CN107991901B - Voice coil motor displacement actuator simulation platform - Google Patents
Voice coil motor displacement actuator simulation platform Download PDFInfo
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- CN107991901B CN107991901B CN201711257574.7A CN201711257574A CN107991901B CN 107991901 B CN107991901 B CN 107991901B CN 201711257574 A CN201711257574 A CN 201711257574A CN 107991901 B CN107991901 B CN 107991901B
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Abstract
A voice coil motor displacement actuator simulation platform and a working method thereof.A wind power simulation mechanism consists of a stepping motor and a thrust rod, wherein the lower surface of a first stepping motor is connected with the thrust rod, and the angular displacement of the first stepping motor is converted into force through a ball screw; the load spring and the voice coil motor magnetic steel are arranged on the movable supporting plate, the lower end of the ball screw is connected with the second stepping motor, the upper end of the ball screw is connected with the movable supporting plate, and the lower part of the movable supporting plate vertically moves through a linear bearing; the coil of the voice coil motor and the load spring are coaxial with the output shaft of the actuator, and the upper end of the load spring and the coil of the voice coil motor are fixed with the output shaft of the actuator; the middle of the two diaphragms is separated by a clamping block and a clamping plate and is connected and fixed with an output shaft of the actuator; the diaphragm is fixed on the output fixing frame; the thrust rod is arranged on the mounting bracket and is on the same axis with the actuator output shaft. The output precision of the invention reaches dozens of nanometers, meets the requirements of splicing mirrors, provides simulation wind power external disturbance, and can realize the design and verification of a high-precision controller.
Description
Technical Field
The invention belongs to the technical field of precision motion control, and relates to a voice coil motor displacement actuator simulation platform.
Background
Since the caliber of the astronomical telescope is made larger and larger in more than 400 years of the first telescope invented by Galileo, the light collecting capacity and the resolution are also higher and higher, and people can see the telescope farther and clearer. However, the optical system of the traditional astronomical telescope is not corrected, so the influence of gravity and temperature change on the primary mirror surface type is more obvious along with the increase of the aperture. The splicing mirror surface technology is developed for realizing the foundation type telescope with the larger-caliber main mirror. The splicing mirror surface technology is one of active optical technologies, and is widely applied to the design and construction of telescopes at present. The 10 meter diameter KECKI and KECKII (Kaike telescopes) built in the United states, the TMT (thirty meter telescope) with the primary mirror diameter of 30 meters planned to be built in Hawaii, the 39.3 meter ELT (extremely large telescope) built in European southern astronomical stage, the SALT telescope in south Africa 10 meters, the MA Schmidt reflector and MB primary mirror in LAMOST (Guo guard telescope) in China, the 12 meter LOT telescope planned to be built, and the JWST (James Weber space telescope) with the primary mirror diameter of 6.5 meters adopt or are about to adopt the spliced mirror surface technology.
The displacement actuator is an actuating mechanism for surface type control in the splicing mirror surface technology and is used for adjusting three degrees of freedom (piston, tip and tilt) outside the secondary mirror surface, so that the light collecting capacity of the splicing primary mirror is equivalent to a whole mirror with the same caliber. It has two main functions of positioning and regulating. The positioning means that the relative position between the adjacent sub-mirrors is kept unchanged, so that the surface shape of the main mirror is kept unchanged; the adjustment is that in the process of pointing and tracking of the telescope, when the main mirror surface type changes due to gravity, temperature and external disturbance (wind power and frame vibration), the position change quantity is detected in real time through the edge sensor, and then the displacement actuator is controlled to output the displacement quantity for real-time compensation.
The displacement actuator applied to the telescope at present mainly adopts a mechanical micro-displacement actuator mechanism high-precision scaling device. A10-meter KECK telescope in the United states adopts a speed reducer lead screw type micro-displacement actuator and a first-stage precise hydraulic scaling mechanism; the American 9 m HET and south Africa 10 m SALT telescopes adopt a reducer lead screw type micro-displacement actuator and a first-stage precise lead screw scaling mechanism; the MA and MB telescope of LAMOST Guojingjing in China also adopt a speed reducer precision screw rod mechanism. The displacement actuators can well compensate the surface shape change caused by gravity and temperature change in the pointing tracking process of the telescope. The frequency of these disturbances is very low, mostly within 0.1HZ, and the current displacement actuators of this structure are able to compensate these disturbances very well. However, as the aperture of the telescope is increased, wind turbulence and frame vibration have an increasing effect on the primary mirror profile. The frequency of these disturbances is very high, and in the range of several hertz or even tens of hertz, the dynamic performance of such mechanical transmission type micro-displacement actuators has not been satisfactory. Therefore, a new displacement actuator needs to be designed.
Disclosure of Invention
The invention aims to provide a voice coil motor displacement actuator simulation platform, which realizes the nano-scale control of the actuator displacement, simulates the disturbance caused by the action of wind on a mirror surface in the pointing tracking process of a telescope through a wind power simulation mechanism, and provides a simulation platform for the voice coil motor displacement actuator. The high-precision controller can be verified and designed by the aid of the platform, and technical support is provided for control of the telescope splicing primary mirror. The invention designs a simulation platform of a displacement actuator based on a voice coil motor.
The purpose is realized by the following scheme: a voice coil motor displacement actuator simulation platform is characterized in that a wind power simulation mechanism consists of a stepping motor and a thrust rod, wherein the lower surface of a first stepping motor is connected with the thrust rod, and the angular displacement of the first stepping motor is converted into force through a ball screw; the load spring and the voice coil motor magnetic steel are arranged on the same movable supporting plate, the lower end of the ball screw is connected with the second stepping motor, the upper end of the ball screw is connected with the movable supporting plate, a linear guide rail is arranged below the movable supporting plate, and the linear guide rail moves up and down in the vertical direction through a linear bearing on the mounting bracket; the coil and the load spring of the voice coil motor are coaxially arranged with the output shaft of the actuator, and the upper end of the load spring and the coil of the voice coil motor are fixed together with the output shaft of the actuator; the middle of the two diaphragms is separated by a diaphragm clamping block and a diaphragm clamping plate, and is connected and fixed with the output shaft of the actuator by bolts through the two diaphragm pressing blocks and the diaphragm pressing plate; the diaphragm is fixed on the output fixing frame; meanwhile, the grating ruler is also fixed with the output shaft of the actuator, and the reading head of the grating ruler is arranged on the output fixing frame through a bracket; the thrust rod is arranged on the mounting bracket and is on the same axis with the actuator output shaft.
In other words (refer to fig. 1), the present invention includes a first stepping motor 1, a thrust rod 2, an actuator output shaft 3, a grating scale sensor 4, a grating scale 5, a support diaphragm 6, an output fixing frame 7, a voice coil motor coil 8, a voice coil motor magnetic steel 9, a load spring 10, a movable support plate 11, a ball screw 12, a linear guide rail 13, a second stepping motor 14, a mounting bracket 15, a support frame 16, a mounting base plate 17, a diaphragm pressing block 18, a diaphragm clamping block 19, a diaphragm pressing plate 20, and a diaphragm clamping plate 21.
The moving part is mounted on a mounting bracket 15 and fixed on a bottom plate 17 through a support frame 16. The mounting bracket 15 is perpendicular to the base plate 17. Load spring 10 and voice coil motor (coil 8 and magnet steel 9) are installed on same removal backup pad 11, ball 12 lower extreme end links together with step motor 14, the upper end links together with removal backup pad 11, there are 3 linear guide 13 in removal backup pad 10 below, circumference evenly distributed, linear guide reciprocates through the guide hole vertical direction on installing support 15, voice coil motor's coil 8 and load spring 10 are coaxial arrangement with actuator output shaft 3, the spring 10 other end links together with actuator output shaft 3 with coil 8. The middle of 2 diaphragms 6 is separated by a diaphragm clamping block 19 and a diaphragm clamping plate 21, and is fixedly connected with four threaded holes distributed on the circumference of an output shaft of the actuator by bolts through a pressing block 18 and a diaphragm pressing plate 20 of two diaphragms 7.8 through holes distributed circumferentially are formed around the diaphragm 6 and are fixed on an output fixing frame 7 through bolts. Meanwhile, the grating ruler 5 is also fixed with the output shaft 3 of the actuator, and the reading head 4 of the grating ruler is arranged on the output fixing frame 7 through a bracket. The wind power simulation mechanism is composed of a stepping motor 1 and a thrust rod 2. The thrust rod is mounted on the mounting bracket 15 on the same axis as the actuator output shaft 3.
The working method of the voice coil motor displacement actuator simulation platform is characterized by comprising the following steps of:
the control of the output displacement of the voice coil motor displacement actuator is divided into a coarse displacement adjustment part and a fine displacement adjustment part;
the coarse displacement adjustment is that an industrial personal computer controls a second stepping motor to rotate through a stepping motor driver to drive a ball screw to rotate, and the angular displacement is converted into linear displacement, so that the movable support plate 11 moves up and down along the linear guide rail 13;
the step angle of the second stepping motor is 15 degrees, the driver is divided into two parts, and the speed reducer 150: 1, the lead of the ball screw is 2mm, and the resolution of coarse adjustment is about 277.8 um;
the fine displacement adjustment mode is that an industrial personal computer sets the working mode of the voice coil motor driver to be a current mode, the industrial personal computer is communicated with the driver through a USB (universal serial bus), the size of the output current value of the driver is controlled to realize the control of the output force of the voice coil motor, and the fine adjustment resolution ratio is about 10 nm;
the industrial personal computer judges the magnitude of the current value of the voice coil motor by collecting the current value of the voice coil motor, and connects the control of the two paths of motors by logical judgment; when the input current of the voice coil motor obtained by the industrial personal computer through a corresponding resolving algorithm is too large, the industrial personal computer controls the second stepping motor to act, and the movable supporting plate moves for a certain distance in the same direction, so that the input current of the voice coil motor is always within the rated current; feeding back a displacement signal of an output shaft of the actuator to an industrial personal computer through a grating ruler sensor to form a closed-loop system, and dynamically correcting and outputting the displacement;
wind power simulation:
collecting wind speed data near a telescope site;
obtaining a transfer function of wind disturbance through a wind model;
obtaining real-time wind speed through simulation;
then pass through
Converting the wind speed into a force acting on the mirror;
the same stepping motor system is adopted, the angular displacement of the first stepping motor is converted into force through a thrust rod, and the corresponding resolution ratio is 4 mN;
for the dynamic characteristics of wind disturbance, a Von Karman model is adopted, and the transfer function of the Von Karman model is
Power spectral density psd (power spectral density) as a wind disturbance;
the spectrum is defined by two parameters: size and breadth
Bandwidth (f)0) (ii) a For most wind disturbances, the bandwidth is 1 rad/s; the wind speed data near the telescope site is collected and calculated to obtain
The working principle of the invention is as follows:
the whole device is centrally controlled by an industrial personal computer through a plurality of AD/DA board cards, motor drivers and signal collectors, and meanwhile, the industrial personal computer receives data of a grating ruler sensor to perform comprehensive logic operation to realize accurate displacement output of the voice coil motor displacement actuator.
Firstly, the control of the output displacement of the voice coil motor displacement actuator is divided into a coarse displacement adjustment part and a fine displacement adjustment part. The coarse displacement adjustment is that the industrial personal computer controls the second stepping motor 14 to rotate through the stepping motor driver to drive the ball screw to rotate, and the angular displacement is converted into linear displacement, so that the movable support plate 11 moves up and down along the linear guide rail 13. The step angle of the second stepping motor 14 is 15 °, the drive is subdivided twice, and the speed reducer 150: 1, the lead of the ball screw is 2mm, and the resolution of the coarse adjustment is about 277.8 um. The mode of fine displacement adjustment is that the industrial computer sets up the mode of voice coil motor driver's mode for the current mode, through USB and driver communication, the control of control driver output current value realizes the control to voice coil motor output power size. The industrial personal computer judges the size of the current value of the voice coil motor and connects the control of the two motors. When the input current of the voice coil motor obtained by the industrial personal computer through a corresponding resolving algorithm is too large, the second stepping motor 14 is controlled to act, the supporting plate 11 is moved for a certain distance in the same direction, and the input current of the voice coil motor is always within the rated current. The displacement signal of the actuator output shaft 3 is fed back to the industrial personal computer through the grating ruler sensor to form a closed-loop system, and the displacement is dynamically corrected and output.
For the wind power simulation mechanism, the same stepping motor system is adopted, the angular displacement of the first stepping motor 1 is converted into force through the thrust rod 2, and the corresponding resolution is 4 mN. For the dynamic characteristics of wind disturbance, a Von Karman model is adopted, and the transfer function of the Von Karman model is
Power spectral density psd (power spectral density) as a wind disturbance. The spectrum is defined by two parameters: size and breadth
Bandwidth (f)0). For most wind disturbances, the bandwidth is 1 rad/s. The wind speed data near the telescope site is collected and calculated to obtain
And obtaining a transfer function of wind disturbance, and obtaining real-time wind speed through simulation. Then pass through
Converting the wind speed into a force acting on the mirror. Where F is the disturbance force acting on the mirror surface, ρ is the air density in the site area, AsIs the area of the mirror surface of the sub-mirror, CdIs the wind power coefficient (drag coefficient) and V is the wind speed. The industrial personal computer obtains the real-time wind power through the algorithm, and the thrust rod 2 is linear in the stroke, so that the pulse number of the corresponding stepping motor can be obtained. Therefore, the wind disturbance of the telescope in the pointing tracking process can be well simulated.
The invention realizes the coarse and fine adjustment of the displacement by combining the load spring and the voice coil motor, can ensure that the displacement can reach the nanometer precision, and completely meets the precision requirement of the spliced main mirror. Meanwhile, a wind power simulation mechanism is utilized to simulate wind power disturbance, and the wind power disturbance can be applied to the displacement actuator, so that a good simulation test platform is provided for the design and verification of the controller.
Drawings
FIG. 1 is a schematic diagram of a voice coil motor displacement actuator simulation platform according to the present invention;
FIG. 2 is a schematic top view of the structure of FIG. 1;
FIG. 3 is a schematic structural diagram of the wind simulation mechanism of FIG. 1;
fig. 4 is a schematic sectional structure view of the output fixing frame in fig. 1.
Detailed Description
As shown in fig. 1, 2, 3 and 4, the linear diaphragm pressing device comprises a first stepping motor 1, a thrust rod 2, an actuator output shaft 3, a grating ruler sensor 4, a grating ruler 5, a supporting diaphragm 6, an output fixing frame 7, a voice coil motor coil 8, voice coil motor magnetic steel 9, a load spring 10, a movable supporting plate 11, a ball screw 12, a linear guide rail 13, a second stepping motor 14, a mounting bracket 15, a supporting frame 16, a mounting base plate 17, a diaphragm pressing block 18, a diaphragm clamping block 19, a diaphragm pressing plate 20 and a diaphragm clamping plate 21.
The models of the first stepping motor 1 and the second stepping motor 14 are SAIA stepping motors UBB2N08D15CNNP 120 omega/ph, the motors are provided with speed reducers, and the speed reduction ratio is 150: 1; the ball screw is THK BNK 1202; the model of the linear bearing guide rail is THK LMF20 ML; the voice coil motor signal is VLR0022-0098-00A of the American corporation; the grating ruler sensor is of a model Renysha RGH24O15A 30A.
The working steps are as follows:
the control of the output displacement of the voice coil motor displacement actuator is divided into a coarse displacement adjustment part and a fine displacement adjustment part;
the coarse displacement adjustment is that an industrial personal computer controls a second stepping motor to rotate through a stepping motor driver to drive a ball screw to rotate, and the angular displacement is converted into linear displacement, so that the movable support plate 11 moves up and down along the linear guide rail 13;
the step angle of the second stepping motor is 15 degrees, the driver is divided into two parts, and the speed reducer 150: 1, the lead of the ball screw is 2mm, and the resolution of coarse adjustment is about 277.8 um;
the fine displacement adjustment mode is that an industrial personal computer sets the working mode of the voice coil motor driver to be a current mode, the industrial personal computer is communicated with the driver through a USB (universal serial bus), the size of the output current value of the driver is controlled to realize the control of the output force of the voice coil motor, and the fine adjustment resolution ratio is about 10 nm;
the industrial personal computer judges the magnitude of the current value of the voice coil motor by collecting the current value of the voice coil motor, and connects the control of the two paths of motors by logical judgment; when the input current of the voice coil motor obtained by the industrial personal computer through a corresponding resolving algorithm is too large, the industrial personal computer controls the second stepping motor to act, and the movable supporting plate moves for a certain distance in the same direction, so that the input current of the voice coil motor is always within the rated current; feeding back a displacement signal of an output shaft of the actuator to an industrial personal computer through a grating ruler sensor to form a closed-loop system, and dynamically correcting and outputting the displacement;
wind power simulation:
collecting wind speed data near a telescope site;
obtaining a transfer function of wind disturbance through a wind model;
obtaining real-time wind speed through simulation;
then pass through
Converting the wind speed into a force acting on the mirror;
the same stepping motor system is adopted, the angular displacement of the first stepping motor is converted into force through a thrust rod, and the corresponding resolution ratio is 4 mN;
for the dynamic characteristics of wind disturbance, a Von Karman model is adopted, and the transfer function of the Von Karman model is
Power spectral density psd (power spectral density) as a wind disturbance;
the spectrum is defined by two parameters: size and breadth
Bandwidth (f)0) (ii) a For most wind disturbances, the bandwidth is 1 rad/s; by collecting wind speed data near the telescope site, the instrumentIs calculated to obtain
The working principle of the invention is as follows:
the whole device is centrally controlled by an industrial personal computer through a plurality of AD/DA board cards, motor drivers and signal collectors, and meanwhile, the industrial personal computer receives data of a grating ruler sensor to perform comprehensive logic operation to realize accurate displacement output of the voice coil motor displacement actuator.
Firstly, the control of the output displacement of the voice coil motor displacement actuator is divided into a coarse displacement adjustment part and a fine displacement adjustment part. The coarse displacement adjustment is that the industrial personal computer controls the second stepping motor 14 to rotate through the stepping motor driver to drive the ball screw to rotate, and the angular displacement is converted into linear displacement, so that the movable support plate 11 moves up and down along the linear guide rail 13. The step angle of the second stepping motor 14 is 15 °, the drive is subdivided twice, and the speed reducer 150: 1, the lead of the ball screw is 2mm, and the resolution of the coarse adjustment is about 277.8 um. The mode of fine displacement adjustment is that the industrial computer sets up the mode of voice coil motor driver's mode for the current mode, through USB and driver communication, the control of control driver output current value realizes the control to voice coil motor output power size. The industrial personal computer judges the size of the current value of the voice coil motor and connects the control of the two motors. When the input current of the voice coil motor obtained by the industrial personal computer through a corresponding resolving algorithm is too large, the second stepping motor 14 is controlled to act, the supporting plate 11 is moved for a certain distance in the same direction, and the input current of the voice coil motor is always within the rated current. The displacement signal of the actuator output shaft 3 is fed back to the industrial personal computer through the grating ruler sensor to form a closed-loop system, and the displacement is dynamically corrected and output.
For the wind power simulation mechanism, the same stepping motor system is adopted, the angular displacement of the first stepping motor 1 is converted into force through the thrust rod 2, and the corresponding resolution is 4 mN. For the dynamic characteristics of wind disturbance, a Von Karman model is adopted, and the transfer function of the Von Karman model is
Power spectral density psd (power spectral density) as a wind disturbance. The spectrum is defined by two parameters: size and breadth
Bandwidth (f)0). For most wind disturbances, the bandwidth is 1 rad/s. The wind speed data near the telescope site is collected and calculated to obtain
And obtaining a transfer function of wind disturbance, and obtaining real-time wind speed through simulation. Then pass through
Converting the wind speed into a force acting on the mirror. Where F is the disturbance force acting on the mirror surface, ρ is the air density in the site area, AsIs the area of the mirror surface of the sub-mirror, CdIs the wind power coefficient (drag coefficient) and V is the wind speed. The industrial personal computer obtains the real-time wind power through the algorithm, and the thrust rod 2 is linear in the stroke, so that the pulse number of the corresponding stepping motor can be obtained. Therefore, the wind disturbance of the telescope in the pointing tracking process can be well simulated.
Claims (2)
1. A voice coil motor displacement actuator simulation platform comprises a voice coil motor displacement actuator and a wind power simulation mechanism; the wind power simulation mechanism consists of a first stepping motor and a thrust rod, and is characterized in that the lower surface of the first stepping motor is connected with the thrust rod, and angular displacement of the first stepping motor is converted into force through a ball screw; the load spring and the voice coil motor magnetic steel are arranged on the same movable supporting plate; the lower end of the ball screw is connected with the second stepping motor, and the upper end of the ball screw is connected with the movable supporting plate; a linear guide rail is arranged below the movable supporting plate; the linear guide rail moves up and down in the vertical direction through a linear bearing on the mounting bracket; the coil and the load spring of the voice coil motor are coaxially arranged with the output shaft of the actuator, and the upper end of the load spring and the coil of the voice coil motor are fixed together with the output shaft of the actuator; the middle of the two supporting membranes is separated by a membrane clamping block and a membrane clamping plate, and is connected and fixed with the output shaft of the actuator by bolts through the two membrane pressing blocks and the membrane pressing plate; two supporting diaphragms are fixed on the output fixing frame; meanwhile, the grating ruler is also fixed with the output shaft of the actuator, and the reading head of the grating ruler is arranged on the output fixing frame through a bracket; the thrust rod is arranged on the mounting bracket and is on the same axis with the actuator output shaft;
the concrete structure is as follows: the moving part is arranged on the mounting bracket and is fixed on the bottom plate through the supporting frame; three linear guide rails are arranged below the movable supporting plate, are uniformly distributed on the circumference, vertically move through guide holes in the mounting bracket, and are fixedly connected with four threaded holes which are circumferentially distributed on an actuator output shaft through two diaphragm pressing blocks and a diaphragm pressing plate by bolts; 8 through holes distributed circumferentially are formed around the supporting diaphragm and are fixed on the output fixing frame through bolts;
the control of the output displacement of the voice coil motor displacement actuator is divided into a coarse displacement adjustment part and a fine displacement adjustment part;
the industrial personal computer controls the rotation of a second stepping motor through a stepping motor driver to drive a ball screw to rotate, so that the angular displacement is converted into linear displacement, and the movable support plate moves up and down along the linear guide rail;
the step angle of the second stepping motor is 15 degrees, the driver is divided into two parts, and the speed reducer 150: 1, the lead of the ball screw is 2 mm; the resolution of the coarse adjustment is about 277.8 um;
the fine displacement adjustment mode is that an industrial personal computer sets the working mode of the voice coil motor driver to be a current mode, the industrial personal computer is communicated with the driver through a USB (universal serial bus), and the control of the output force of the voice coil motor is realized by controlling the output current value of the driver; the resolution of the fine adjustment is about 10 nm.
2. The voice coil motor displacement actuator simulation platform of claim 1, wherein the models of the first stepping motor 1 and the second stepping motor are SAIA stepping motor UBB2N08D15CNNP 120 Ω/ph, the platform is provided with a speed reducer, and the speed reduction ratio is 150: 1; the ball screw is THK BNK1202 in model number; the type of the voice coil motor is VLR 0022-0098-00A.
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| CN111983776B (en) * | 2020-09-21 | 2021-07-06 | 中国科学院长春光学精密机械与物理研究所 | Micro-displacement actuator |
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| CN115877544B (en) * | 2023-02-15 | 2023-05-26 | 中国科学院西安光学精密机械研究所 | Fine adjustment driving mechanism, linear driving device and driving method of spliced main mirror |
| CN116953870B (en) * | 2023-09-20 | 2023-11-28 | 中国科学院长春光学精密机械与物理研究所 | Six-degree-of-freedom adjustment and dynamic stabilization platform |
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| CN107991901A (en) | 2018-05-04 |
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