CN108873240A - The rotary positioning apparatus and control method of astronomical telescope third reflecting mirror - Google Patents
The rotary positioning apparatus and control method of astronomical telescope third reflecting mirror Download PDFInfo
- Publication number
- CN108873240A CN108873240A CN201810687685.XA CN201810687685A CN108873240A CN 108873240 A CN108873240 A CN 108873240A CN 201810687685 A CN201810687685 A CN 201810687685A CN 108873240 A CN108873240 A CN 108873240A
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- Prior art keywords
- reflecting mirror
- servo motor
- positioning
- telescope
- astronomical telescope
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Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1821—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors for rotating or oscillating mirrors
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/183—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors specially adapted for very large mirrors, e.g. for astronomy, or solar concentrators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
Abstract
The rotary positioning apparatus and control method of astronomical telescope third reflecting mirror, positioning column, positioning ball, servo motor and the locking jaw driven by servo motor are equipped in third reflecting mirror positioning mechanism, it is characterized in that, the third reflecting mirror outer rim is equipped with third reflecting mirror drag ring, and the small friction pulley with drag ring cooperation；The small friction pulley is driven by stepper motor；The servo motor and stepper motor are controlled by PMAC motion controller.The present invention greatly reduces cost under the premise of ensure that positioning accuracy；Servo motor does not need to be held in position state in the telescope course of work, and glasses reliability of operation is watched from a height or a distance in raising；Positioning accuracy of the present invention fully relies on mechanical device realization, and motor is the purpose for completing conversion, and after completing rotation, motor remains powered off state, can exclude the influence that the motor feels hot herein to optical path in this way, improves the image quality of telescope.
Description
Technical field
The present invention relates to the technical fields of astronomical telescope rotating mechanism precision positioning, more particularly to astronomical telescope coke
Point switching mechanism precision positioning device and control method.
Background technique
The optical texture of large-scale astronomical telescope mainly includes the reflecting mirror of primary mirror, secondary mirror and realization light path converting, greatly
Type astronomical telescope generally all has multiple focuses, and the conversion between each focus is realized using a plane mirror
The conversion of optical path, we are known as third reflecting mirror（M3）, the rotation repetitive positioning accuracy of third reflecting mirror directly affects astronomical prestige
The pointing accuracy of remote mirror.In order to improve astronomical telescope third reflecting mirror rotation repetitive positioning accuracy, control engineering Normal University
High-precision position feedback transducer will be added using high-precision servo motor, adopting this method mainly there are following three kinds to lack
Point：
1, due to using high-accuracy position feedback transducer, and its price all can be very high, thus will increase cost；
2, servo motor will remain at position location and not move, since servo motor is to eliminate position using control algolithm
Error is set, once servo motor or servo-driver break down, position location will be made to deviate ideal position, increased not
Stable factor；
3, since positioning servo motor wants holding position always, heat can be thus generated, the image quality of optical path is influenced, this
It is intolerable for high-accuracy optical telescope.
The movement shafting multi-shaft interlocked control that traditional economical control system cannot be such that each control unit is controlled, and
PMAC controller can control corresponding kinematic axis, make the motion control organic coordination between different motors, final to realize
The optimization of the global performance of system entirety.PMAC is to follow Open Architecture structure by the Delta Tau company in the U.S.
The open programmable multi-axle motion controller of standard development.It by means of Motorola DSP56001/56002 digital signal
Processor can control most 32 axis simultaneously, can both be individually performed and be stored in its internal program, also can be performed motor program and
PLC program, and carry out servo loop update and communicated with ether net mode with host computer, PMAC can also be automatically preferential to task
Grade is differentiated, to carry out real-time multi-task processing, this function makes it in processing time and task switching these two aspects
The burden for significantly reducing host improves the speed of service and control precision of entire control system.
How the PLC program of PMAC controller to be used to carry out logic in the control of large-scale astronomical telescope third reflecting mirror
The speed of service and control precision for controlling and improving entire control system, are the projects not yet realized in the prior art.
Summary of the invention
It is an object of the present invention to provide a kind of rotary positioning apparatus of astronomical telescope third reflecting mirror, which can
Traditional location control scheme disadvantage, while the logic control system of realization device are overcome, to realize high-precision resetting essence
Degree, and realize high reliability, cost effective advantage.It is fixed that the present invention also provides the rotations of this astronomical telescope third reflecting mirror
The control method of position device.
Present invention solves the technical problem that being：A kind of rotary positioning apparatus of astronomical telescope third reflecting mirror, third are anti-
It penetrates in mirror positioning mechanism and is equipped with positioning column, positioning ball, servo motor and the locking jaw driven by servo motor, which is characterized in that
The third reflecting mirror outer rim is equipped with third reflecting mirror drag ring, and the small friction pulley with drag ring cooperation；The small friction
Wheel is driven by stepper motor；The servo motor and stepper motor are controlled by PMAC motion controller.
The drag ring is equipped with the Hall sensor for demarcating position.
By ethernet communication, host sends motion control instruction to PMAC for host and the PMAC motion controller, by
PMAC internal PLC program realizes the co-ordinations of two motors.
PLC motion control program inside the PMAC motion controller is realized using the inside programming language of PMAC.
The plane mirror of test is equipped on the rotating mechanism that the third reflecting mirror is surveyed；Test is externally provided in telescope to use
Laser Autocollimator.
Complete second invention task of the application technical solution be：The rotation of above-mentioned astronomical telescope third reflecting mirror is fixed
The control method of position device, which is characterized in that work step is as follows：
(1) servo motor drives locking jaw mobile to servo motor direction；
(2) when locking jaw reaches release locking state, drag ring being capable of free movement；
(3) waits for that servo motor reaches target position（Target position is the home demarcated by Hall sensor）When, stepping electricity
Machine drives small friction wheel from rotation, drives to drag ring rotation；
(4) when drag ring is rotated to required position（This position is demarcated by a Hall sensor, is each of telescope
The position of focus）, stepper motor stops rotating；
(5) the servo motor of positioning mechanism restarts work, drives locking jaw mobile to the direction far from servo motor；
To locking jaw reach target position（This target position is also to be demarcated by a Hall sensor）；
(7) locking jaw makes positioning column stress, so that positioning ball reaches target position, completes entire position fixing process.
In other words, present invention employs a kind of automatically controlled precision controllings controls the method combined with mechanical precision.One kind is suitable
High-precision rotary positioning device and control method for astronomical telescope third reflecting mirror, it is characterised in that：Be in structure by
Third reflecting mirror positioning mechanism, third reflecting mirror drag ring, small friction pulley composition.Third reflecting mirror positioning mechanism described above
It is made of servo motor, coupking shaft, locking jaw, positioning column, positioning ball, in detail as shown in Figure 1.In actual work, servo electricity
Machine drives locking jaw mobile to servo motor direction, reaches release locking state, enables drag ring free movement, to servo
Motor reaches target position（Target position is the home demarcated by Hall sensor）When, stepper motor drives small rub at this time
Wheel rotation is wiped, drag ring is driven to, rotates drag ring to required position.Such as meter level telescope, it is burnt to be equipped with 2 positioning
Point, is located at the Nai Shi focal point of both direction, therefore drag ring uses hall sensing at position location there are two position location
Device realizes rough rotational positioning, and present design includes but is not limited to the scheme of two focal positions positioning.When drag ring arrives
When up to target position, stepper motor stops rotating, and the servo motor of positioning mechanism restarts work at this time, and servo motor drives
Locking jaw is mobile to the direction far from servo motor, until locking jaw reaches target position（This target position be also by one suddenly
That transducer calibration）, locking jaw makes positioning column stress at this time, so that positioning ball reaches target position, completes entire positioning
Journey.
In control using Delta Tau company PMAC motion controller as master controller, host and PMAC by with
Too Netcom interrogates, and realizes the co-ordination of two motors, PLC by writing the algorithm of the PLC motion control program inside PMAC
Control programmed algorithm is characterized in that：The automation for realizing entire focus handoff procedure is protected using reasonable control logic process
Demonstrate,prove the safety and reliability of whole process.Two motors use a stepper motor and a servo motor, stepper motor master
Realize the rotary motion of third reflecting mirror, servo motor realizes the positioning campaign of positioning mechanism, and positioning accuracy is by servo motor
Positioning accuracy and mechanical structure positioning accuracy common guarantee, by test, repetitive positioning accuracy is less than 2 rads.
The present invention had advantage compared with the prior art：
1, expensive high-accuracy position feedback transducer is not needed, is dropped significantly under the premise of ensure that positioning accuracy
Low cost；
2, traditional scheme is to make servo motor remain at position location not move, since servo motor is using control
Algorithm eliminates location error, once servo motor or servo-driver break down, position location will be made to deviate ideal
Position increases the factors of instability, and present design eliminates this unstable factor, in the telescope course of work,
Servo motor does not need to be held in position state, and glasses reliability of operation is watched from a height or a distance in raising；
3, traditional scheme due to positioning servo motor want holding position always, can thus generate heat, influence optical path at
Image quality amount, and present design does not need servo motor and remains position, positioning accuracy fully relies on mechanical device realization, electricity
Machine is to complete the purpose of conversion, and after completing rotation, motor remains powered off state, can exclude herein that the motor feels hot in this way
Influence to optical path improves the image quality of telescope.
Detailed description of the invention
The localization machine composition of Fig. 1 third reflecting mirror；
The measuring principle figure of Fig. 2 third reflecting mirror.
Specific embodiment
Embodiment 1, the rotary positioning apparatus and control method of astronomical telescope third reflecting mirror, referring to Fig.1, Fig. 2：We
Case is made of in structure third reflecting mirror positioning mechanism 9, third reflecting mirror drag ring 6, small friction pulley 1.Described above
Third reflecting mirror positioning mechanism is made of servo motor, coupking shaft, locking jaw 2, positioning column 3, positioning ball 4.It is described above
Third reflecting mirror drag ring 6 is a ring structure body for having a cross brace to support.Small friction pulley 1 described above is straight
One stepper motor of coupling is connect, active force of this stepper motor as rotary motion can be free after powering off due to stepper motor
Rotation, therefore when locking, between drag ring 6 and small friction pulley 1 for rolling friction rather than sliding friction, reduce because
Sliding friction bring resistance, positioning accuracy can be higher.Described above positions the 3 use very high parts of quenching hardness, with
It reduces due to mechanically deform, influences accurate positioning.The course of work of entire mechanical structure is from click computer-controlled program
After start button, servo motor setting in motion, movement will drive locking jaw and move backward, need to adjust Hall sensor at this time
Installation site, enable locking jaw reach unclamp locking state drag ring free movement at this time, to servo motor reach suddenly
When the home of your transducer calibration, stepper motor drives small friction wheel from rotation at this time, drives to drag ring, revolves drag ring
Required position is gone to, is also required to the installation site of adjustment Hall sensor at this time, to guarantee that the locking jaw of positioning mechanism can be quasi-
True insertion target position, but do not need it is very accurate because positioning accuracy is guaranteed by positioning ball, and the end of locating rod
End is equipped with pulley gear, allows to have certain deviation, will not influence final positioning accuracy.When drag ring reaches target position
When, stepper motor stops rotating, and the servo motor of positioning mechanism restarts work at this time, and servo motor drives locking jaw forward
Mobile, until locking jaw reaches the target position of Hall sensor calibration, locking jaw makes positioning column stress at this time, so that positioning ball
Target position is reached, entire position fixing process is completed.
5 in figure be intermediate mass；7 be the plane mirror to third mirror test；8 be laser word collimator.
In control using Delta Tau company PMAC motion controller as master controller, host and PMAC by with
Too Netcom interrogates, and realizes the co-ordination of two motors, PLC by writing the algorithm of the PLC motion control program inside PMAC
Control programmed algorithm is characterized in that：The automation for realizing entire focus handoff procedure is protected using reasonable control logic process
The safety and reliability of whole process is demonstrate,proved, specific algorithm is realized as follows:
OPEN PLC 10 CLEAR
P702=10
IF(P706=1)
P700=0
WHILE(P700<1000)
P700=P700+1
END WHILE
IF(M7000=0ANDM7001=0)
P701=1
COMMAND"#1K"
M140=0
P702=5
M7026=0
END IF
P700=0
WHILE(P700<1000)
P700=P700+1
END WHILE
IF(M7000=1ANDM7001=0ANDP701=1)
P701=0
P702=6
P705=0
M7026=1
COMMAND"#7J:-1030"
P700=0
WHILE(P700<150000)
P700=P700+1
END WHILE
COMMAND"#7K"
COMMAND"I722=1.5"
COMMAND"#1J=2300000"
P700=0
WHILE(P700<10000)
P700=P700+1
END WHILE
WHILE(M140=0)
END WHILE
COMMAND"#1K"
P700=0
WHILE(P700<1000)
P700=P700+1
END WHILE
M7026=0
M140=0
END IF
P700=0
WHILE(P700<1000)
P700=P700+1
END WHILE
IF(M7000=0ANDM7001=1ANDP701=1)
P701=0
P702=7
P705=0
M7026=1
COMMAND"#7J:500"
P700=0
WHILE(P700<100000)
P700=P700+1
END WHILE
COMMAND"#7K"
COMMAND"I722=1.5"
COMMAND"#1J=2234000"
P700=0
WHILE(P700<10000)
P700=P700+1
END WHILE
WHILE(M140=0)
END WHILE
COMMAND"#1K"
P700=0
WHILE(P700<1000)
P700=P700+1
END WHILE
M7026=0
M140=0
END IF
P700=0
WHILE(P700<1000)
P700=P700+1
END WHILE
IF(M7000=1ANDM7001=1)
COMMAND"#7K"
COMMAND"#1K"
END IF
IF(M740=1ANDP705=1)
P702=8
COMMAND"I722=0.15"
COMMAND"I122=128"
P700=0
WHILE(P700<1000)
P700=P700+1
END WHILE
COMMAND"#7J-"
END IF
IF(M740=1ANDP705=2)
P702=9
COMMAND"I722=0.15"
COMMAND"I122=128"
P700=0
WHILE(P700<1000)
P700=P700+1
END WHILE
COMMAND"#7J+"
END IF
END IF
CLOSE
Two motors use a stepper motor and a servo motor, and stepper motor mainly realizes the rotation fortune of third reflecting mirror
Dynamic, servo motor realizes the positioning campaign of positioning mechanism, and positioning accuracy is by the positioning accuracy of servo motor and determining for mechanical structure
Position precision common guarantee.Optimal control program guarantees that positioning column and positioning ball just can be touched gently, this operation is due to stepping
Can be freely rotated after motor power-off, therefore when locking, between drag ring and small friction pulley for rolling friction rather than
Sliding friction reduces because of sliding friction bring resistance, enables positioning accuracy higher.
Test method is as follows：One piece of plane mirror is installed on the rotating mechanism of third reflecting mirror, by Laser Autocollimator frame
It is located at outside telescope, passes through altitude axis central aperture plane mirror.When plane mirror angle changes, Laser Autocollimator can
To measure the drift angle of plane mirror.
When testing repeatable accuracy, carry out according to the following steps：
1. the initial reading of recording laser autocollimator；
2. the positioning mechanism of third reflecting mirror is unclamped；
3. by the rotated away of third reflecting mirror about 180 degree；
4. third reflecting mirror is rotated back to initial position again；
5. locking the positioning mechanism of third reflecting mirror；
6. the reading of recording laser autocollimator is simultaneously compared with initial reading and obtains repetitive positioning accuracy；
7. repeating step 2~6, take multiple measurements；
8. changing lens barrel elevation angle, step 1~7 are repeated.
The present invention is suitable for the high-precision rotary positioning device and control method of astronomical telescope third reflecting mirror, can foundation
Various features proposed in claims of the present invention, and each telescope specific requirement is combined, it is positioned and switching device
Carry out detailed structure design.
The invention discloses a kind of high-precision rotary positioning devices and control suitable for astronomical telescope third reflecting mirror
Method, structure is simple, it is at low cost, on image quality without influence, can realize being switched fast for multiple focuses under the control of the computer,
Repetitive positioning accuracy is high.
The present invention is to elaborate the well-known technique for partly belonging to those skilled in the art.
Claims (7)
- Be equipped with 1. a kind of rotary positioning apparatus of astronomical telescope third reflecting mirror, in third reflecting mirror positioning mechanism positioning column, Position ball, servo motor and the locking jaw driven by servo motor, which is characterized in that the third reflecting mirror outer rim is equipped with third Reflecting mirror drag ring, and the small friction pulley with drag ring cooperation；The small friction pulley is driven by stepper motor；The servo electricity Machine and stepper motor are controlled by PMAC motion controller.
- 2. the rotary positioning apparatus of astronomical telescope third reflecting mirror according to claim 1, which is characterized in that described Three reflecting mirror drag rings 6 are a ring structure bodies for having a cross brace to support.
- 3. the rotary positioning apparatus of astronomical telescope third reflecting mirror according to claim 1, which is characterized in that described Three reflecting mirror drag rings are equipped with the Hall sensor for demarcating position.
- 4. the rotary positioning apparatus of astronomical telescope third reflecting mirror according to claim 1, which is characterized in that host with The PMAC motion controller is by ethernet communication, and host sends motion control instruction to PMAC, by PMAC internal PLC program To realize the co-ordination of two motors.
- 5. the rotary positioning apparatus of astronomical telescope third reflecting mirror according to claim 1, which is characterized in that described PLC motion control program inside PMAC motion controller is realized using the inside programming language of PMAC.
- 6. the rotary positioning apparatus of astronomical telescope third reflecting mirror described in one of -5 according to claim 1, which is characterized in that The plane mirror of test is equipped on the rotating mechanism that the third reflecting mirror is surveyed；The laser word of test is externally provided in telescope Collimator.
- 7. the control method of the rotary positioning apparatus of astronomical telescope third reflecting mirror described in claim 1, which is characterized in that Work step is as follows：(1) servo motor drives locking jaw mobile to servo motor direction；(2) when locking jaw reaches release locking state, third reflecting mirror drag ring being capable of free movement；(3) for when servo motor reaches target position, stepper motor drives small friction wheel from rotation, drives to third reflecting mirror friction Ring rotation；The target position is the home demarcated by Hall sensor；(4) when third reflecting mirror drag ring is rotated to required position, stepper motor stops rotating；This position is passed by a Hall Sensor calibration, is the position of each focus of telescope；(5) the servo motor of positioning mechanism restarts work, drives locking jaw mobile to the direction far from servo motor；(6) reaches target position to locking jaw, this target position is also to be demarcated by a Hall sensor；(7) locking jaw makes positioning column stress, so that positioning ball reaches target position, completes entire position fixing process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810687685.XA CN108873240A (en) | 2018-06-28 | 2018-06-28 | The rotary positioning apparatus and control method of astronomical telescope third reflecting mirror |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810687685.XA CN108873240A (en) | 2018-06-28 | 2018-06-28 | The rotary positioning apparatus and control method of astronomical telescope third reflecting mirror |
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| Publication Number | Publication Date |
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| CN108873240A true CN108873240A (en) | 2018-11-23 |
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|---|---|---|---|
| CN201810687685.XA Pending CN108873240A (en) | 2018-06-28 | 2018-06-28 | The rotary positioning apparatus and control method of astronomical telescope third reflecting mirror |
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Application publication date: 20181123 |