CN107943123A - The control system and control method of a kind of force actuator - Google Patents
The control system and control method of a kind of force actuator Download PDFInfo
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- CN107943123A CN107943123A CN201711063576.2A CN201711063576A CN107943123A CN 107943123 A CN107943123 A CN 107943123A CN 201711063576 A CN201711063576 A CN 201711063576A CN 107943123 A CN107943123 A CN 107943123A
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- ring controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
- G02B26/0825—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements the reflecting element being a flexible sheet or membrane, e.g. for varying the focus
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Optics & Photonics (AREA)
- Automation & Control Theory (AREA)
- Telescopes (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The embodiment of the present invention discloses a kind of control system of force actuator and corresponding control method.The control system includes being used to receive expected force value signal and actual forces value signal and output calculates the power ring controller of rotary angle signal, it is connected with power ring controller, for receiving the position ring controller for calculating rotary angle signal and actual rotary angle signal and exporting rotation control signal, it is connected with position ring controller, the motor driver for receiving rotation control signal, the rotary motion of motor is converted into moving along a straight line and then corrects the mechanical transmission structure of the main mirror face of astronomical telescope by motor driver according to rotation control signal driving motor rotation.Control system disclosed by the embodiments of the present invention uses double-closed-loop control device, is effectively improved control accuracy, and then ensure that the image quality of astronomical telescope.
Description
Technical field
The present invention relates to the technical field of astronomical telescope active optics system, and in particular to a kind of control of force actuator
System and its corresponding control method.
Background technology
The bore of astronomical telescope is bigger, and the celestial information of acquisition is more, therefore, builds huge heavy caliber astronomical telescope
The target that always astronomer constantly pursues.Increase with the bore of astronomical telescope, the minute surface gravity of astronomical telescope becomes
Shape and thermal deformation problem also increase therewith, cause the image quality of astronomical telescope to be deteriorated.
In order to adapt to the heavy caliber development trend of astronomical telescope, active optics technology develops rapidly and gradual maturation.It is main
Dynamic optical technology realizes primary mirror under complicated extraneous factor using active member by detecting the wave front aberration of astronomical telescope
Face shape is kept or correction, astronomical telescope is remained outstanding image quality.Active optics technology can not only be used for holding
By the gravity of primary mirror, at the same can also real time correction drawn by external factor such as foozle, elastic deformation and temperature gradients
The face shape error risen, mitigating telescope primary mirror quality, shortening milling cycle and reducing cost, environmental suitability is strong.
Force actuator is as the important component in astronomical telescope active optics technology, it is by applying pressure or drawing
Power changes the shape of primary mirror minute surface in real time, to correct due to surface deformation caused by the factors such as gravity, temperature.Force actuator is in master
It is both supporting mechanism for location in dynamic optical technology, and the executing agency of correction mirror shape.
At present, common force actuator includes electromechanical force actuator, fluid pressure type force actuator and pneumatic type force actuator.
Fluid pressure type force actuator adjusts the size of power output by the flow of adjustment precision valve, and structure and control are relative complex, and
The liquid leakage of hydraulic structure can cause the pollution of the components such as primary mirror.Pneumatic type force actuator is also by adjustment precision valve
Flow adjust the size of power output, structure and control relative complex.Electromechanical force actuator simple structure, convenient control and
Cost is relatively low, is the force actuator of current mainstream applications.The control accuracy of force actuator can directly affect astronomical telescope into
Image quality amount.
Therefore, for electromechanical force actuator, needing to provide at present a kind of has force actuator the high-precision control be
System or control method, to ensure the image quality of astronomical telescope.
The content of the invention
The precision problem of control system or control method for existing electromechanical force actuator, the embodiment of the present invention propose
A kind of force actuator control system, the control system are included outer shroud power ring controller and endocyclic position ring controller, are closed using double
Ring controller, is effectively improved control accuracy, and then ensure that the image quality of astronomical telescope.
The concrete scheme of the control system of the force actuator is as follows：A kind of control system of force actuator is controlled including power ring
Device, for receiving expected force value signal and actual forces value signal and output calculating rotary angle signal；Position ring controller, with institute
The connection of power ring controller is stated, for receiving the calculating rotary angle signal and actual rotary angle signal and output rotation control
Signal；Motor driver, is connected with the position ring controller, for receiving the rotation control signal；Motor, with the electricity
Machine driver connects, and the motor driver drives the motor to rotate according to the rotation control signal；Mechanical transmission structure,
For the rotary motion of the motor to be converted into moving along a straight line, and then correct the main mirror face of astronomical telescope.
Preferably, the control system further includes force snesor, and the force snesor is used to detect the machine driving knot
The actual forces value signal of structure.
Preferably, the control system further includes capture card, for gathering the actual forces detected by the force snesor
Value signal.
Preferably, the control system further includes encoder, and the encoder is used for the actual rotation for obtaining the motor
Angle signal.
Preferably, the mechanical transmission structure includes leading screw and nut, and the motor drives the leading screw rotation, the spiral shell
It is female that the rotary motion of the leading screw is transformed into linear motion with merging with the leading screw.
Preferably, the mechanical transmission structure further includes shaft coupling and retarder, described shaft coupling one end and the motor
Connection, the other end are connected with the retarder, and described retarder one end is connected with shaft coupling, the connection of the other end and leading screw.
Preferably, the input signal of the power ring controller is the expected force value signal and the actual forces value signal
Difference.
Preferably, the position ring controller is the calculating rotary angle signal and the actual rotary angle signal
Difference.
The present invention also provides a kind of a kind of and corresponding controlling party of force actuator of above-mentioned force actuator control system
Method.The concrete technical scheme of the control method of the force actuator is as follows：A kind of control method of force actuator includes step：Design
Power ring controller and position ring controller, and determine the relevant parameter in the power ring controller and the position ring controller；
Expected force value signal and actual forces value signal are inputted into the power ring controller, the power ring controller calculates output and calculates rotation
Angle signal；The actual rotary angle signal of the calculating rotary angle signal and motor is inputted into the position ring controller,
The position ring controller calculates output rotation control signal；Input using the rotation control signal as motor driver,
The motor driver drives motor rotation according to the rotation control signal；The motor rotation drives mechanical transmission structure fortune
Turn, the rotary motion of the motor is converted into moving along a straight line by mechanical transmission structure, and then corrects the primary mirror of astronomical telescope
Shape.
Preferably, when the expected force value signal is equal to the actual forces value signal, the control method stops closed loop
Control.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages：
The embodiment of the present invention provides a kind of control system of force actuator and its corresponding control method.In the control system
Including outer shroud power ring controller and endocyclic position ring controller, cause the dynamic of whole control system by using double-closed-loop control device
State response is fast, overshoot is small, so as to have preferable dynamic characteristic.Further, endocyclic position ring controller can suppress to control
The influence of internal system links disturbance, strengthens the Ability of Resisting Disturbance of outer shroud power ring controller, is conducive to improve force actuator
Control system precision.Position and power are adjusted by endocyclic position ring controller and outer shroud power ring controller respectively, can be distinguished
The parameter of position ring controller and power ring controller is adjusted, is put into practice easy to Practical Project.Position ring controller and power ring
The design process of controller, by the parameter of prior theory deduction and verification experimental verification controller, so as to fulfill the control essence of higher
Degree.In this embodiment, actual forces value signal is detected and using the actual forces value signal as feedback signal, power using force snesor
Sensor, which has, suppresses interference performance, so as to form a stable closed-loop system.
Brief description of the drawings
Fig. 1 is a kind of control system schematic diagram of the force actuator provided in the embodiment of the present invention；
Fig. 2 is a kind of control method flow diagram of the force actuator provided in the embodiment of the present invention.
Description of symbols in attached drawing：
1st, power ring controller 2, position ring controller 3, motor
4th, mechanical transmission structure 5, force snesor 6, capture card
7th, encoder 8, motor driver 9, power supply
10th, primary mirror 11, host computer 100, control system
Embodiment
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Attached drawing, is clearly and completely described the technical solution in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work, should all belong to the model that the present invention protects
Enclose.
Term " first ", " second ", " the 3rd " " in description and claims of this specification and above-mentioned attached drawing
The (if present)s such as four " are for distinguishing similar object, without for describing specific order or precedence.It should manage
The data that solution so uses can exchange in the appropriate case, so that the embodiments described herein can be with except illustrating herein
Or the order beyond the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
A kind of as shown in Figure 1, schematic diagram of the control system 100 of force actuator of the embodiment of the present invention.In the embodiment
In, the control system 100 of force actuator is double closed-loop control system, including outer shroud power ring controls and the control of endocyclic position ring.Such as
Shown in Fig. 1, control system 100 includes power ring controller 1, the position ring controller 2 being connected with power ring controller 1, with position ring
The motor driver 8 that controller 2 connects, is connected with motor driver 8 and is motor driven device 8 and drive rotating motor 3, by electricity
The rotary motion of machine 3 is converted into moving along a straight line and then corrects the mechanical transmission structure 4 of the 10 face shape of primary mirror of astronomical telescope.
In this embodiment, power ring controller 1 forms the outer closed loop configuration of control system 100, and position ring controller 2 is formed
The interior closed loop configuration of control system 100.The input signal of power ring controller 1 includes expected force value signal f0With actual forces value signal
f1.Expected force value signal f0For the force value needed for the mirror correction of primary mirror 10, directly inputted by host computer 11.Expected force value signal
f0Concrete numerical value according to the different and different of different astronomical telescopes and astronomical telescope local environment, do not lift herein
Instantiation.Host computer 11 can be common computer, or the controller of specific setting.Actual forces value signal f1In order to control
The correction force value f of 4 reality output of mechanical transmission structure in system 1007.In this embodiment, force snesor 5 detects mechanical biography
The correction force value f of 4 reality output of dynamic structure7, and by the correction force value f of the reality output7It is transformed into electric signal f8.Preferably,
The correction force value f for the reality output that the detection of force snesor 5 obtains is gathered by capture card 67Electric signal f8, and by the electric signal
f8Carry out modulus change and then be transformed into digital signal.The mode of modulus change is different according to the output electric signal of force snesor 5
And it is different, if the output signal of force snesor 5 is voltage signal, then modal transformation mode is to be transformed into voltage signal pair
The digital signal answered；Output signal such as force snesor 5 is current signal, then current signal is transformed into pair by modal transformation mode
The digital signal answered.Specifically optional strain force sensor, piezoelectric force transducer, ceramic pressure sensor, the expansion of force snesor 5
Dissipate silicon pressure sensor etc..In this embodiment, control system 100 realizes the feedback of power using force snesor 5, has and suppresses dry
The ability disturbed, therefore, control system 100 are stable closed-loop system.
In a preferred embodiment, host computer 11 includes software platform, which shows that capture card 6 is adopted in real time
The digital signal collected, and host computer 11 also stores shown digital signal.
To expected force value signal f0With actual forces value signal f1It is poor to make, and by expected force value signal f0Believe with actual force value
Number f1Transmission function G of the difference as power ring controller 11(S) input.By transmission function G1(S) after processing, power ring
The output of controller 1 calculates rotary angle signal f2。
The output of 2 reception ring controller 1 of position ring controller calculates rotary angle signal f2With actual rotary angle signal
f4.Actual rotary angle signal f4For the actual angular displacement signal f of motor 36.In this embodiment, encoder 7 is by actual angle
Displacement signal f6Worked out and be converted to the actual rotary angle signal f that can be used to communicate or transmit and/or store4Form.
7 optional digital encoder of encoder, specifically includes incremental encoder, absolute value row encoder etc..
To calculating rotary angle signal f2With actual rotary angle signal f4It is poor to make, and will calculate rotary angle signal f2
With actual rotary angle signal f4Transmission function G of the difference as position ring controller 22(S) input.By transmission function
G2(S) after processing, position ring controller 1 exports rotation control signal f3。
Motor driver 8 receives the rotation control signal f that position ring controller 1 exports3, and according to rotation control signal
f3Driving motor 3 is rotated forward or inverted.Motor 3 is used as executing agency, there is provided rotary torsion, drives mechanical transmission structure 4
Movement.The rotary motion of motor 3 is converted into moving along a straight line by mechanical transmission structure 4, produces the pulling force or pressure of rectilinear direction, into
And correct the face shape of the primary mirror 10 of astronomical telescope.The pulling force or pressure of rectilinear direction are mechanical transmission structure described above
The correction force value f of 4 reality outputs7.Mechanical transmission structure 4 is mainly used for the rotary motion form of motor 3 changing the fortune that is in line
Dynamic form, specifically includes gear ＆ rack structure, cam structure, link mechanism or screw-nut structure etc..In this embodiment, machine
Tool drive mechanism 4 uses screw-nut structure.Motor 3 drives leading screw to rotate, nut is matched somebody with somebody with leading screw and merged the rotation fortune of leading screw
Turn becomes to move along a straight line, and produces the pulling force or pressure of rectilinear direction.In a preferred embodiment, mechanical transmission structure 4 is gone back
Including retarder and shaft coupling.One end of the shaft coupling and rotation axis connection of motor 3, the other end of shaft coupling and retarder connect
Connect, one end of retarder is connected with shaft coupling, the other end of retarder is connected with leading screw.Primary mirror 10 receives mechanical transmission structure 4
The pulling force or pressure exported, and then face shape that is real-time and effectively adjusting primary mirror 10.
In this embodiment, control system 100 uses power ring controller 1 and position ring controller 2 at the same time so that control system
The dynamic response of system 100 is fast and overshoot is small, has good dynamic characteristic.Position ring controller 2 can be with as inner ring control
The influence of internal links disturbance is effectively inhibited, the antijamming capability of power ring controller 1 is enhanced, is effectively improved power
The control accuracy of the control system 100 of actuator, so as to ensure that the image quality of astronomical telescope.In this embodiment, power
Power ring controller 1 is respectively adopted in adjusting with position and position ring controller 2 is adjusted, easy to be adjusted respectively in Practical Project
The parameter of power ring controller 1 and position ring controller 2.
In the above-described embodiments, motor 3, capture card 6, motor driver 8, force snesor 5 particular hardware selection can root
Depending on the concrete application environment and demand of control system 100.One embodiment is only exemplified by herein to illustrate, the embodiment
Particular hardware model is not meant to limit the scope of the invention.The series of model EC-I 40 of MAXON companies can be selected in motor 3
Brshless DC motor, the capture card of the model NITB4330 of NI companies can be selected in capture card 6, and motor driver 8 can use
The driver of the model EPOS2 24/5 of MAXON companies, force snesor 5 can use the sensing of the model S9M of HBN companies
Device.
A kind of as shown in Fig. 2, control method flow diagram of the force actuator provided in the embodiment of the present invention.In the reality
Apply in example, comprising the following steps that for the control method of force actuator is shown：
Step S1：Design power ring controller G1And position ring controller G (S))2(S), and power ring controller G is determined1(S) and
Position ring controller G2(S) relevant parameter in.Power ring controller and the design of the design considerations theory analysis of position ring controller,
Relevant parameter (such as control parameter) can be obtained by testing in controller.In specific implementation process, power ring controller G1(S)
With position ring controller G2(S) design process can follow flow shown in formula 1：
In formula 1, fdRepresent the given force value of control system 100, xdRepresent the displacement that inner ring gives, x represents inner ring output
Displacement, f represents the external force of force actuator control system output, G1(s) transmission function of outer shroud power ring controller, G are represented2(s)
Represent the transmission function of endocyclic position ring controller, G3(s) transmission function of actuator, G are represented4(s) biography of transmission mechanism is represented
Delivery function.
In a preferred embodiment, when inner ring bandwidth can be designed as being much larger than outer shroud bandwidth, in appropriately design inner ring
Position ring controller G2(s) after, in bandwidth low-frequency range, it is believed that xdEqual to x.So as to which formula 1 can simplify the institute of the formula of being equivalent to 2
Show flow：
Endocyclic position ring controller G2(s) appropriate design refers to：Control system 100 can ensure t → ∞, f → fd, i.e. power
The output force value of actuator control system 100 levels off to given force value.
Step S2：By expected force value signal f0With actual forces value signal f1Input power ring controller G1(S), power ring controller
G1(S) calculate output and calculate rotary angle signal f2。
Step S3：Rotary angle signal f will be calculated2With the actual rotary angle signal f of motor4Input position ring controller
G2(S), position ring controller G2(S) output rotation control signal f is calculated3。
Step S4：By rotation control signal f3As the input of motor driver, motor driver is according to rotation control letter
Number f3Drive motor rotation.
Step S5：Motor rotation drives mechanical transmission structure operating, and mechanical transmission structure changes the rotary motion of motor
Be in line movement, and then corrects the main mirror face of astronomical telescope.
Step S6：After the correction of step S5, expected force value signal f is judged0Whether actual forces value signal f is equal to1If
Equal then control method stops closed-loop control, otherwise enters step S2 and continues to adjust.
In the control method, position ring controller G2(S) and power ring controller G1(S) design process, by managing in advance
By derivation and the parameter of verification experimental verification controller, so as to fulfill the control accuracy of higher.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
Combined in an appropriate manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this area
Art personnel can be tied the different embodiments or example described in this specification and different embodiments or exemplary feature
Close and combine.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
- A kind of 1. control system of force actuator, it is characterised in that including：Power ring controller, for receiving expected force value signal and actual forces value signal and output calculating rotary angle signal；Position ring controller, is connected with the power ring controller, for receiving the calculating rotary angle signal and actual rotation Angle signal and output rotation control signal；Motor driver, is connected with the position ring controller, for receiving the rotation control signal；Motor, is connected with the motor driver, and the motor driver drives the motor according to the rotation control signal Rotation；Mechanical transmission structure, for the rotary motion of the motor to be converted into moving along a straight line, and then corrects astronomical telescope Main mirror face.
- 2. the control system of force actuator according to claim 1, it is characterised in that the control system further includes power biography Sensor, the force snesor are used for the actual forces value signal for detecting the mechanical transmission structure.
- 3. the control system of force actuator according to claim 2, it is characterised in that the control system further includes collection Card, for gathering the actual forces value signal detected by the force snesor.
- 4. the control system of force actuator according to claim 1, it is characterised in that the control system further includes coding Device, the encoder are used for the actual rotary angle signal for obtaining the motor.
- 5. the control system of force actuator according to claim 1, it is characterised in that the mechanical transmission structure includes silk Thick stick and nut, the motor drives the leading screw to rotate, the nut is matched somebody with somebody with the leading screw and merged the rotation fortune of the leading screw Turn becomes to move along a straight line.
- 6. the control system of force actuator according to claim 5, it is characterised in that the mechanical transmission structure further includes Shaft coupling and retarder, described shaft coupling one end and motor connection, the other end are connected with the retarder, the retarder One end is connected with shaft coupling, the other end and leading screw connect.
- 7. the control system of force actuator according to claim 1, it is characterised in that the input letter of the power ring controller Number for the expected force value signal and the actual forces value signal difference.
- 8. the control system of force actuator according to claim 1, it is characterised in that the position ring controller is described Calculate the difference of rotary angle signal and the actual rotary angle signal.
- 9. a kind of control method of force actuator, it is characterised in that including step：Power ring controller and position ring controller are designed, and determines the phase in the power ring controller and the position ring controller Related parameter；Expected force value signal and actual forces value signal are inputted into the power ring controller, the power ring controller calculates output and calculates Rotary angle signal；The actual rotary angle signal of the calculating rotary angle signal and motor is inputted into the position ring controller, institute's rheme Put ring controller and calculate output rotation control signal；Input using the rotation control signal as motor driver, the motor driver is according to the rotation control signal Drive motor rotation；The motor rotation drives mechanical transmission structure operating, and the rotary motion of the motor is converted into directly by mechanical transmission structure Line moves, and then corrects the main mirror face of astronomical telescope.
- 10. the control method of force actuator according to claim 9, it is characterised in that when described expected force value signal etc. When the actual forces value signal, the control method stops closed-loop control.
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| CN201711063576.2A CN107943123A (en) | 2017-11-02 | 2017-11-02 | The control system and control method of a kind of force actuator |
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| CN201711063576.2A CN107943123A (en) | 2017-11-02 | 2017-11-02 | The control system and control method of a kind of force actuator |
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Cited By (1)
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| CN110634372A (en) * | 2019-09-29 | 2019-12-31 | 中国科学院长春光学精密机械与物理研究所 | Optical system installation and adjustment strategy verification system |
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| CN110634372A (en) * | 2019-09-29 | 2019-12-31 | 中国科学院长春光学精密机械与物理研究所 | Optical system installation and adjustment strategy verification system |
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Application publication date: 20180420 |