CN108693893B - Anti-collision control method of Kappa goniometer for X-ray single crystal diffractometer - Google Patents

Anti-collision control method of Kappa goniometer for X-ray single crystal diffractometer Download PDF

Info

Publication number
CN108693893B
CN108693893B CN201710222703.2A CN201710222703A CN108693893B CN 108693893 B CN108693893 B CN 108693893B CN 201710222703 A CN201710222703 A CN 201710222703A CN 108693893 B CN108693893 B CN 108693893B
Authority
CN
China
Prior art keywords
angle
shaft
omega
rotation
2theta
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710222703.2A
Other languages
Chinese (zh)
Other versions
CN108693893A (en
Inventor
于碧辉
马跃
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Computing Technology of CAS
Original Assignee
Shenyang Institute of Computing Technology of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Computing Technology of CAS filed Critical Shenyang Institute of Computing Technology of CAS
Priority to CN201710222703.2A priority Critical patent/CN108693893B/en
Publication of CN108693893A publication Critical patent/CN108693893A/en
Application granted granted Critical
Publication of CN108693893B publication Critical patent/CN108693893B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/20—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by using diffraction of the radiation by the materials, e.g. for investigating crystal structure; by using scattering of the radiation by the materials, e.g. for investigating non-crystalline materials; by using reflection of the radiation by the materials
    • G01N23/20008—Constructional details of analysers, e.g. characterised by X-ray source, detector or optical system; Accessories therefor; Preparing specimens therefor
    • G01N23/20016—Goniometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/05—Investigating materials by wave or particle radiation by diffraction, scatter or reflection
    • G01N2223/056—Investigating materials by wave or particle radiation by diffraction, scatter or reflection diffraction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/10—Different kinds of radiation or particles
    • G01N2223/101—Different kinds of radiation or particles electromagnetic radiation
    • G01N2223/1016—X-ray
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/30—Accessories, mechanical or electrical features
    • G01N2223/306—Accessories, mechanical or electrical features computer control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/60—Specific applications or type of materials
    • G01N2223/604—Specific applications or type of materials monocrystal

Landscapes

  • Chemical & Material Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)

Abstract

The invention relates to an anti-collision control method of a Kappa goniometer for an X-ray single crystal diffractometer, which comprises the following steps of: judging whether the rotation angle of each rotating shaft of the Kapa geometry goniometer meets the rotating interval condition; and detecting the rotation angle of each rotation shaft of the geometric goniometer in real time, and performing double-shaft anti-collision rotation control. The method can well solve the anti-collision problem of single-shaft sequential rotation, and can be well applied to anti-collision pre-detection in the control of the remote angle measuring instrument based on the network. The anti-collision control method of the Kapa geometry goniometer for the X-ray single crystal diffractometer, which is designed by the invention, has good reliability, and can ensure that each rotating shaft of the Kapa geometry goniometer rotates according to an experimental target angle through the control of network remote control software in the experimental process of the X-ray single crystal diffractometer, and equipment on four circles do not collide with each other.

Description

Anti-collision control method of Kappa goniometer for X-ray single crystal diffractometer
Technical Field
The invention relates to remote control of hardware equipment, in particular to an anti-collision control method of a Kappa goniometer for an X-ray single crystal diffractometer.
Background
The X-ray single crystal diffraction structure analysis is an important approach and an authoritative method for recognizing the microstructure of the crystalline substance, and the X-ray single crystal diffractometer gradually becomes a conventional characterization instrument. The research and development and industrialization project of the X-ray single crystal diffractometer plays a role in breaking through the technical monopoly that only a few developed countries in Europe and America abroad have the capability of producing the X-ray single crystal diffractometer, and meeting all the aspects related to daily detection and scientific research related to material structures. The geometric goniometer built according to Euler geometry and Kappa geometry is a core component of an X-ray single crystal diffractometer, the mechanical structure design of the geometric goniometer is the basis of the design of X-ray single crystal diffractometer equipment, and important professional detectors, ray generators and other equipment are all arranged on a rotating arm of a rotating shaft of the geometric goniometer. The problem that equipment damage is caused by mutual collision of diffraction spaces generated by movement of the rotating arm in the X-ray diffraction experiment process is solved.
The invention provides an anti-collision control method of a kappa geometric goniometer for an X-ray single crystal diffractometer on the basis of an X-ray crystal diffraction principle and a mechanical equipment physical structure.
Disclosure of Invention
The invention provides an anti-collision control method of a Kappa goniometer for an X-ray single crystal diffractometer, aiming at the problem that equipment collides with each other in a diffraction space caused by rotation of a rotating shaft in the X-ray diffraction experiment process.
The technical scheme adopted by the invention for solving the technical problems is as follows: the anti-collision control method of the Kappa goniometer for the X-ray single crystal diffractometer comprises the following steps of:
and when the rotation angle of each rotating shaft of the Kappa geometric angle measuring instrument meets the rotation interval condition, detecting the rotation angle of each rotating shaft of the geometric angle measuring instrument in real time, and performing double-shaft anti-collision rotation control.
Each rotating shaft of the Kapa geometry goniometer comprises:
the rotating shaft of the angle measuring head is a Phi shaft; the rotating shaft of the rotating arm is a Kappa shaft; the rotary shaft of the Omega horizontal rotary table is an Omega shaft; the rotation axis of the 2Theta horizontal rotation platform is a 2Theta axis, and the Omega axis is coaxial with the 2Theta axis.
The rotation interval condition is as follows:
4) the rotation angle of the Omega horizontal rotation platform where the rotation arm is located is an Omega angle and is marked as & lt Omega; the rotation angle of a 2Theta horizontal rotation stage where diffraction data acquisition equipment is located is a 2Theta angle which is marked as ≈ 2 Theta;
Figure BDA0001264243630000021
5) the rotation angle of the rotating arm is a Kappa angle and is marked as ≈ Kappa;
-72°≤∠κ≤72°
6) recording an included angle between an Omega angle and a 2Theta angle as an angle alpha;
0°≤∠α≤360°
the setting before the double-shaft anti-collision rotation control is carried out:
4) the initial angle and the target angle of the Omega shaft and the 2Theta shaft meet the condition of an independent rotation interval;
5) setting the Omega shaft and the 2Theta shaft to sequentially rotate;
6) when the Omega shaft and the 2Theta shaft are set to rotate, firstly, the 2Theta shaft is rotated, and then the Omega shaft is rotated;
setting the initial angle and the target angle of the Omega axis as follows: angle omega1And omega2；
Let the initial angle and the target angle of the 2Theta axis be: angle 2theta1And < 2theta2。
The method for controlling the double-shaft anti-collision rotation comprises the following steps:
the method comprises the following steps: checking whether the 2Theta axis can be moved to less than 2Theta2To judge < 2theta >2And < omega >1Whether the included angle meets the included angle limiting condition of < alpha > Collideω,2θ；∠Collideω,2θRepresenting a clockwise included angle alpha from an angle 2Theta to an angle OmegaCis-transOr the anticlockwise included angle alphaInverse direction；
Controlling 2Theta axial direction 2Theta when the limiting condition is met2Rotating, and controlling the Omega axial target angle Omega after receiving the 2Theta shaft rotation in-place state2Rotating, wherein when the Omega shaft rotation in-place state is received, the rotating process is finished; if the limiting condition is not met, the 2Theta axis cannot be moved first, and then a step two is executed;
step two: checking whether the Omega shaft can be moved to Omega2To judge < omega >2And < 2theta1Whether the included angle meets the included angle limiting condition of < alpha > Collideω,2θ；
Controlling Omega axial direction Omega when the limiting condition is met2Rotating, and controlling a 2Theta axial target angle 2Theta after receiving the Omega shaft rotation in-place state2Rotating; when the 2Theta shaft is received to rotate to the right position, the rotation process is finished; if the limiting condition is not met, the target angles of the Omega shaft and the 2Theta shaft are mutually exclusive, and then a third step is executed;
step three: analyzing the rotation direction and the rotation angle of the Omega shaft as the 2Theta shaft abdication:
if (. sub.2 theta)2-∠ω1+180°)≤∠Collideω,2θIn the explanation, the 2Theta axis clockwise Omega axis rotation will not meet the minimum included angle limitation, so the Omega axis rotates in the same direction, namely clockwise direction, and the rotation angle isEnsure that the 2Theta rotates to less than 2Theta2The minimum rotation degree 2Theta limited by the minimum included angle between the Omega axis and the 2Theta axis is also met2'2＝∠2θ2-(∠Collideω,2θ+1 degree, will angle 2 theta'2Is converted into Omega coordinate system of < Omega'2＝∠2θ2-(∠Collideω,2θ+1)+180°；
If (. omega.)1-∠2θ2+180°)≤∠Collideω,2θExplaining that the rotation of the 2Theta axis towards the Omega axis in the anticlockwise direction can not meet the minimum included angle limitation, the Omega axis should rotate in the same direction, namely the anticlockwise direction to give way, and the rotation angle is to ensure that the 2Theta rotates to the angle 2Theta2The minimum rotation degree < 2Theta > limited by the minimum included angle between the Omega axis and the 2Theta axis is also met'2＝∠2θ2+(∠Collideω,2θ+1 degree, will angle 2 theta'2Is converted into Omega coordinate system of < Omega'2＝∠2θ2+(∠Collideω,2θ+1°)+180°；
Determining a rotation sequence:
Figure BDA0001264243630000031
controlling abdication angle Omega of Omega axial Omega shaft'2Rotating, and controlling a 2Theta axial target angle 2Theta after receiving the Omega shaft rotation in-place state2Rotating; when a 2Theta shaft is received to rotate to the right position, controlling the Omega axial target angle Omega2Rotating; and when the Omega shaft rotation in-place state is received, the rotation process is finished.
The included angle limiting condition & lt alpha & gt Collideω,2θThe method specifically comprises the following steps:
Figure BDA0001264243630000041
the clockwise included angle from the angle 2Theta to the angle Omega is less than alphaCis-transThe anticlockwise included angle is less than alphaInverse direction。
Setting before multi-axis anti-collision rotation control:
4) the initial angle and the target angle of the Omega axis, the 2Theta axis and the Phi axis meet the rotation interval condition;
5) for the Kappa shaft, on the premise that the initial angle and the target angle meet the condition of a rotation interval, the Kappa shaft can rotate freely in an independent rotation interval as long as the Omega shaft and the 2Theta shaft are kept not to rotate;
6) the rotation interval between the Omega shaft and the 2Theta shaft when the Kappa shaft is at the initial angle is larger than that when the Kappa shaft is not at the initial angle.
Carrying out multi-axis anti-collision rotation control, comprising the following steps:
3) in the rotating process, the Kappa shaft is always at an initial angle, and double-shaft anti-collision rotation control is performed;
4) during the rotation, the Kappa shaft angle changes;
when the Kappa shaft rotates to an initial angle from a non-initial angle, firstly controlling the Kappa shaft to rotate by 0 degree at a target angle, and after receiving the state that the Kappa shaft rotates in place, performing double-shaft anti-collision rotation control;
rotating the kappa shaft from an initial angle to a non-initial angle, and performing double-shaft anti-collision rotation control; then controlling the Kappa axial target angle & lt & gt to rotate, and finishing the rotation process after receiving the state that the Kappa shaft rotates in place;
if the Kappa shaft rotates from a non-initial angle to a non-initial angle, firstly controlling the Kappa shaft to rotate by 0 degree at a target angle, and after receiving the rotation in-place state of the Kappa shaft, performing double-shaft anti-collision rotation control; and then controlling the Kappa axial target angle & lt & gt to rotate, and after receiving the state that the Kappa shaft rotates in place, finishing the rotation process.
Accessing a rotating shaft state register of the PLC through a network to obtain the current position of the rotating shaft; and the rotating shaft rotates when the control command is sent to the PLC through the network.
The invention has the following beneficial effects and advantages:
1. the invention designs an anti-collision control method of a Kappa geometric goniometer for an X-ray single crystal diffractometer, which can well solve the anti-collision problem of single-shaft sequential rotation.
2. The invention designs an anti-collision control method of a Kappa geometry goniometer for an X-ray single crystal diffractometer, which can well solve the anti-collision problem of multi-axis rotation.
3. The invention designs an anti-collision control method of a Kappa geometric goniometer for an X-ray single crystal diffractometer, which can be well applied to anti-collision pre-detection in network-based remote goniometer control. The rotating strategy can be analyzed and pre-judged before the diffractometer goniometer rotates, so that the condition that equipment collision does not occur in the rotating process is ensured.
4. The anti-collision control method of the Kapa geometry goniometer for the X-ray single crystal diffractometer, which is designed by the invention, has good reliability, and can ensure that each rotating shaft of the Kapa geometry goniometer rotates according to an experimental target angle through the control of network remote control software in the experimental process of the X-ray single crystal diffractometer, and equipment on four circles do not collide with each other.
Drawings
FIG. 1 is a geometric structure diagram of a Kappa geometry goniometer of an X-ray single crystal diffractometer;
FIG. 2 is a schematic diagram of the physical structure of an X-ray single crystal diffractometer;
FIG. 3 is a schematic diagram of a four-circle coordinate system of Kapa goniometers;
FIG. 4 is a state transition diagram of the rotating shaft;
FIG. 5 is a flow chart of Omega axis, 2Theta axis anti-collision rotation control;
fig. 6 is a flow chart of anti-collision rotation control of the Omega axis, the 2Theta axis, the Kappa axis and the Phi axis.
Detailed Description
The present invention will be described in further detail with reference to examples.
An anti-collision control method for a Kapa geometry goniometer of an X-ray single crystal diffractometer is a method for monitoring the rotation process of a rotating shaft of a core component (the Kapa geometry goniometer) of the X-ray single crystal diffractometer through network remote control and ensuring that shaft-mounted equipment does not collide with each other in the rotation process.
The Kapa geometry goniometer is a four-circle goniometer, the spatial geometry of which is determined by four circles, respectively
Figure BDA0001264243630000051
Circles (Phi circles), 2Theta circles (2Theta circles), Kappa circles (Kappa circles), and Omega circles (Omega circles). The four-circle diffractometer is provided with an optical center which is fixed in space, a straight line which passes through the center of a circle and is perpendicular to the plane where the circle is located is taken as a rotating shaft of the circle, and the rotating shafts of the four circles are intersected in the optical center.
1.
Figure BDA0001264243630000061
The circle is the circle in which the goniometer head rotates,
Figure BDA0001264243630000062
the axis of rotation of the circle or angle head being called
Figure BDA0001264243630000063
A shaft. The angle measuring head is arranged at
Figure BDA0001264243630000064
And (4) a circle.
2. The κ circle is the circle the rotating arm rotates, and the κ circle or the rotation axis of the rotating arm is called the κ axis. The goniometer head is connected and fixed to a rotary arm which is arranged on a kappa circle, which rotation causes
Figure BDA0001264243630000065
The spatial position of the circle varies.
3. The ω circle is a circle that the ω horizontal rotation table rotates, and the rotation axis is perpendicular to the horizontal plane, and the rotation axis of the ω circle is referred to as the ω axis. The rotating arm and the X-ray generator are arranged on an omega circle.
The 4.2 theta circle is a circle rotated by the 2theta horizontal rotation table, the rotation axis is perpendicular to the horizontal plane, the rotation axis of the 2theta circle is called the 2theta axis, and the 2theta circle is coaxial with the omega circle. The diffractive data acquisition device is arranged on a 2theta circle.
And establishing a space rectangular coordinate system of each circle by taking the rotating shaft and the focus O of the circle as the origin, taking the rotating shaft as the Z axis, taking two straight lines which pass through the focus O and are mutually perpendicular in the circle as the X axis and the Y axis. The Phi, Omega and 2Theta axes coincide and the goniometer head up position is the initial position of the four circles.
The X-axis of the Omega circular coordinate system is reversed from the X-axis of the 2Theta circular coordinate system.
The Y-axis of the Omega circle coordinate system is opposite to the Y-axis of the 2Theta circle coordinate system.
And 3. the Z axis of the Omega circular coordinate system and the Z axis of the 2Theta circular coordinate system are in the same direction.
And 4. the plane formed by the Z axis and the X axis of the Kappa circle coordinate system is vertical to the plane of the Omega circle and intersects with the X axis of the Omega circle coordinate system. The direction of the projection of the X axis of the Kappa circle coordinate system on the Z axis of the Omega circle coordinate system is opposite to the direction of the Z axis of the Omega circle coordinate system.
The Z axis of the Kappa circular coordinate system forms an acute angle with the Z axis of the Omega circular coordinate system.
6. In the initial position, the axes of the Phi-circle coordinate system are co-directional with the axes of the Omega-circle coordinate system.
7. The direction from the origin center of each circular coordinate system to the optical center of the four-circle goniometer is the positive direction of the Z-axis of each circular coordinate system.
The spatial orientation of the crystal and the diffraction data acquisition equipment is corresponding to four circles
Figure BDA0001264243630000066
Four euler angles are determined.
1.
Figure BDA0001264243630000071
The angle (Phi angle) is the rotation angle of the goniometer head, i.e. the angle between the goniometer head angle marking and the positive direction of the X-axis of the Phi-circular coordinate system. The Phi angle in the positive X-axis direction is 0 degree, the Phi angle in the positive Y-axis direction is 90 degrees, and the Phi angle in the negative Y-axis direction is-90 degrees.
2. The Kappa angle (Kappa angle) is the angle of rotation of the rotating arm, i.e. the angle between the rotating arm angle scale and the positive direction of the X-axis of the Kappa circular coordinate system. The Kappa angle is 0 degree in the positive direction of the X axis, 90 degrees in the positive direction of the Y axis and 90 degrees in the negative direction of the Y axis in the Kappa circular coordinate system.
3. The angle ω (Omega angle) is the rotation angle of the ω horizontal rotation table where the rotation arm is located, i.e. the angle between the angle scale line of the ω horizontal rotation table and the positive direction of the X axis of the Omega circle coordinate system. The Omega angle is 0 degree in the positive direction of the X axis of the Omega circle coordinate system, 90 degrees in the positive direction of the Y axis of the Omega circle coordinate system, and 90 degrees in the negative direction of the Y axis of the Omega circle coordinate system.
The 4.2 Theta angle (2Theta angle) is the rotation angle of the 2Theta horizontal rotation table where the diffraction data acquisition equipment is located, namely the included angle between the angle marking line of the 2Theta horizontal rotation table and the positive direction of the X axis of the 2Theta circular coordinate system. The 2Theta angle is 0 degree in the positive direction of the X axis, 90 degrees in the positive direction of the Y axis and 2 Theta-90 degrees in the negative direction of the Y axis of the 2Theta circular coordinate system.
The anti-collision control method comprises double-shaft anti-collision rotation control and multi-shaft anti-collision rotation control.
An anti-collision control method of a Kappa geometric goniometer for an X-ray single crystal diffractometer is realized by network remote control software of a rotating shaft of the Kappa geometric goniometer. The rotating shaft of the Kapa geometry goniometer is controlled by a high-precision stepping motor to move, and the rotating direction, the rotating angle and the rotating speed of the stepping motor are controlled by a Siemens programmable controller.
The rotation control module of the network remote control software realizes the rotation function of the rotating shaft, uses the Modbus protocol to access the rotating shaft control register of the PLC, sets the rotating direction, the rotating angle, the rotating speed and the rotating mode and executes the rotating operation. The rotation axis control parameters of each geometrical goniometer include: enabling the rotation of the rotating shaft, stopping the rotation of the rotating shaft, absolute displacement parameters, relative displacement parameters and displacement speed parameters.
The rotation state monitoring module of the network remote control software realizes the rotation state monitoring function of the rotating shaft, accesses a rotating shaft state register of the PLC by using a Modbus protocol, acquires the current position of the rotating shaft and obtains the state of the rotating shaft by combining rotation parameters. The network remote control software manages in real time, the rotation state of the rotating shaft, and the rotation state comprises:
1) ready state, the turning shaft waits for receiving a turning instruction and starts a ready state of turning.
2) And the rotating state is an execution state that the rotating shaft starts to rotate after receiving the rotating instruction. In the rotating state, the angle parameter of the rotating shaft is continuously changed.
3) And in the in-place state, the rotating shaft rotates to a stop state of a target angle. In the stopped state, the angle parameter of the rotating shaft is the same as the target angle and no longer changes.
4) And the rotation pause state is a stop state after receiving the rotation stop instruction.
A core module of the network remote control software is a rotation strategy analysis module, so that an anti-collision rotation strategy analysis process is realized, and X-ray diffraction experiment parameters can be converted into a rotation operation process of a rotation shaft.
And setting an independent rotation interval of the Kappa geometric angle measuring instrument based on the appearance of hardware equipment and controlling the Kappa geometric angle measuring instrument by software. Different hardware devices of the diffractometer are respectively carried on each circle of the Kapa geometry goniometer. Because the physical size of the hardware equipment and the spatial rotation mode of the circle are different, the rotation interval of the rotating shaft needs to be limited in order to prevent equipment collision when single equipment rotates independently, and therefore the independent rotation interval and the initial condition of each rotating shaft are designed.
1) Recording an Omega angle as an angle Omega; the 2Theta angle is recorded as ≤ 2 θ.
Figure BDA0001264243630000081
2) Let the Kappa angle be ≈ Kappa.
-72°≤∠κ≤72°
3) The included angle between the Omega angle and the 2Theta angle is recorded as ≈ alpha.
0°≤∠α≤360°
4) The Phi axis can rotate 360 degrees by taking the Z axis of the belonging coordinate system as a rotating axis.
The remote control software supports an independent rotation interval judgment and check function, before the rotation shaft rotates, the control software detects whether the target angle of the rotation shaft meets the independent rotation interval condition, and if the target angle does not meet the independent rotation interval condition, the control software does not send a rotation command.
In the rotating process of the shaft, remote control software acquires < omega, < 2theta, < kappa and,
Figure BDA0001264243630000082
And if the independent rotation interval condition is not met, the control software sends a rotating shaft braking command.
Design of conversion method of angle Omega and angle 2 Theta. The angle between the Omega coordinate system and the 2Theta coordinate system is 180 degrees different.
1) And the transformation formula of the angle Omega and the angle 2 Theta.
Figure BDA0001264243630000091
2) Recording the clockwise included angle from the angle 2Theta to the angle Omega as alphaCis-transThe anticlockwise included angle is less than alphaInverse direction。
Figure BDA0001264243630000092
3) The angle between Omega and 2Theta is limited as follows.
Figure BDA0001264243630000093
Figure BDA0001264243630000094
Expression of < alpha >Cis-trans、
Figure BDA0001264243630000095
Expression of < alpha >Inverse direction，∠Collideω,2θTo represent
Figure BDA0001264243630000096
Figure BDA0001264243630000097
The above conditions are expressed in the following form.
Figure BDA0001264243630000098
∠α＞Collideω,2θ
The included angle alpha from the angle 2Theta to the angle Omega is expressed as alpha according to the directionCis-transThe anticlockwise included angle is less than alphaInverse direction。
4) Recording the minimum included angle between the Omega angle and the 2Theta angle as ^ alphamin。
∠αmin＝Min(∠αCis-trans,∠αInverse direction)＝Min(∠2θ-∠ω+180°,∠ω-∠2θ+180°)
And a rotation strategy analysis module of the network remote control software supports calculation of the minimum included angle between the Omega angle and the 2Theta angle. When the Omega axis and the 2Theta axis rotation strategy is analyzed, the minimum included angle of the Omega angle and the 2Theta angle is an important parameter for determining the rotation strategy. Before the rotation starts, when the rotation strategy analysis is carried out, the rotation strategy analysis module firstly calculates the minimum included angle.
And designing double-shaft anti-collision rotation control. The anti-collision rotation in the case of the Omega axis and 2Theta axis rotation is the basis of all the rotation processes based on Omega scanning, and the rotation process comprising the Phi axis and the Kappa axis can be decomposed into step actions comprising the rotation process consisting of the rotation of the Omega axis and the 2Theta axis. The Omega shaft and the 2Theta shaft are recorded as the double-shaft anti-collision rotation:
Roll(Omega,2Theta)
since the angle of Phi axis does not affect the rotation of Omega axis and 2Theta axis, it is not a basic condition. During the rotation of the shaft, the Kappa shaft is at an initial angle, namely ═ Kappa is 0.
The rotation scheme derivation premise and the initial setting are as follows:
1) the initial angle and the target angle of the Omega axis and the 2Theta axis need to meet the condition of independent rotation intervals.
2) The Omega axis and the 2Theta axis are set to rotate in a sequential rotation manner.
3) When the Omega axis and the 2Theta axis are set to rotate, it is tried to rotate the 2Theta axis first and then to rotate the Omega axis.
The design of the rotating process method is as follows:
setting the initial angle and the target angle of the Omega axis as follows: angle omega1And omega2。
Let the initial angle and the target angle of the 2Theta axis be: angle 2theta1And < 2theta2。
The Omega axis and the 2Theta axis are respectively positioned at an initial angle Omega1And < 2theta1。
The method comprises the following steps:
checking whether the 2Theta axis can be moved to less than 2Theta2To judge < 2theta >2And < omega >1Whether the included angle meets the included angle limiting condition of < alpha > Collideω,2θ。
And if the limiting conditions are met, determining a rotation sequence:
Figure BDA0001264243630000101
and a rotation strategy analysis module of the network remote control software checks whether the target angle of the 2Theta axis and the initial angle of the Omega axis meet the included angle limiting condition or not, and if so, the rotation of the rotating shaft is controlled according to the rotation sequence. The control software firstly sends a shaft rotation command to enable the 2Theta axial direction to be less than 2Theta2Rotating, receiving the angle information of the 2Theta axis in real time, and sending an axis rotation command to enable the Omega axial target angle Omega to be Omega after receiving the 2Theta axis rotation in-place state2And rotating, receiving the angle information of the Omega shaft in real time, and finishing the rotating process after receiving the in-place rotating state of the Omega shaft.
And if the limiting condition is not met, the 2Theta axis cannot be moved first, and then the step two is executed.
Step two:
checking whether the Omega shaft can be moved to Omega2To judge < omega >2And < 2theta1Whether the included angle meets the included angle limiting condition of < alpha > Collideω,2θ。
And if the limiting conditions are met, determining a rotation sequence:
Figure BDA0001264243630000111
and a rotation strategy analysis module of the network remote control software checks whether the target angle of the 2Theta axis and the initial angle of the Omega axis meet the included angle limiting condition or not, and if so, the rotation of the rotating shaft is controlled according to the rotation sequence. The control software firstly sends a shaft rotation command to enable Omega to axially angle Omega2Rotating, receiving angle information of an Omega shaft in real time, and sending a shaft rotation command to enable a 2Theta axial target angle to be 2Theta after receiving an Omega shaft rotation in-place state2And rotating, receiving the angle information of the 2Theta shaft in real time, and finishing the rotating process after receiving the in-place rotating state of the 2Theta shaft.
And if the limiting condition is not met, the target angles of the Omega shaft and the 2Theta shaft are mutually exclusive, and then the third step is executed.
Step three:
according to the derivation premise and the setting of a third requirement, namely the requirement of preferentially meeting 2Theta to < 2Theta >2So that the Omega shaft is rotated to satisfy the 2Theta movement to ≧ 2Theta2The Omega axis of time and the 2Theta axis.
The Omega axis is analyzed for the direction and angle of rotation of the 2Theta axis offset.
If: (. 2. theta.) of2-∠ω1+180°)≤∠Collide ,ω2θExplaining that the 2Theta axis clockwise rotation to the Omega axis can not meet the minimum included angle limitation, the Omega axis should rotate in the same direction, namely the clockwise direction, for abdication, the rotation angle is to ensure that the 2Theta rotates to the angle 2Theta2The minimum rotation degree < 2Theta > limited by the minimum included angle between the Omega axis and the 2Theta axis is also met'2＝∠2θ2-(∠Collideω,2θ+1 degree, will angle 2theta2'conversion to Omega coordinate system of < Omega'2＝∠2θ2-(∠Collideω,2θ+1°)+180°。
If: (. omega.)1-∠2θ2+180°)≤∠Collideω,2θExplaining that the rotation of the 2Theta axis towards the Omega axis in the anticlockwise direction can not meet the minimum included angle limitation, the Omega axis should rotate in the same direction, namely the anticlockwise direction to give way, and the rotation angle is to ensure that the 2Theta rotates to the angle 2Theta2The minimum rotation degree < 2Theta > limited by the minimum included angle between the Omega axis and the 2Theta axis is also met'2＝∠2θ2+(∠Collideω,2θ+1 degree, will angle 2theta2'conversion to Omega coordinate system of < Omega'2＝∠2θ2+(∠Collideω,2θ+1°)+180°。
Determining a rotation sequence:
Figure BDA0001264243630000121
and a rotation strategy analysis module of the network remote control software calculates the rotation direction and the rotation angle of the Omega shaft as the 2Theta shaft abdication, and if the rotation strategy analysis is successful, the rotation of the rotation shaft is controlled according to the rotation sequence.
The control software firstly sends an axis rotation command to enable the abdication angle Omega of the Omega axis to be Omega'2Rotating, receiving angle information of an Omega shaft in real time, and sending a shaft rotation command to enable a 2Theta axial target angle to be 2Theta after receiving an Omega shaft rotation in-place state2Rotating, receiving the angle information of the 2Theta axis in real time, and sending an axis rotation command to enable the Omega axial target angle Omega to be Omega after receiving the 2Theta axis rotation in-place state2And rotating, receiving the angle information of the Omega shaft in real time, and finishing the rotating process after receiving the in-place rotating state of the Omega shaft.
The remote control software realizes a rotation strategy analysis module, realizes the function of judging the rotation conditions, and can convert the rotation parameters of an Omega shaft and a Theta shaft of an X-ray diffraction experiment into an asynchronous double-shaft rotation process. And if the rotation strategy is successfully converted, the remote control software sends a rotation instruction to the PLC according to the rotation strategy to carry out shaft rotation. And the remote control software acquires the angle of the Omega angle, the 2Theta angle, the Kappa angle and the Phi angle in real time, detects whether the rotating shaft meets the collision condition, and immediately sends a rotating shaft braking command to enable the rotating shaft to enter a pause state if the rotating shaft meets the collision condition.
And designing multi-axis anti-collision rotation control. Multiaxial axes include Omega, 2Theta, Kappa, Phi axes.
1) The initial angle and the target angle of the Omega axis, the 2Theta axis and the Chi axis need to meet the condition of an independent rotation interval.
2) For the Kappa shaft, on the premise that the initial angle and the target angle meet the condition of independent rotation interval, the Kappa shaft can rotate freely in the independent rotation interval as long as the Omega shaft and the 2Theta shaft are kept not to rotate.
3) Due to the fact that
Figure BDA0001264243630000131
Sum alpha is more than colloid ,ω2θTherefore, the rotation interval between the Omega shaft and the 2Theta shaft when the Kappa shaft is at the initial angle is larger than that between the Omega shaft and the 2Theta shaft when the Kappa shaft is not at the initial angle. Therefore, before the Omega shaft and the 2Theta shaft rotate, the Kappa shaft is moved to the initial angle to be more beneficial to multi-shaft rotation.
All multi-axis rotations can be classified into the following cases:
1) during the rotation, the Kappa shaft is always at the initial angle
This case converts the rotation process into a biaxial rotation process, determining the rotation sequence:
Roll(Omega,2Theta)
and the network remote control software acquires the current Kappa angle, the rotation strategy analysis module checks that the initial angle and the target angle of the Kappa shaft are both 0 degree, and then the rotation process control is carried out according to the Omega shaft and 2Theta shaft double-shaft rotation strategy.
2) During the rotation, the Kappa axis angle changes
Kappa shaft rotated from non-initial angle to initial angle
In this case, the Kappa axis is rotated to the initial angle to be converted into a biaxial rotation process.
Figure BDA0001264243630000132
The method comprises the steps that a current Kappa angle is obtained through network remote control software, a rotation strategy analysis module checks that the initial angle of a Kappa shaft is not 0 degrees and the target angle is 0 degrees, the Kappa shaft is firstly controlled to rotate by 0 degrees in the axial direction at the target angle, information of the Kappa shaft angle is received in real time, and after the Kappa shaft rotation in-place state is received, rotation process control is conducted according to an Omega shaft and 2Theta shaft double-shaft rotation strategy.
Kappa shaft rotation from an initial angle to a non-initial angle
In this case, a biaxial rotation process is performed, and then the Kappa axis is rotated to an initial angle.
Figure BDA0001264243630000141
The method comprises the steps that a current Kappa angle is obtained through network remote control software, a rotation strategy analysis module checks that the initial angle of a Kappa shaft is 0 degree and a target angle is not 0 degree, rotation process control is conducted according to an Omega shaft and 2Theta shaft double-shaft rotation strategy, angle information of the Omega shaft and the 2Theta shaft is received in real time, when the Omega shaft and the 2Theta shaft rotate in place, the Kappa shaft is controlled to rotate at a target angle Kappa and received in real time, and when the Kappa shaft rotates in place, the rotation process is finished.
Kappa shaft rotation from non-initial angle to non-initial angle
In this case, the Kappa shaft is rotated to an initial angle, then a biaxial rotation process is performed, and finally the Kappa shaft is rotated to a target angle.
Figure BDA0001264243630000142
The method comprises the steps that a current Kappa angle is obtained through network remote control software, a rotation strategy analysis module checks that the initial angle and the target angle of a Kappa shaft are not 0 degree, the Kappa shaft is firstly controlled to rotate by 0 degree of the target angle, Kappa shaft angle information is received in real time, after a Kappa shaft rotation in-place state is received, rotation process control is carried out according to an Omega shaft and 2Theta shaft double-shaft rotation strategy, the Omega shaft and 2Theta shaft angle information is received in real time, after the Omega shaft and the 2Theta shaft rotate in-place state, the Kappa shaft is controlled to rotate by the target angle Kappa and the Kappa shaft angle information is received in real time, and after the Kappa shaft rotation in-place state is received, the rotation process is finished.
And designing anti-collision rotation control under the condition of multi-axis synchronous rotation. The simultaneous rotation of multiple axes allows multiple axes to rotate simultaneously while meeting collision avoidance conditions. The Phi angle does not affect the rotation of the Kappa, Omega and 2Theta axes and is therefore not considered as an anti-collision condition. In order to reduce the complexity of the rotation process, only the Omega shaft and the 2Theta shaft rotate in a multi-shaft simultaneous rotation mode, and in order to further simplify the rotation process, the rotation speeds of the Omega shaft and the 2Theta shaft are set to be the same, so that the rotation modes of the Omega shaft and the 2Theta shaft under the condition of considering single-shaft sequential rotation can be replaced by the multi-shaft simultaneous rotation mode.
As shown in FIG. 1, the spatial geometry of the Kappa geometry goniometer is determined by four circles, one for each
Figure BDA0001264243630000156
Circles (Phi circles), 2Theta circles (2Theta circles), Kappa circles (Kappa circles), and Omega circles (Omega circles). The four-circle diffractometer is provided with an optical center which is fixed in space, a straight line which passes through the center of a circle and is perpendicular to the plane where the circle is located is taken as a rotating shaft of the circle, and the rotating shafts of the four circles are intersected in the optical center.
As shown in fig. 2, the four circles each carry different device components, and form an X-ray diffractometer spatial geometry based on the four-circle theory.
1.
Figure BDA0001264243630000151
The circle is the circle in which the goniometer head rotates,
Figure BDA0001264243630000152
the axis of rotation of the circle or angle head being called
Figure BDA0001264243630000153
A shaft. MeasuringThe corner head is arranged at
Figure BDA0001264243630000154
And (4) a circle.
2. The κ circle is the circle the rotating arm rotates, and the κ circle or the rotation axis of the rotating arm is called the κ axis. The goniometer head is connected and fixed to a rotary arm which is arranged on a kappa circle, which rotation causes
Figure BDA0001264243630000155
The spatial position of the circle varies.
3. The ω circle is a circle that the ω horizontal rotation table rotates, and the rotation axis is perpendicular to the horizontal plane, and the rotation axis of the ω circle is referred to as the ω axis. The rotating arm and the X-ray generator are arranged on an omega circle.
The 4.2 theta circle is a circle rotated by the 2theta horizontal rotation table, the rotation axis is perpendicular to the horizontal plane, the rotation axis of the 2theta circle is called the 2theta axis, and the 2theta circle is coaxial with the omega circle. The diffractive data acquisition device is arranged on a 2theta circle.
As shown in fig. 3, a spatial rectangular coordinate system of each circle is established by taking the rotation axis and the focus O of the circle as the origin, the rotation axis as the Z axis, and two straight lines crossing the focus O and perpendicular to each other in the circle as the X axis and the Y axis. The Phi, Omega and 2Theta axes coincide and the goniometer head up position is the initial position of the four circles.
The X-axis of the Omega circular coordinate system is reversed from the X-axis of the 2Theta circular coordinate system.
The Y-axis of the Omega circle coordinate system is opposite to the Y-axis of the 2Theta circle coordinate system.
And 3. the Z axis of the Omega circular coordinate system and the Z axis of the 2Theta circular coordinate system are in the same direction.
And 4. the plane formed by the Z axis and the X axis of the Kappa circle coordinate system is vertical to the plane of the Omega circle and intersects with the X axis of the Omega circle coordinate system. The direction of the projection of the X axis of the Kappa circle coordinate system on the Z axis of the Omega circle coordinate system is opposite to the direction of the Z axis of the Omega circle coordinate system.
The Z axis of the Kappa circular coordinate system forms an acute angle with the Z axis of the Omega circular coordinate system.
6. In the initial position, the axes of the Phi-circle coordinate system are co-directional with the axes of the Omega-circle coordinate system.
7. The direction from the origin center of each circular coordinate system to the optical center of the four-circle goniometer is the positive direction of the Z-axis of each circular coordinate system.
The spatial orientation of the crystal and the diffraction data acquisition equipment is corresponding to four circles
Figure BDA0001264243630000161
Four euler angles are determined.
1.
Figure BDA0001264243630000162
The angle (Phi angle) is the rotation angle of the goniometer head, i.e. the angle between the goniometer head angle marking and the positive direction of the X-axis of the Phi-circular coordinate system. The Phi angle in the positive X-axis direction is 0 degree, the Phi angle in the positive Y-axis direction is 90 degrees, and the Phi angle in the negative Y-axis direction is-90 degrees.
2. The Kappa angle (Kappa angle) is the angle of rotation of the rotating arm, i.e. the angle between the rotating arm angle scale and the positive direction of the X-axis of the Kappa circular coordinate system. The Kappa angle is 0 degree in the positive direction of the X axis, 90 degrees in the positive direction of the Y axis and 90 degrees in the negative direction of the Y axis in the Kappa circular coordinate system.
3. The angle ω (Omega angle) is the rotation angle of the ω horizontal rotation table where the rotation arm is located, i.e. the angle between the angle scale line of the ω horizontal rotation table and the positive direction of the X axis of the Omega circle coordinate system. The Omega angle is 0 degree in the positive direction of the X axis of the Omega circle coordinate system, 90 degrees in the positive direction of the Y axis of the Omega circle coordinate system, and 90 degrees in the negative direction of the Y axis of the Omega circle coordinate system.
The 4.2 Theta angle (2Theta angle) is the rotation angle of the 2Theta horizontal rotation table where the diffraction data acquisition equipment is located, namely the included angle between the angle marking line of the 2Theta horizontal rotation table and the positive direction of the X axis of the 2Theta circular coordinate system. The 2Theta angle is 0 degree in the positive direction of the X axis, 90 degrees in the positive direction of the Y axis and 2 Theta-90 degrees in the negative direction of the Y axis of the 2Theta circular coordinate system.
As shown in FIG. 4, the design of the software for the state transition of the rotating shaft in the rotating shaft control process of the geometric goniometer is given. The rotation axis state includes:
1. ready state, ready state in which the turning shaft waits for receiving a turning instruction and starts turning.
2. And a moving state, namely an execution state of starting rotating after receiving the rotating instruction.
3. And the in-place state is a stop state of rotating to a target position.
4. And the movement pause state is a stop state after receiving the rotation stop instruction.
The rotating shaft in the ready state enters the moving state after receiving the starting command, enters the in-position state after reaching the designated position and sends out the in-position state event, the rotating shaft in the moving state enters the moving suspension state after receiving the stopping command, and the rotating shaft in the moving suspension state enters the moving state after receiving the starting command.
As shown in fig. 5, an Omega axis, 2Theta axis anti-collision rotation control flow is given.
As shown in fig. 6, the anti-collision rotation control flow of the Omega axis, the 2Theta axis, the Kappa axis and the Phi axis is given.

Claims (8)

1. The anti-collision control method of the Kappa goniometer for the X-ray single crystal diffractometer is characterized by comprising the following steps of:
when the rotation angle of each rotating shaft of the Kappa geometric angle measuring instrument meets the rotation interval condition, detecting the rotation angle of each rotating shaft of the geometric angle measuring instrument in real time, and performing double-shaft anti-collision rotation control;
the method for controlling the double-shaft anti-collision rotation comprises the following steps:
the method comprises the following steps: checking whether the 2Theta axis can be moved to less than 2Theta2To judge < 2theta >2And < omega >1Whether the included angle meets the included angle limiting condition of < alpha > Collideω,2θ；∠Collideω,2θRepresenting a clockwise included angle alpha from an angle 2Theta to an angle OmegaCis-transOr the anticlockwise included angle alphaInverse direction；
Controlling 2Theta axial direction 2Theta when the limiting condition is met2Rotating, and controlling the Omega axial target angle Omega after receiving the 2Theta shaft rotation in-place state2Rotating, wherein when the Omega shaft rotation in-place state is received, the rotating process is finished; if the limiting condition is not met, the 2Theta axis cannot be moved first, and then a step two is executed;
step two: detection ofChecking whether the Omega shaft can be moved to Omega or not2To judge < omega >2And < 2theta1Whether the included angle meets the included angle limiting condition of < alpha > Collideω,2θ；
Controlling Omega axial direction Omega when the limiting condition is met2Rotating, and controlling a 2Theta axial target angle 2Theta after receiving the Omega shaft rotation in-place state2Rotating; when the 2Theta shaft is received to rotate to the right position, the rotation process is finished; if the limiting condition is not met, the target angles of the Omega shaft and the 2Theta shaft are mutually exclusive, and then a third step is executed;
step three: analyzing the rotation direction and the rotation angle of the Omega shaft as the 2Theta shaft abdication:
if (. sub.2 theta)2-∠ω1+180°)≤∠Collideω,2θThe explanation shows that the rotation of the 2Theta axis to the Omega axis in the clockwise direction can not meet the minimum included angle limitation, so the Omega axis rotates in the same direction, namely the clockwise direction, for abdicating, and the rotation angle ensures that the 2Theta rotates to the angle 2Theta2The minimum rotation degree < 2Theta > limited by the minimum included angle between the Omega axis and the 2Theta axis is also met'2＝∠2θ2-(∠Collideω,2θ+1 degree, will angle 2 theta'2Is converted into Omega coordinate system of < Omega'2＝∠2θ2+(∠Collideω,2θ+1°)+180°；
If (. omega.)1-∠2θ2+180°)≤∠Collideω,2θExplaining that the rotation of the 2Theta axis towards the Omega axis in the anticlockwise direction can not meet the minimum included angle limitation, the Omega axis should rotate in the same direction, namely the anticlockwise direction to give way, and the rotation angle is to ensure that the 2Theta rotates to the angle 2Theta2The minimum rotation degree < 2Theta > limited by the minimum included angle between the Omega axis and the 2Theta axis is also met'2＝∠2θ2+(∠Collideω,2θ+1 degree, will angle 2 theta'2Is converted into Omega coordinate system of < Omega'2＝∠2θ2+(∠Collideω,2θ+1°)+180°；
Controlling abdication angle Omega of Omega axial Omega shaft'2Rotating, and controlling a 2Theta axial target angle 2Theta after receiving the Omega shaft rotation in-place state2Rotating;when a 2Theta shaft is received to rotate to the right position, controlling the Omega axial target angle Omega2Rotating; and when the Omega shaft rotation in-place state is received, the rotation process is finished.
2. The anti-collision control method for the kappa goniometer for the X-ray single crystal diffractometer as defined in claim 1, wherein each rotation axis of the kappa geometric goniometer comprises:
the rotating shaft of the angle measuring head is a Phi shaft; the rotating shaft of the rotating arm is a Kappa shaft; the rotating shaft of the Omega horizontal rotating platform is an Omega shaft; the rotating shaft of the 2Theta horizontal rotating platform is a 2Theta axis, and the Omega axis is coaxial with the 2Theta axis.
3. The anti-collision control method for the kappa goniometer for the X-ray single crystal diffractometer as set forth in claim 1, wherein the rotation interval conditions are:
1) the rotation angle of the Omega horizontal rotation platform where the rotation arm is located is an Omega angle and is marked as & lt Omega; the rotation angle of a 2Theta horizontal rotation stage where diffraction data acquisition equipment is located is a 2Theta angle which is marked as ≈ 2 Theta;
Figure FDA0002789341040000021
2) the rotation angle of the rotating arm is a Kappa angle and is marked as ≈ Kappa;
-72°≤∠κ≤72°
3) recording an included angle between an Omega angle and a 2Theta angle as an angle alpha;
0°≤∠α≤360°。
4. the anti-collision control method for the kappa goniometer for the X-ray single crystal diffractometer as set forth in claim 1, wherein the setting before the biaxial anti-collision rotation control is performed is:
1) the initial angle and the target angle of the Omega shaft and the 2Theta shaft respectively meet the condition of an independent rotation interval;
2) setting the Omega shaft and the 2Theta shaft to sequentially rotate;
3) when the Omega shaft and the 2Theta shaft are set to rotate, firstly, the 2Theta shaft is rotated, and then the Omega shaft is rotated;
setting the initial angle and the target angle of the Omega axis as follows: angle omega1And omega2；
Let the initial angle and the target angle of the 2Theta axis be: angle 2theta1And < 2theta2。
5. The anti-collision control method for the Kappa goniometer for the X-ray single crystal diffractometer as claimed in claim 1, wherein the included angle limiting condition ≈ α > colloidω,2θThe method specifically comprises the following steps:
Figure FDA0002789341040000031
the clockwise included angle from the angle 2Theta to the angle Omega is less than alphaCis-transThe anticlockwise included angle is less than alphaInverse directionThe rotation angle of the rotating arm is a Kappa angle and is marked as ≈ Kappa.
6. The anti-collision control method for the kappa goniometer for the X-ray single crystal diffractometer as defined in claim 1, wherein the setting before the multi-axis anti-collision rotation control is performed is:
1) the initial angle and the target angle of the Omega axis, the 2Theta axis and the Phi axis meet the rotation interval condition;
2) for the Kappa shaft, on the premise that the initial angle and the target angle meet the condition of a rotation interval, the Kappa shaft can rotate freely in an independent rotation interval as long as the Omega shaft and the 2Theta shaft are kept not to rotate;
3) the rotation interval between the Omega shaft and the 2Theta shaft when the Kappa shaft is at the initial angle is larger than that when the Kappa shaft is not at the initial angle.
7. The anti-collision control method of the kappa goniometer for the X-ray single crystal diffractometer as defined in claim 1, wherein the multi-axis anti-collision rotation control is performed, comprising the steps of:
1) in the rotating process, the Kappa shaft is always at an initial angle, and double-shaft anti-collision rotation control is performed;
2) during the rotation, the Kappa shaft angle changes;
controlling the Kappa shaft to rotate by 0 degree at a target angle when the Kappa shaft rotates from a non-initial angle to an initial angle, and performing double-shaft anti-collision rotation control after receiving the in-place rotation state of the Kappa shaft;
b, rotating the kappa shaft from an initial angle to a non-initial angle, and performing double-shaft anti-collision rotation control; then controlling the Kappa axial target angle & lt & gt to rotate, and finishing the rotation process after receiving the state that the Kappa shaft rotates in place;
c, controlling the Kappa shaft to rotate by 0 degree at a target angle when the Kappa shaft rotates to a non-initial angle from the non-initial angle, and performing double-shaft anti-collision rotation control after receiving the in-place rotation state of the Kappa shaft; and then controlling the Kappa axial target angle & lt & gt to rotate, and after receiving the state that the Kappa shaft rotates in place, finishing the rotation process.
8. The anti-collision control method of the kappa goniometer for the X-ray single crystal diffractometer according to claim 1, wherein the current position of the rotating shaft is acquired by accessing a rotating shaft status register of the PLC through a network; and the rotating shaft rotates when the control command is sent to the PLC through the network.
CN201710222703.2A 2017-04-07 2017-04-07 Anti-collision control method of Kappa goniometer for X-ray single crystal diffractometer Active CN108693893B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710222703.2A CN108693893B (en) 2017-04-07 2017-04-07 Anti-collision control method of Kappa goniometer for X-ray single crystal diffractometer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710222703.2A CN108693893B (en) 2017-04-07 2017-04-07 Anti-collision control method of Kappa goniometer for X-ray single crystal diffractometer

Publications (2)

Publication Number Publication Date
CN108693893A CN108693893A (en) 2018-10-23
CN108693893B true CN108693893B (en) 2021-01-12

Family

ID=63842166

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710222703.2A Active CN108693893B (en) 2017-04-07 2017-04-07 Anti-collision control method of Kappa goniometer for X-ray single crystal diffractometer

Country Status (1)

Country Link
CN (1) CN108693893B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113049617B (en) * 2021-03-09 2024-04-02 西湖大学 Wide-angle scattering test method and device based on single crystal diffractometer

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04264241A (en) * 1991-02-19 1992-09-21 Shin Etsu Handotai Co Ltd Method and apparatus for detecting orientation of single crystal
CN1180176A (en) * 1996-09-06 1998-04-29 富士写真菲林株式会社 Acousto-optic element, light deflector light beam scanner and image recording device
CN1201932A (en) * 1997-06-06 1998-12-16 陈美雍 Method and device for controlling cursor capable of rotating clockwise or counter clockwise
CN1925943A (en) * 2003-12-30 2007-03-07 先进激光分离国际有限公司 Method, device and diffraction grating for separating semiconductor elements formed on a substrate by altering said diffraction grating
CN101156098A (en) * 2005-04-11 2008-04-02 卡佩拉光子学公司 Optimized reconfigurable optical add-drop multiplexer architecture with mems-based attenuation or power management
CN106124542A (en) * 2016-07-22 2016-11-16 东北大学 A kind of Multifunctional X-ray direction finder and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04264241A (en) * 1991-02-19 1992-09-21 Shin Etsu Handotai Co Ltd Method and apparatus for detecting orientation of single crystal
CN1180176A (en) * 1996-09-06 1998-04-29 富士写真菲林株式会社 Acousto-optic element, light deflector light beam scanner and image recording device
CN1201932A (en) * 1997-06-06 1998-12-16 陈美雍 Method and device for controlling cursor capable of rotating clockwise or counter clockwise
CN1925943A (en) * 2003-12-30 2007-03-07 先进激光分离国际有限公司 Method, device and diffraction grating for separating semiconductor elements formed on a substrate by altering said diffraction grating
CN101156098A (en) * 2005-04-11 2008-04-02 卡佩拉光子学公司 Optimized reconfigurable optical add-drop multiplexer architecture with mems-based attenuation or power management
CN106124542A (en) * 2016-07-22 2016-11-16 东北大学 A kind of Multifunctional X-ray direction finder and method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
x射线单晶衍射仪操作与控制系统;史丽芳等;《计算机系统应用》;20160630(第06期);全文 *

Also Published As

Publication number Publication date
CN108693893A (en) 2018-10-23

Similar Documents

Publication Publication Date Title
CN102581745B (en) Handling robot system for chemical mechanical polishing
JP6859756B2 (en) Control systems, controllers, control methods, and control programs
CN108406769A (en) The joint rotation angle of serial manipulator determines method and device
CN104385281B (en) A kind of Zero calibration method of two-freedom high speed parallel robot
CN107571260A (en) The method and apparatus that control machine people captures object
JP2016187846A (en) Robot, robot controller and robot system
CN107544299B (en) PC (personal computer) end APP (application) system for teaching control of six-degree-of-freedom mechanical arm
CN108693893B (en) Anti-collision control method of Kappa goniometer for X-ray single crystal diffractometer
JP2017027501A (en) Machine tool-robot real-time intervention confirmation system
CN109015642A (en) Loading and unloading control method and system
CN104385283A (en) Quick judging method for singular configuration of six-degree-of-freedom mechanical arm
TW201220009A (en) Program converting module for use with machines with multi-axis simultaneously coordinated motion and method of converting the programs
CN107437347B (en) Servo control training system and method
Ning DESIGN AND RESEARCH OF MULTI AXIS MOTION CONTROL SYSTEM BASED ON PLC.
CN106940555B (en) Programmable logic controller (PLC), the motion control method based on PLC
CN109648544A (en) A kind of multi-joint intelligent industrial robot
Feng et al. A dual-camera assisted method of the SCARA robot for online assembly of cellphone batteries
Hewei et al. Design of Control System for Educational Robot with Six-Degree Freedom
CN104698971A (en) Operation track obtaining method and device
Zhao et al. Research on numerical control system of the mobile robotic equipment for unstructured machining
Wu et al. Multi manipulator cooperative 3D printing based on Dobot manipulator
Lou et al. Developing a Real-Time Multi-Axis Servo Motion Control System
JP5939505B2 (en) Robot hand device and control method
Chen et al. A control method research of parallel mechanisms
Lou et al. Posture Control of Collaborative Robotic Manipulator Based on Gesture Sensors

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant