obtains the input quantity θ of controller after being added with the joint space desired value θ for converting to obtain through inverse kinematicsC, by acting on feed support system after controller；S4：Repeat step S1 to S3, in the range of the permission of receiver attitude error, compensate the site error of the one-time positioning of receiver.The present invention can largely compensate the site error of the one-time positioning of receiver, so as to reduce compensation burden of the Stewart platforms fine-tuning mechanism for site error, or even cause in the case of original one-time positioning error is less without the required precision for controlling Stewart platforms just to can reach correlation.
Description
Technical field
The invention belongs to the field of locating technology of Large-diameter Radio Telescope, and in particular to one kind improves radio telescope and connect
The method of receipts machine one-time positioning precision.
Background technology
Large-diameter Radio Telescope is usually combined to realize spatially working in large scale using coarse adjustment and accurate adjustment
Feed support and control system ensure that its receiver can reach the position of planning and posture (refers to：Li Hui, red legend is white, Pan
Mechanics problem and its progress [J] Proceedings of Mechanics in the .FAST telescopes support of peak, 2011,41 (2):133-
154).The 500m bore radio telescopes FAST that China is independently built is exactly to take one-level rope supporting mechanism coarse adjustment combination two level
The scheme of Stewart platform accurate adjustments.Because the configuration space that one-level rope supporting mechanism can reach is limited, thus two-step mechanism it
Between add AB rotating shafts, the mechanism can rotate along orthogonal two axis in plane, to compensate one-level rope support machine
The larger attitude error of structure.According to design, by AB it is rotation shaft regulated after, existing for the current pose of receiver and object pose
Smaller error will be by Stewart platform compensations so that are finally reached the design objective of phase closing precision.
At present on the research for the pose accuracy for improving FAST radio telescope receivers, machine is mainly supported with one-level rope
The one-time positioning of pose is realized in structure and AB rotating shafts, then the position and attitude error control of receiver is existed by the accurate adjustment of Stewart platforms
(referred in allowed band：Li Hui, Sun Jinghai, red legend is white, waits .500m bore spherical radio telescope flexibilities feed support system
System emulation [J] computer-aided engineering, 2011,20 (1):106-112).This control program can preferably meet in design
It is required that but problems with is there may be in actual motion：1st, cause in wind and be equipped with AB rotating shafts and the feedback of stewart platforms
When source cabin vibrates, the possible off-design index of error of one-time positioning is larger, and the working space of Stewart platforms is limited
, therefore, it is difficult to ensure that Stewart platforms can be by control errors in allowed band in this case；2nd, Stewart platforms
For quick compensating action there may be larger reaction force, control is improper, easily causes Cabin to produce resonance.Therefore, it is existing
Control program exist optimization space.
The content of the invention
(1) technical problems to be solved
In view of above-mentioned technical problem, the invention provides a kind of side for improving radio telescope receiver one-time positioning precision
Method, optimize and supplement for existing control program, can solve the problems, such as that existing scheme is present to a certain extent.
In the present invention, it is proposed that a kind of new control structure：Correction Controlling model, using Controlling model of rectifying a deviation, passes through
The continuous effect of deviation correcting device, finally in the range of the permission of receiver attitude error, to lose the generation of certain attitude accuracy
Valency, the site error of the one-time positioning of receiver is largely compensated, so as to reduce Stewart platform fine-tuning mechanisms for position
The compensation burden of error is put, or even is caused in the case of original one-time positioning error is less without control Stewart platforms just
It can reach the required precision of correlation.
(2) technical scheme
A kind of according to an aspect of the invention, there is provided side for improving radio telescope receiver one-time positioning precision
Method, it comprises the following steps：S1：The pose of receiver is measured using measuring instrument, obtains measured value xM；S2：Utilize
Correction flow in correction Controlling model obtains joint correction controlled quentity controlled variable Δ θ；S3：Joint rectify a deviation controlled quentity controlled variable Δ θ with through inverse motion
Learn after the joint space desired value θ that conversion obtains is added and obtain the input quantity θ of controllerC, by acting on feedback after controller
Source support system；S4：Repeat step S1 to S3, in the range of the permission of receiver attitude error, compensate the once fixed of receiver
The site error of position.
(3) beneficial effect
It can be seen from the above technical proposal that the present invention improves the method for radio telescope receiver one-time positioning precision extremely
Have the advantages that one of them less：
(1) present invention can reduce vibration etc. caused by the issuable reaction force of the quick accurate adjustment of Stewart platforms no
Good influence, save the energy of Stewart accurate adjustment processes and extend the service life of Stewart platforms；
(2) present invention substantially reduces compensation burden of the Stewart platforms fine-tuning mechanism for site error, even more so that
Stewart platforms need not be controlled just to can reach the required precision of correlation.
Brief description of the drawings
Fig. 1 is the feed support system entirety control block diagram of the embodiment of the present invention.
Fig. 2 is the feed support system two-stage governor motion schematic diagram of the embodiment of the present invention.
Fig. 3 is the solution schematic flow sheet of the pseudoinverse Jacobian matrix of the embodiment of the present invention.
【Main element】
S1：Drive rope；
S2：Cabin；
S3：Star-like framework；
S4：A axles；
S5：B axle；
S6：Stewart upper mounting plates；
S7：Stewart rigid legs；
S8：Stewart lower platforms；
S9：Receiver；
P1~P5：Step.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
In an exemplary embodiment of the present invention, there is provided a kind of raising radio telescope receiver one-time positioning precision
Method, it comprises the following steps：S1：Using measuring instrument (can be total powerstation or GPS) to the pose of receiver (including position
And posture) measure, obtain measured value xM；S2：Joint correction controlled quentity controlled variable is obtained using the correction flow for Controlling model of rectifying a deviation
Δθ；S3：Joint correction controlled quentity controlled variable Δ θ is controlled after being added with the joint space desired value θ for converting to obtain through inverse kinematics
The input quantity θ of deviceC, by acting on feed support system after controller；S4：Repeat step S1 to S3, missed in receiver posture
In the range of difference allows, the site error of the one-time positioning of receiver is compensated.
Step S2 includes step in detail below：
The receiver expected pose (referring to pose) of initial input is guided into feed support system, with measured value xMMake poor obtain
To the position and attitude error x of receiverE；X is removed by position maskEThree posture components leave behind site error xEp；By puppet
Inverse Jacobian matrix is transformed into joint departure (i.e. the deviation of AB Shaft angles) Δ θ '；Closed by the effect of deviation correcting device
Section correction controlled quentity controlled variable Δ θ.
It is further comprising the steps of before step S1 is carried out：
The initial expected pose x of given radio telescope receiverC, each point of joint space is decomposed into by inverse kinematics
The desired value of amount, after controller being converted into controlled quentity controlled variable gives feed support system；The drive mechanism of feed support system exists
Executing agency is driven to perform corresponding action in the presence of controlled quentity controlled variable signal so that corresponding control point reaches corresponding pose.
As a kind of embodiment, by taking the 500m bore radio telescopes FAST that China is built as an example, to the present invention
Method be described in further detail.
The feed branch that Fig. 1 is the feed support system entirety control block diagram of the embodiment of the present invention, Fig. 2 is the embodiment of the present invention
Support system two-stage governor motion schematic diagram.As shown in Fig. 2 FAST has two-stage governor motion, wherein coarse adjustment structure supports for 6 ropes
Mechanism S1 suspends Cabin S2, and the AB rotating shaft mechanisms (including A axles S4 and B axle S5) in Cabin in midair；Adjustment structure includes
The Stewart parallel robots (including upper mounting plate S6,6 rigid leg S7 and lower platform S8) being connected with AB rotating shafts, feed connects
Receipts machine S9 is arranged on Stewart lower platforms S8.
Common feedback control structure is described first, as shown in figure 1, what is represented in dotted line frame is common feedback control knot
Structure, detailed process are：Feed support overall system control issues the desired locations and attitude angle vector x of telescope receiverC, should
Vector has 6 dimensions, including three attitude angles presented along the displacement on tri- directions of X, Y, Z and in the form of XYZ Eulerian angles.By
It is limited in the posture that 6 rope supporting mechanism S1 (being referred to as driving rope S1) can be reached, it is therefore desirable to by a part of attitude angle
AB rotating shafts (including A axles S4, B axle S5) are transferred to compensate, here it is posture distribution；Additionally to be gone out by inverse kinematics
The value θ of each variable of joint space, i.e., desired receiver location and posture are decomposed into the length of corresponding 6 rope and AB turns
Two corners of axle.In common feedback control structure, the input value directly using the desired value θ of joint space as controller
θC, output control amount is to drive feed support system to perform corresponding action after controller action, using instrument to star-like
Framework S3 posture and the position of AB spindle centrals control point (S4, S5 intersection point) measure, the measured value x that will be obtainedMInstead
Feed controller, attitude angle is compensated in conjunction with the opened loop control of AB rotating shafts, receive seat in the plane so as to achieve a butt joint and put and posture
One-time positioning.Inside feed support system, Stewart platforms (including upper mounting plate S6,6 rigid leg S7 and lower platform
S8 the stroke of 6 legs) is solved with expected pose according to measurement pose and carries out accurate adjustment.
Framework of the present invention based on common feedback control, for the control of AB rotating shafts, structure correction Controlling model.Will be given
Desired value and receiver pose measurement value make it is poor, obtain deviation xE, including position deviation on tri- directions of XYZ and with
The posture angular displacement that XYZ Eulerian angles represent, therefore xEIt is 6 dimensional vectors, because method of the present invention is a small amount of to reduce
Posture angular accuracy is that cost obtains smaller coarse position error, therefore does not consider attitude error amount therein, makes xEBy position
The operation of mask is put, removes three components corresponding to posture, obtains site error component xEp, xEpIt is a 3-dimensional vector.
Influenceed because the Cabin of one-level rope supporting mechanism may be disturbed by natural wind and deviate original pose, therefore
Can not be from rope supporting mechanism, the method based on direct kinematics solves Jacobian matrix J.It is as shown in figure 3, of the present invention
Method solve pseudo- Inverse jacobian matrix process it is as follows：
(P1) pose of Stewart lower platforms and the length of 6 rigid legs are obtained by measurement；
(P2) direct kinematics based on parallel robot calculate the pose of Stewart upper mounting plates；
(P3) posture of Stewart upper mounting plates and AB rotating shaft control planes is consistent, is converted by translational coordination, can be with
Try to achieve the pose of AB rotating shaft control planes；
(P4) pose of AB rotating shafts control plane and Stewart lower platforms known to, the coordinate that can be obtained between them become
Relation T is changed, the Jacobian matrix J from AB rotating shafts joint angle to the position of receiver can be obtained according to contents known；
(P5) the Jacobian matrix J because of two corners to receiver location from AB rotating shafts is 3 × 2 matrix, therefore
Inverse jacobian matrix can not directly be tried to achieve.Herein by the thought of least square method, to minimize error as object function, i.e.,：
Obtained solution is：
Δ θ '=(JTJ)-1JT*xEp
Try to achieve pseudoinverse：
Wherein, JTRepresent Jacobian matrix J transposition.
So in the control block diagram shown in Fig. 1, the departure Δ θ ' in corresponding joint space is solved according to the following formula：
Input using Δ θ ' as deviation correcting device, deviation correcting device can take the form of a variety of common controllers,
Pi controller PI is selected in the present embodiment, is arranged to by general parameter tuning method：Proportionality constant --- KP, product
Divide constant --- KI, then the calculation expression of the output quantity of deviation correcting device is：
Δ θ=KpΔθ′+KI∫Δθ′dt
The output of deviation correcting device is added on θ, obtains new controller input：
θc=θ+Δ θ
By the deviation correcting device structure newly increased, the control of the AB rotating shafts of script open loop becomes closed loop, correction control
Device finally can largely reduce the coarse adjustment error of receiver location by applying control action in real time, so as to big
The big compensation burden for reducing Stewart platforms fine-tuning mechanism for site error, even more so that Stewart platforms need not be controlled just
The required precision of correlation is can reach, this approach reduce because 6 legs support machine to one-level rope during the quick accurate adjustment of Stewart platforms
The harmful effect such as vibration caused by the reaction force of structure, save the energy of Stewart platform accurate adjustment processes and extend Stewart
The service life of platform.Method of the present invention is to sacrifice a small amount of attitude accuracy as cost, before this method
It is that can ensure that attitude error meets to require to carry, and causes attitude error will beyond index using this method in some cases
Ask, need to compensate error accordingly using Stewart platforms.
The foundation of method of the present invention is：Due to AB spindle centrals control point (i.e. A axles S4, B axle S5 intersection point) with
The feed phase center point of receiver has certain distance, therefore can pass through the amplification of radius by being finely adjusted to AB rotating shafts
Act on and larger compensation is carried out to the site error of receiver.This method alleviates Stewart platforms to by mistake to a certain extent
The compensation pressure of difference, reduces the vibration that may be configured to by the reaction of Stewart platforms to one-level coarse adjustment machine.
So far, the present embodiment is described in detail combined accompanying drawing.According to above description, those skilled in the art
The method that radio telescope receiver one-time positioning precision should be improved to the present invention has clear understanding.The method of the present invention
A kind of new correction Controlling model structure is added in the feedback control system of common Large-diameter Radio Telescope, this entangles
Inclined Controlling model is adjusted on a small quantity by acting on AB shaft rotary corners to AB shaft rotary corners, so as to largely reduce
The one-time positioning error of feed receiver.Meaning of the present invention is, in the reasonable scope using lose certain attitude accuracy as
Cost, the compensation burden for reducing fine-tuning mechanism Stewart platforms in positioning of the coarse tuning stage to receiver degree of precision is realized,
It may realize that carrying out accurate adjustment without using Stewart just disclosure satisfy that precision index in the case of former one-time positioning error is less,
Also reduce the vibration of the one-level flexible cable mechanism caused by the reaction force of Stewart accurate adjustments is possible.
It should be noted that in accompanying drawing or specification text, the implementation that does not illustrate or describe is affiliated technology
Form known to a person of ordinary skill in the art, is not described in detail in field.In addition, the above-mentioned definition to each element and method is simultaneously
Various concrete structures, shape or the mode mentioned in embodiment are not limited only to, those of ordinary skill in the art can carry out letter to it
Singly change or replace.
It should also be noted that, the direction term mentioned in embodiment, for example, " on ", " under ", "front", "rear", " left side ",
" right side " etc., only it is the direction of refer to the attached drawing, is not used for limiting the scope of the invention.In addition, unless specifically described or must
The step of must sequentially occurring, the order of above-mentioned steps have no be limited to it is listed above, and can according to it is required design and change or again
It is new to arrange.And above-described embodiment can based on design and reliability consideration, be mixed with each other collocation use or and other embodiment
Mix and match uses, i.e., the technical characteristic in different embodiments can freely form more embodiments.
In summary, the present invention provides a kind of method for improving radio telescope receiver one-time positioning precision, and it is utilized
Correction Controlling model, by the continuous effect of deviation correcting device, finally in the range of the permission of receiver attitude error, with loss
The cost of certain attitude accuracy, largely compensates the site error of the one-time positioning of receiver, is put down so as to reduce Stewart
Compensation burden of the platform fine-tuning mechanism for site error, or even to control in the case of original one-time positioning error is less
Stewart platforms processed just can reach the required precision of correlation..
It should be noted that running through accompanying drawing, identical element is represented by same or like reference.In the following description,
Some specific embodiments are only used for describing purpose, and should not be construed has any restrictions to the present invention, and simply the present invention is real
Apply the example of example.When the understanding of the present invention may be caused to cause to obscure, conventional structure or construction will be omitted.It should be noted that figure
In the shape and size of each part do not reflect actual size and ratio, and only illustrate the content of the embodiment of the present invention.
Particular embodiments described above, the purpose of the present invention, technical scheme and beneficial effect are carried out further in detail
Describe in detail it is bright, should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., it should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of method for improving radio telescope receiver one-time positioning precision, it comprises the following steps：
S1：The pose of receiver is measured using measuring instrument, obtains measured value xM；
S2：Joint correction controlled quentity controlled variable Δ θ is obtained using the correction flow in Controlling model of rectifying a deviation；
S3：Joint correction controlled quentity controlled variable Δ θ is controlled after being added with the joint space desired value θ for converting to obtain through inverse kinematics
The input quantity θ of deviceC, by acting on feed support system after controller；
S4：Repeat step S1 to S3, in the range of the permission of receiver attitude error, compensate the position of the one-time positioning of receiver
Error.
2. according to the method for claim 1, wherein, step S2 specifically includes following sub-step：
The receiver expected pose of initial input is guided into feed support system, with measured value xMMake difference and obtain the pose of receiver
Error xE；
X is removed by position maskEThree posture components leave behind site error xEp；
Site error xEpJoint departure Δ θ ' is transformed into by pseudoinverse Jacobian matrix；
Joint correction controlled quentity controlled variable Δ θ is obtained by the effect of deviation correcting device.
3. the method according to claim 11, wherein, it is further comprising the steps of before step S1 is carried out：
The initial expected pose x of given radio telescope receiverC, each component of joint space is decomposed into by inverse kinematics
Desired value, after controller being converted into controlled quentity controlled variable gives feed support system；
The drive mechanism of feed support system drives executing agency to perform corresponding action in the presence of controlled quentity controlled variable signal so that
Corresponding control point reaches corresponding pose.
4. the method according to claim 11, wherein, the initial expected pose xCFor 6 dimensional vectors.
5. according to the method for claim 4, wherein, 6 dimensional vector include along the displacement on tri- directions of X, Y, Z with
And three attitude angles presented in the form of XYZ Eulerian angles.
6. according to the method for claim 2, wherein, the solution procedure of pseudoinverse Jacobian matrix is specially：
The pose of Stewart lower platforms and the length of rigid leg of feed support system governor motion are obtained by measurement；
Direct kinematics based on parallel robot calculate the position of the Stewart upper mounting plates of feed support system governor motion
Appearance；
Converted by translational coordination, try to achieve the pose of AB rotating shaft control planes；
Jacobian matrix J is solved by the relation of AB rotating shafts control plane to Stewart lower platforms；
Solve pseudoinverse Jacobian matrix
7. according to the method for claim 6, wherein, when solving pseudoinverse Jacobian matrix, by the thought of least square method,
Solved using minimizing error as object function：
8. according to the method for claim 7, wherein, the joint departure Δ θ ' solution formulas are：
。
9. the method according to claim 11, wherein, the deviation correcting device adoption rate integral controller.
10. according to the method for claim 9, wherein, the output quantity of the deviation correcting device is：
Δ θ=KpΔθ′+KI∫Δθ′dt
Wherein, KPFor proportionality constant, KIFor integral constant.
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| CN201710531998.1A CN107369908B (en) | 2017-07-03 | 2017-07-03 | A method of improving positioning accuracy of radio telescope receiver |
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| 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 |
| 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 |
| CN111854639A (en) * | 2020-07-28 | 2020-10-30 | 天津智通信息系统集成有限公司 | High-speed railway side wall radian measuring equipment |
| CN116190975A (en) * | 2023-01-13 | 2023-05-30 | 中国科学院自动化研究所 | Fault-tolerant pose distribution method and system for large-caliber radio telescope |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN111854639A (en) * | 2020-07-28 | 2020-10-30 | 天津智通信息系统集成有限公司 | High-speed railway side wall radian measuring equipment |
| CN111854639B (en) * | 2020-07-28 | 2022-05-03 | 天津智通信息系统集成有限公司 | High-speed railway side wall radian measuring equipment |
| CN116190975A (en) * | 2023-01-13 | 2023-05-30 | 中国科学院自动化研究所 | Fault-tolerant pose distribution method and system for large-caliber radio telescope |
| CN116190975B (en) * | 2023-01-13 | 2023-10-27 | 中国科学院自动化研究所 | Fault-tolerant pose distribution method and system for large-caliber radio telescope |
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