CN107369908B - A method of improving positioning accuracy of radio telescope receiver - Google Patents

A method of improving positioning accuracy of radio telescope receiver Download PDF

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Publication number
CN107369908B
CN107369908B CN201710531998.1A CN201710531998A CN107369908B CN 107369908 B CN107369908 B CN 107369908B CN 201710531998 A CN201710531998 A CN 201710531998A CN 107369908 B CN107369908 B CN 107369908B
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CN
China
Prior art keywords
receiver
error
pose
joint
stewart
Prior art date
Application number
CN201710531998.1A
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Chinese (zh)
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CN107369908A (en
Inventor
景奉水
郑榕樟
杨国栋
谭民
梁自泽
李恩
邓赛
孙尧
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中国科学院自动化研究所
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Priority to CN201710531998.1A priority Critical patent/CN107369908B/en
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    • HELECTRICITY
    • H01BASIC ELECTRIC ELEMENTS
    • H01QANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02Arrangements 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
    • H01Q3/08Arrangements 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback

Abstract

The present invention provides a kind of methods for improving positioning accuracy of radio telescope receiver comprising following steps: S1: is measured using pose of the measuring instrument to receiver, obtains measured value xM;S2: joint correction control amount is obtained using the correction process in correction Controlling modelΔθ;S3: joint correction control amountΔθ obtains the input quantity θ of controller after being added with the joint space desired value θ converted through inverse kinematicsC, by acting on feed support system after controller;S4: repeating step S1 to S3, in the range of receiver attitude error allows, compensates the location error of receiver once positioned.The present invention can largely compensate the location error of receiver once positioned, it is born to reduce Stewart platform fine-tuning mechanism for the compensation of location error, or even makes just to can reach relevant required precision without control Stewart platform in the lesser situation of an original position error.

Description

A method of improving positioning accuracy of radio telescope receiver

Technical field

The invention belongs to the field of locating technology of Large-diameter Radio Telescope, and in particular to a kind of raising radio telescope connects The method of positioning accuracy of receipts machine.

Background technique

Large-diameter Radio Telescope works on the space of large scale to realize, is usually combined using coarse adjustment and accurate adjustment Feed support and control system guarantee position that its receiver can reach planning and posture (can refer to: Li Hui, red legend be white, Pan Mechanics problem and its progress [J] Proceedings of Mechanics in the support of peak .FAST telescope, 2011,41 (2): 133- 154).The 500m bore radio telescope FAST that China is independently built is exactly to take level-one rope supporting mechanism coarse adjustment combination second level The scheme of Stewart platform accurate adjustment.Since the configuration space that level-one rope supporting mechanism can reach is limited, two-step mechanism it Between AB shaft is added, which can rotate along two axis orthogonal in plane, support machine to compensate level-one rope The biggish 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 compensation, so that being finally reached the design objective of phase closing precision.

Research about the pose accuracy for improving FAST radio telescope receiver at present mainly supports machine with level-one rope Structure and AB shaft realize the primary positioning of pose, then the position and attitude error control of receiver is existed by the accurate adjustment of Stewart platform (can refer to: Li Hui, Sun Jinghai, red legend is white, waits .500m bore spherical radio telescope flexibility feed support system in allowed band System emulation [J] computer-aided engineering, 2011,20 (1): 106-112).This control program can preferably meet in design It is required that but there may be following problems in actual operation: 1, cause the feedback for being equipped with AB shaft and stewart platform in wind When source cabin vibrates, the error once positioned may deviate that design objective is larger, and the working space of Stewart platform is limited , therefore, it is difficult to guarantee that Stewart platform can be by control errors within the allowable range in this case;2, Stewart platform There may be biggish reaction forces for quick compensating action, and it is improper to control, and easily cause Cabin and generate resonance.Therefore, existing Control program exist optimization space.

Summary of the invention

(1) technical problems to be solved

In view of above-mentioned technical problem, the present invention provides a kind of sides for improving positioning accuracy of radio telescope receiver Method is optimized and is supplemented for existing control program, can solve the problems, such as that a certain extent existing scheme exists.

In the present invention, propose a kind of new control structure: correction Controlling model is passed through using correction Controlling model The continuous effect of deviation correcting device, finally in the range of receiver attitude error allows, to lose the generation of certain attitude accuracy Valence largely compensates the location error of receiver once positioned, to reduce Stewart platform fine-tuning mechanism for position The compensation burden of error is set, or even makes that Stewart platform need not be controlled just in the lesser situation of an original position error It can reach relevant required precision.

(2) technical solution

According to an aspect of the invention, there is provided a kind of side for improving positioning accuracy of radio telescope receiver Method comprising following steps: it S1: is measured using pose of the measuring instrument to receiver, obtains measured value xM;S2: it utilizes Correction process in correction Controlling model obtains joint correction control amount Δ θ;S3: joint rectify a deviation control amount Δ θ with through inverse movement It learns after the joint space desired value θ that transformation obtains is added and obtains the input quantity θ of controllerC, by acting on feedback after controller Source support system;S4: repeating step S1 to S3, in the range of receiver attitude error allows, compensates the primary fixed of receiver The location error of position.

(3) beneficial effect

It can be seen from the above technical proposal that the present invention improves the method for positioning accuracy of radio telescope receiver extremely One of them is had the advantages that less:

(1) present invention can reduce vibration etc. caused by the issuable reaction force of the quick accurate adjustment of Stewart platform no Good influence saves the energy of Stewart accurate adjustment process and extends the service life of Stewart platform;

(2) present invention substantially reduces Stewart platform fine-tuning mechanism and the compensation of location error is born, even more so that Stewart platform, which need not be controlled, just can reach relevant required precision.

Detailed description of the invention

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 regulating mechanism schematic diagram of the embodiment of the present invention.

Fig. 3 is the solution flow diagram of the pseudoinverse Jacobian matrix of the embodiment of the present invention.

[main element]

S1: driving rope;

S2: Cabin;

S3: star-like frame;

S4:A axis;

S5:B axis;

S6:Stewart upper mounting plate;

S7:Stewart rigid leg;

S8:Stewart lower platform;

S9: receiver;

P1~P5: step.

Specific embodiment

To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference Attached drawing, the present invention is described in more detail.

In an exemplary embodiment of the present invention, it provides and a kind of improves radio telescope receiver positioning accuracy Method comprising following steps: S1: using measuring instrument (can for total station or GPS) to the pose of receiver (including position And posture) measure, obtain measured value xM;S2: joint correction control amount is obtained using the correction process of correction Controlling model Δθ;S3: joint correction control amount Δ θ is controlled after being added with the joint space desired value θ converted through inverse kinematics The input quantity θ of deviceC, by acting on feed support system after controller;S4: repeating step S1 to S3, misses in receiver posture In the range of difference allows, the location error of receiver once positioned is compensated.

Step S2 comprising the following specific steps

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;Remove x by position maskEThree posture components leave behind location error xEp;By puppet Inverse Jacobian matrix is transformed into joint departure (i.e. the deviation of AB Shaft angle) Δ θ ';It is closed by the effect of deviation correcting device Section correction control amount Δ θ.

It is further comprising the steps of before carrying out step S1:

The initial expected pose x of given radio telescope receiverC, each point of joint space is decomposed by inverse kinematics The desired value of amount is converted into control amount after controller and gives feed support system;The driving mechanism of feed support system exists Executing agency is driven to execute corresponding movement under the action of control amount signal, so that corresponding control point reaches corresponding pose.

As a kind of specific embodiment, by taking the 500m bore radio telescope 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 regulating mechanism schematic diagram.As shown in Fig. 2, FAST has two-stage regulating mechanism, wherein coarse adjustment structure is the support of 6 ropes Mechanism S1 suspends the AB rotating shaft mechanism (including A axis S4 and B axle S5) in Cabin S2 and Cabin in midair;Adjustment structure includes The Stewart parallel robot (including upper mounting plate S6,6 rigid leg S7 and lower platform S8) being connected with AB shaft, feed connects Receipts machine S9 is mounted on Stewart lower platform 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 as follows: feed support overall system control issues the desired locations and attitude angle vector x of telescope receiverC, should Vector has 6 dimensions, three attitude angles presented including the displacement on tri- directions 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 shaft (including A axis S4, B axle S5) is transferred to compensate, here it is posture distribution;Additionally to be gone out by inverse kinematics Desired receiver location and posture are decomposed into the length of corresponding 6 rope and AB turn by the value θ of each variable of joint space Two corners of axis.In common feedback control structure, directly the desired value θ of joint space is worth as input to the controller θC, control amount is exported after controller action to drive feed support system to execute corresponding movement, using instrument to star-like The posture of frame S3 and the position of AB spindle central control point (intersection point of S4, S5) measure, the measured value x that will be obtainedMInstead It feeds controller, attitude angle is compensated in conjunction with the opened loop control of AB shaft, to realize to receiver location and posture Primary positioning.Inside feed support system, Stewart platform (including upper mounting plate S6,6 rigid leg S7 and lower platform S8 the stroke of 6 legs) is solved according to measurement pose and expected pose and carries out accurate adjustment.

The present invention is based on the frames of common feedback control, for the control of AB shaft, building correction Controlling model.It will give Desired value and receiver pose measurement value make it is poor, obtain deviation xE, including on tri- directions XYZ position deviation and with The posture angular displacement that XYZ Eulerian angles indicate, 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 for setting mask removes corresponding three components of posture, obtains location error component xEp, xEpIt is 3 dimensional vectors.

It is influenced since the Cabin of level-one rope supporting mechanism may be disturbed by natural wind and deviates original pose, Cannot be from rope supporting mechanism, the method based on direct kinematics solves Jacobian matrix J.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 platform 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 plate;

(P3) posture of Stewart upper mounting plate and AB shaft control plane is consistent, and is converted by translational coordination, can be with Acquire the pose of AB shaft control plane;

(P4) pose of the control of AB shaft plane and Stewart lower platform, the coordinate that can be found out between them become known to Relationship T is changed, the Jacobian matrix J of the position from AB shaft joint angle to receiver can be found out according to contents known;

(P5) the Jacobian matrix J because of two corners to receiver location from AB shaft is 3 × 2 matrix, Inverse jacobian matrix can not directly be acquired.Herein by the thought of least square method, to minimize error as objective function, it may be assumed that

Obtained solution are as follows:

Δ θ '=(JTJ)-1JT*xEp

Acquire pseudoinverse:

Wherein, JTIndicate the transposition of Jacobian matrix J.

In control block diagram so shown in Fig. 1, the departure Δ θ ' in corresponding joint space is solved according to the following formula:

Input by 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 by general parameter tuning method are as follows: proportionality constant --- KP, product Divide constant --- KI, then the calculation expression of the output quantity of deviation correcting device are as follows:

Δ θ=KpΔθ′+KI∫Δθ′dt

The output of deviation correcting device is added on θ, new controller input is obtained:

θc=θ+Δ θ

By the deviation correcting device structure newly increased, the control of the AB shaft of script open loop becomes closed loop, correction control Device finally can largely reduce the coarse adjustment error of receiver location, thus greatly by applying control action in real time The big Stewart platform fine-tuning mechanism that reduces bears the compensation of location error, even more so that Stewart platform need not be controlled just Can reach relevant required precision, this approach reduce because during the quick accurate adjustment of Stewart platform 6 legs to level-one rope support machine The adverse effects such as vibration caused by the reaction force of structure save the energy of Stewart platform accurate adjustment process 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 Mention is that can guarantee that attitude error is met the requirements, and causes attitude error to be wanted beyond index using this method in some cases It asks, needs to compensate error accordingly using Stewart platform.

Method of the present invention foundation be: due to AB spindle central control point (i.e. the intersection point of A axis S4, B axle S5) 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 shaft It acts on and biggish compensation is carried out to the location error of receiver.This method alleviates Stewart platform to accidentally to a certain extent The compensation pressure of difference reduces because the reaction of Stewart platform may be constructed of vibration to level-one coarse adjustment machine.

So far, attached drawing is had been combined the present embodiment is described in detail.According to above description, those skilled in the art The method that positioning accuracy of radio telescope receiver should be improved to the present invention has clear understanding.Method of the invention A kind of novel correction Controlling model structure is added in the feedback control system of common Large-diameter Radio Telescope, this is entangled Inclined Controlling model is adjusted AB shaft rotary corner, by acting on AB shaft rotary corner to largely reduce on a small quantity Position error of feed receiver.Meaning of the present invention is, is to lose certain attitude accuracy in the reasonable scope Cost realizes the positioning in coarse tuning stage to receiver degree of precision, reduces the compensation burden of fine-tuning mechanism Stewart platform, It can be able to achieve in a former lesser situation of position error and just can satisfy precision index without using Stewart progress accurate adjustment, Also reduce the vibration for the level-one flexible cable mechanism that may cause by the reaction force of Stewart accurate adjustment.

It should be noted that in attached drawing or specification text, the implementation for not being painted or describing 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 It is not limited only to various specific structures, shape or the mode mentioned in embodiment, those of ordinary skill in the art can carry out letter to it It singly changes or replaces.

It should also be noted that, the direction term mentioned in embodiment, for example, "upper", "lower", "front", "rear", " left side ", " right side " etc. is only the direction with reference to attached drawing, the protection scope being not intended to limit the invention.In addition, unless specifically described or must The step of must sequentially occurring, there is no restriction for the sequences of above-mentioned steps in listed above, and can be changed according to required design or again It is new to arrange.And above-described embodiment can be based on the considerations of design and reliability, and the collocation that is mixed with each other uses or and other embodiments Mix and match uses, i.e., the technical characteristic in different embodiments can freely form more embodiments.

In conclusion the present invention provides a kind of method for improving positioning accuracy of radio telescope receiver, utilize Correction Controlling model, by the continuous effect of deviation correcting device, finally in the range of receiver attitude error allows, with loss The cost of certain attitude accuracy, largely compensates the location error of receiver once positioned, so that it is flat to reduce Stewart Platform fine-tuning mechanism bears the compensation of location error, or even making in the lesser situation of an original position error need not control Stewart platform processed just can reach relevant required precision.

It should be noted that running through attached drawing, identical element is indicated by same or similar appended drawing reference.In the following description, Some specific embodiments are used for description purposes only, and should not be construed to the present invention has any restrictions, and only the present invention is real Apply the example of example.When may cause the understanding of the present invention and cause to obscure, conventional structure or construction will be omitted.It should be noted that figure In the shape and size of each component do not reflect actual size and ratio, and only illustrate the content of the embodiment of the present invention.

Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention Within the scope of shield.

Claims (9)

1. a kind of method for improving positioning accuracy of radio telescope receiver comprising following steps:
S1: it is measured using pose of the measuring instrument to receiver, obtains measured value xM
S2: joint correction control amount Δ θ is obtained using the correction process in correction Controlling model;
S3: joint correction control amount Δ θ is controlled after being added with the joint space desired value θ converted through inverse kinematics The input quantity θ of deviceC, by acting on feed support system after controller;
S4: repeating step S1 to S3, in the range of receiver attitude error allows, compensates the position of receiver once positioned Error;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 obtains the pose of receiver Error xE
Remove x by position maskEThree posture components leave behind location error xEp
Location error xEpJoint departure Δ θ ' is transformed by pseudoinverse Jacobian matrix;
Joint correction control amount Δ θ is obtained by the effect of deviation correcting device.
2. further comprising the steps of before carrying out step S1 according to the method described in claim 1, wherein:
The initial expected pose x of given radio telescope receiverC, each component of joint space is decomposed by inverse kinematics Desired value is converted into control amount after controller and gives feed support system;
The driving mechanism of feed support system drives executing agency to execute corresponding movement under the action of control amount signal, so that Corresponding control point reaches corresponding pose.
3. according to the method described in claim 2, wherein, the initial expected pose xCFor 6 dimensional vectors.
4. according to the method described in claim 3, wherein, 6 dimensional vector include the displacement on tri- directions X, Y, Z with And three attitude angles presented in the form of XYZ Eulerian angles.
5. according to the method described in claim 1, wherein, the solution procedure of pseudoinverse Jacobian matrix specifically:
By the length for measuring the pose and rigid leg that obtain the Stewart lower platform of feed support system regulating mechanism;
Direct kinematics based on parallel robot calculate the position of the Stewart upper mounting plate of feed support system regulating mechanism Appearance;
It is converted by translational coordination, acquires the pose of AB shaft control plane;
Jacobian matrix J is solved by the relationship that AB shaft controls plane to Stewart lower platform;
Solve pseudoinverse Jacobian matrix
6. according to the method described in claim 5, wherein, when solving pseudoinverse Jacobian matrix, by the thought of least square method, It is solved using minimizing error as objective function:
7. according to the method described in claim 6, wherein, the joint departure Δ θ ' solution formula are as follows:
8. according to the method described in claim 7, wherein, the deviation correcting device uses pi controller.
9. according to the method described in claim 8, wherein, the output quantity of the deviation correcting device are as follows:
Δ θ=KpΔθ′+KI∫Δθ′dt
Wherein, KPFor proportionality constant, KIFor integral constant.
CN201710531998.1A 2017-07-03 2017-07-03 A method of improving positioning accuracy of radio telescope receiver CN107369908B (en)

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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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CN107369908B true CN107369908B (en) 2019-08-23

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102581445A (en) * 2012-02-08 2012-07-18 中国科学院自动化研究所 Visual real-time deviation rectifying system and visual real-time deviation rectifying method for robot
CN204289682U (en) * 2014-11-27 2015-04-22 中国科学院国家天文台 FAST radio telescope reflecting surface unit supports adjusting device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102581445A (en) * 2012-02-08 2012-07-18 中国科学院自动化研究所 Visual real-time deviation rectifying system and visual real-time deviation rectifying method for robot
CN204289682U (en) * 2014-11-27 2015-04-22 中国科学院国家天文台 FAST radio telescope reflecting surface unit supports adjusting device

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"FAST馈源支撑系统位姿分配方法研究";邓赛;《光学精密工程》;20170228;全文
"机器人轨迹纠偏控制方法研究";景奉水;《机器人ROBOT》;20170531;全文

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