CN109669476B - Motion planning method for feed source support system of radio telescope - Google Patents
Motion planning method for feed source support system of radio telescope Download PDFInfo
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- CN109669476B CN109669476B CN201910071480.3A CN201910071480A CN109669476B CN 109669476 B CN109669476 B CN 109669476B CN 201910071480 A CN201910071480 A CN 201910071480A CN 109669476 B CN109669476 B CN 109669476B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/125—Means for positioning
Abstract
The invention relates to a motion planning method of a feed source supporting system of a radio telescope, which is characterized by comprising the following steps: calculating a time parameter needing motion planning according to the type of the astronomical track to be observed and sending the time parameter to an astronomical track planning unit; the astronomical track planning unit converts the rectangular coordinate containing the time information and sends the rectangular coordinate to the motion planning unit; the motion planning unit performs motion planning according to the current position of the feed source support system, and the motion planning comprises: starting planning, observing trajectory planning and finishing planning to obtain a complete motion trajectory. The motion planning method of the feed source support system increases starting planning and stopping planning, increases acceleration and deceleration planning at the turning point in the observation track motion planning scheme to ensure stable motion of the feed source support system, is beneficial to efficient use of observation data, ensures positioning accuracy of the feed source, and further ensures that all the observation track data are available.
Description
Technical Field
The invention relates to the field of motion control of radio telescopes, in particular to a motion planning method of a radio telescope feed source supporting system.
Background
The technical scheme is that a 500 m-caliber Spherical radio Telescope (FAST) project known as Chinese sky eye is a national 'fifteen' major scientific and technological infrastructure construction project, mainly comprises a reflecting surface and a feed source receiving device, and the basic idea is that the reflected electric waves are reflected and converged by the reflecting surface, and then the feed source receiving device finishes the receiving of the reflected electric waves. The feed source receiving device moves through a feed source supporting system, and the feed source supporting system adopts three active control mechanisms: the cable driving parallel mechanism, the AB shaft rotating mechanism and the Stewart parallel mechanism. The cable-driven parallel mechanism can control the feed source receiver to a correct position, the AB axis rotating mechanism is used for adjusting the posture of the feed source receiver, the Stewart parallel mechanism is used for reducing the wind disturbance influence, further adjusting the position and the posture of the feed source receiver, ensuring that the feed source receiver can be positioned on a focus with high precision, receiving a radio source signal, and realizing the purpose of positioning the feed source in the focus position by utilizing the active control mechanism. The motion planning of the feed source supporting system refers to the planning of the phase center position, the speed and the acceleration of the feed source according to the astronomical observation requirement, the positioning of a feed source receiver in the observation time is ensured to meet the precision requirement as much as possible, and the observation data is available.
The existing motion planning starts to move when a feed source supporting system starts to observe, and when observation starts, the speed of the phase center position of a feed source is 0, the feed source supporting system needs to be accelerated to the observation speed, so that data on the observation track of the acceleration section is not matched with the time planning of astronomical track planning, and special data processing needs to be carried out at the rear end of data processing; in addition, in a part of observation modes (such as observation along the right ascension or observation along the declination), acceleration and deceleration planning is performed on the phase center position of the feed source on the observation track, so that data on the observation track is not matched with time planning of astronomical track planning, and special data processing needs to be performed at the rear end of data processing. In addition, the motion planning method adopted in the prior art is to plan by using an astronomical coordinate system, and when the speed is constant in the astronomical coordinate system, the rectangular coordinate of the astronomical coordinate system may not be constant, so that when the speed is converted into the speed of the mechanism to move in the rectangular coordinate system, the acceleration and deceleration planning is easy to be unreasonable, the acceleration change of the mechanism is too large, the moving mechanism of the feed source supporting system cannot meet the requirement of the quick response of the moving mechanism, the control error is too large, the requirement of the feed source positioning precision is exceeded, the observation data is unavailable, and the observation time and the observation data are lost. Therefore, the motion planning method of the current large-aperture radio telescope feed source supporting system needs to be improved, in particular to a starting stage and an ending stage, and an acceleration and deceleration stage in an observation stage.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a motion planning method of a large-aperture radio telescope feed source supporting system.
The technical scheme of the invention is as follows: a motion planning method for a feed source supporting system of a radio telescope comprises the following steps: calculating a time parameter needing motion planning according to the type of the astronomical track to be observed and sending the time parameter to an astronomical track planning unit; the astronomical track planning unit converts the rectangular coordinate containing the time information and sends the rectangular coordinate to the motion planning unit; the motion planning unit performs motion planning according to the current position of the feed source support system, and the motion planning comprises: starting planning, observing trajectory planning and finishing planning to obtain a complete motion trajectory.
Furthermore, the sequence of the starting planning, the observation trajectory planning and the ending planning is observation trajectory planning- > (starting planning + ending planning).
Further, the observation trajectory plan comprises one or more of a scanning mode observation trajectory plan of a scanning mode in motion along the right ascension direction, a scanning mode in motion along the declination direction, a tracking mode, a weaving scanning mode and a static scanning mode.
Further, the observation trajectory of the scanning pattern in the right ascension direction includes: the observation section along the declination direction and the transition section along the right ascension direction are mutually alternated, and an inflection point is formed at the joint of the observation section and the transition section; the scanning mode observation trajectory planning in the right ascension direction movement comprises the following steps:
planning an observation section track along the declination direction: determining the scanning speed in the declination direction in the observation section;
planning a track along the right ascension direction transition section:
step S1, determining the time required for the change of the right ascension line in the right ascension direction in the transition section, namely the time t2 of the transition section;
step S2, in the t2 time period, a deceleration section is added to the forward scanning, and an acceleration section is added to the reverse scanning; determining the distance required by acceleration and deceleration according to the maximum acceleration limit value and the maximum speed limit value of the deceleration section and the acceleration section;
step S3, calculating the coordinates of the terminal point of the deceleration section and the starting point of the acceleration section at the turning point;
and step S4, planning the feed source phase center position coordinates on the observation track by combining the sphere center and the radius of the transition section track.
Further, the observation locus of the scanning pattern in the movement along the declination direction includes: the observation section along the right ascension direction and the transition section along the declination direction are mutually alternated, and an inflection point is formed at the joint of the observation section and the transition section; the scanning mode observation trajectory planning in the declination direction comprises the following steps:
planning an observation section track along the right ascension direction: determining the scanning speed along the right ascension direction in the observation section;
planning a track along the declination direction transition section:
step S1, determining the time required for changing the declination line along the declination direction in the transition section, namely the time t2 of the transition section;
step S2, in the time period of t2, a deceleration section is added in the forward scanning, an acceleration section is added in the reverse scanning, and the acceleration and deceleration section is from the end point of the deceleration section to the start point of the acceleration section; determining the distance required by acceleration and deceleration according to the maximum acceleration limit value and the maximum speed limit value of the deceleration section, the acceleration section and the acceleration and deceleration section;
step S3, calculating the coordinates of the terminal point of the deceleration section and the starting point of the acceleration section at the turning point;
and step S4, planning the feed source phase center position coordinates on the observation track by combining the sphere center and the radius of the transition section track.
Further, the launch plan comprises the following steps:
setting PO as a start point and P1P2 as an observation track, wherein P1 is an observation start point, and P1 is behind the PO and is closer to P0 than P2;
step S1, calculating the distance and time needed for starting according to the position coordinate and speed of the observation starting point P1, the set maximum speed limit value and the set maximum acceleration limit value;
step S2, determining an arc equation where the P0P1 is located according to the trends of the observation positions of the observation starting point P1 and the next point of the observation starting point P1;
and step S3, obtaining the position coordinates of the starting point P0 according to the distance and time required for starting and the arc equation where P0P1 is located.
Further, the ending plan comprises the following steps:
setting Pe as an end point, P1P2 as an observation locus, wherein P2 is an observation end point, P2 precedes and is closer to Pe than P1;
step S1, calculating the distance and time required by the deceleration termination according to the position coordinate and the speed at the observation end point P2, the set maximum acceleration limit value and the set maximum speed limit value;
step S2, determining an arc equation of the P2Pe according to the trend of the observation end point P2 and the trend of the previous point of the observation end point P2;
and step S3, obtaining the position coordinate of the end point Pe according to the distance and the time required by the deceleration end and the arc equation of the P2 Pe.
Furthermore, the motion planning also comprises source changing planning, and the sequence of the motion planning is observation track planning- > (starting planning + finishing planning) - > source changing planning.
Further, the motion plan comprises a plurality of motion trajectory plans, and a source change plan needs to be performed in the middle of each motion trajectory plan.
The invention has the following beneficial effects: firstly, the maximum values of the speed and the acceleration of the feed source supporting system are observed through reasonable planning, so that the observation track is not influenced, and the data of the observation time are all available. And secondly, an observation starting plan and an observation ending plan are added, so that the stable motion of the feed source supporting system is ensured, and the efficient use of observation data is facilitated. Finally, the acceleration and deceleration plan at the turning point is added in the observation track motion planning scheme, so that the stable motion of the feed source supporting system and the positioning precision of the feed source can be ensured, and further, the data of the observation track is ensured to be all available.
Drawings
FIG. 1 is a schematic flow chart of the motion planning of the feed support system of the present invention;
FIG. 2 is a schematic diagram of the motion trajectory planning of the present invention;
3-1, 3-2 are schematic diagrams of the trace of the scanning mode in the motion along the right ascension direction under the astronomical coordinate system of the present invention;
FIG. 4 is a flow chart of the motion planning for the scanning segment of the right ascension movement according to the present invention;
5-1, 5-2, 5-3 are comparative plots of trajectory path, velocity and acceleration under a rectangular coordinate system before and after motion planning of a motion scan segment along the right ascension direction, respectively, in accordance with the present invention;
FIGS. 6-1 and 6-2 are schematic diagrams of the trace of the scanning pattern in the astronomical coordinate system of the present invention moving along the declination direction;
FIG. 7 is a flow chart of the motion planning for the scanning segment of the motion along the declination direction according to the present invention;
FIGS. 8-1, 8-2, 8-3 are comparative plots of trajectory path, velocity and acceleration before and after motion planning for a motion scan segment in the declination direction, respectively, in accordance with the present invention;
FIG. 9 is a schematic flow chart of the launch plan of the present invention;
FIG. 10 is a schematic diagram of a motion trajectory planning including source change planning in accordance with the present invention;
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, a motion planning process of a feed source support system of a radio telescope according to the present invention includes the following steps: firstly, calculating a time parameter required by motion planning according to the type of an astronomical track to be observed and sending the time parameter to an astronomical track planning unit to obtain a time coordinate and a right ascension and declination position coordinate under an astronomical coordinate system; secondly, the astronomical track planning unit converts the time coordinate and the right ascension and declination position coordinate under the astronomical coordinate system into a position coordinate containing time information under a rectangular coordinate system and sends the position coordinate to the motion planning unit; the motion planning unit carries out the following steps according to the current position of the feed source supporting system: starting planning, observing trajectory planning and finishing planning to finally form a complete motion trajectory planning.
The sequence of the starting planning, the observation trajectory planning and the ending planning in the motion planning is as follows: and (5) planning of an observation track- > (starting planning + finishing planning). And the actual observation track coordinates under the rectangular coordinate system can be determined after the observation track planning is carried out, and then the starting planning and the ending planning are carried out according to the current position and the observation track coordinates of the feed source supporting system, so that the starting and ending positions are obtained.
Referring to fig. 2, PO is set as a start point or an actual start point of an observation curve, Pe is set as an actual end point or an actual end point of an observation curve, and P1P2 is a section of track in the observation track plan, where P1 is a start point of an observation start point or an observation track, and P2 is an end point of an observation end point or an observation track; the feed source cabin of the radio telescope is required to start and accelerate from a starting position P0 in a stable mode, so that the feed source cabin can meet the speed required by observation at a position P1 point where an observation track starts, and after the feed source cabin finishes observation and passes an observation track ending position P2 point, the feed source cabin decelerates stably and stops at the Pe position finally, so that the stable motion of a feed source supporting system is ensured, and the efficient use of observation data is facilitated.
Firstly, observation trajectory planning, namely P1P2 trajectory planning, is performed, and in the prior art, an observation section has five observation modes: the present embodiment details the observation trajectory planning of the scanning mode in the movement along the right ascension direction and the observation trajectory planning of the scanning mode in the movement along the declination direction of the feed cabin.
As shown in fig. 3-1 and 3-2, the trace schematic diagram of the scanning pattern in the astronomical coordinate system moving along the right ascension direction, and the scanning pattern in the right ascension direction refers to that in the astronomical coordinate system, the feeding cabin moves along the right ascension direction and scans and observes the declination on each right ascension line, so the observation trace of the feeding cabin in the astronomical coordinate system includes: the observation section (vertical line) along the declination direction and the transition section (horizontal line) along the right ascension direction are mutually alternated, the joint of the observation section and the transition section forms an inflection point, and the observation track of the feed source cabin covers an approximately rectangular sky area. In the movement process of the observation section, the transition section and the observation section, the speed direction of the feed source cabin is changed, and the data of the transition section is not needed to be used, so that the transition section along the right ascension direction is planned during movement planning, and the feed source supporting system is ensured to finish stable movement in the transition section.
As shown in fig. 4, the observation trajectory planning along the scanning pattern in the right ascension direction specifically includes:
and planning a track of the observation section along the declination direction: determining the scanning speed in the declination direction in the observation section;
planning a track along the right ascension direction transition section:
step S1, determining the time required for the change of the right ascension line in the right ascension direction in the transition section, namely the time t2 of the transition section;
step S2, in the t2 time period, a deceleration section is added to the forward scanning, and an acceleration section is added to the reverse scanning; determining the distance required by acceleration and deceleration according to the maximum acceleration limit value and the maximum speed limit value of the deceleration section and the acceleration section;
step S3, calculating the coordinates of the terminal point of the deceleration section and the starting point of the acceleration section at the turning point;
step S4, planning the position coordinates of the feed source phase center on the observation track by combining the sphere center and the radius of the transition section track;
repeating the step of planning the track of the observation section along the declination direction;
repeating the step of planning the track along the right ascension direction transition section;
as shown in fig. 5-1, 5-2, and 5-3, the comparison between the trajectory path, the velocity, and the acceleration before and after the motion planning is performed in the scanning mode in the right ascension direction motion in the rectangular coordinate system, so that the velocity of the feed source center is significantly smooth after the planning, the maximum value of the acceleration is effectively reduced, the stable motion of each mechanism of the feed source supporting system is facilitated, the positioning accuracy of the feed source is ensured, and the observation trajectory data is ensured to be all available.
As shown in fig. 6-1 and 6-2, the trace schematic diagram of the scanning mode in the astronomical coordinate system moving along the declination direction, and the scanning mode in the declination direction refers to that in the astronomical coordinate system, the feed cabin moves along the declination direction and scans and observes the declination on each declination line, so the observation trace of the feed cabin in the astronomical coordinate system includes: the observation section (horizontal line) along the right ascension direction and the transition section (vertical line) along the declination direction are mutually alternated, the joint of the observation section and the transition section forms an inflection point, and the observation track of the feed source cabin covers an approximately rectangular sky area. In the motion process of the observation section, the transition section and the observation section, the speed direction of the feed source cabin is changed, and in order to ensure the stable motion of the feed source cabin in the inflection point and the transition section, the transition section data is not needed to be used, so that the transition section along the declination direction is planned when the motion planning is carried out, and the feed source supporting system is ensured to finish the stable motion in the transition section.
As shown in fig. 7, the planning of the observation trajectory of the scanning pattern in the declination direction specifically includes:
planning a track of the observation segment along the right ascension direction: determining the scanning speed along the right ascension direction in the observation section;
planning a track along the declination direction transition section:
step S1, determining the time required for changing the declination line along the declination direction in the transition section, namely the time t2 of the transition section;
step S2, in the time period of t2, a deceleration section is added in the forward scanning, an acceleration section is added in the reverse scanning, and the acceleration and deceleration section is from the end point of the deceleration section to the start point of the acceleration section; determining the distance required by acceleration and deceleration according to the maximum acceleration limit value and the maximum speed limit value of the deceleration section, the acceleration section and the acceleration and deceleration section;
step S3, calculating the coordinates of the terminal point of the deceleration section and the starting point of the acceleration section at the turning point;
step S4, planning the position coordinates of the feed source phase center on the observation track by combining the sphere center and the radius of the transition section track;
repeating the step of planning the track of the observation section along the direction of the right ascension;
repeating the step of planning the track of the transition section along the declination direction;
as shown in fig. 8-1, 8-2, and 8-3, the comparison between the trajectory path, the velocity, and the acceleration before and after the motion planning is performed in the scanning mode in the declination direction motion in the rectangular coordinate system, so that it can be known that after the planning, the velocity of the feed source phase center is significantly smooth, the maximum value of the acceleration is effectively reduced, which is beneficial to the stable motion of each mechanism of the feed source supporting system, the positioning accuracy of the feed source is ensured, and the observation trajectory data is ensured to be all available.
As shown in fig. 2: after the observation trajectory planning (P1P2 segment) is completed, a starting planning and an ending planning are performed according to requirements, that is, a P0P1+ P2Pe segment planning is performed, as shown in fig. 9, the starting planning step includes:
step S1, calculating the distance and time needed for starting according to the position coordinate and speed of the observation starting point P1, the set maximum speed limit value and the set maximum acceleration limit value;
step S2, determining an arc equation where the P0P1 is located according to the trends of the observation positions of the observation starting point P1 and the next point of the observation starting point P1;
and step S3, obtaining the position coordinates of the starting point P0 according to the distance and time required for starting and the arc equation where P0P1 is located.
The step of ending planning comprises:
step S1, calculating the distance and time required by the deceleration termination according to the position coordinate and the speed at the observation end point P2, the set maximum acceleration limit value and the set maximum speed limit value;
step S2, determining an arc equation of the P2Pe according to the trend of the observation end point P2 and the trend of the previous point of the observation end point P2;
and step S3, obtaining the position coordinate of the end point Pe according to the distance and the time required by the deceleration end and the arc equation of the P2 Pe.
As shown in fig. 10, a complete motion trajectory plan (P0 Pe) is formed through an observation trajectory plan (P1P 2) and a starting plan (P0P 1) + an ending plan (P2 Pe). When the sports just start, the feed cabin is far away from the position of the start point PO, and then source changing planning is needed, the end point of the source changing planning is the start point PO, and the sports planning sequence is as follows: and (4) observing track planning- > (starting planning + finishing planning) - > source changing planning.
In the prior art, an observation section has five observation modes: tracking mode, weaving scanning mode, static scanning mode, scanning mode in motion in the right ascension direction, scanning mode in motion in the declination direction. When a plurality of observation modes or a plurality of motion tracks are switched, source change planning also needs to be carried out, namely, the first motion track planning- > source change planning- > second motion track planning- > source change planning- > … ….
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (7)
1. A motion planning method for a feed source supporting system of a radio telescope is characterized by comprising the following steps: calculating a time parameter needing motion planning according to the type of the astronomical track to be observed and sending the time parameter to an astronomical track planning unit; the astronomical track planning unit converts the rectangular coordinate containing the time information and sends the rectangular coordinate to the motion planning unit; the motion planning unit performs motion planning according to the current position of the feed source support system, and the motion planning comprises: starting planning, observing trajectory planning and finishing planning to obtain a complete motion trajectory;
the observation trajectory planning comprises one or more of a scanning mode observation trajectory planning of a scanning mode in the motion along the right ascension direction, a scanning mode in the motion along the declination direction, a tracking mode, a weaving type scanning mode and a static scanning mode;
wherein, the observation track of the scanning mode in the right ascension direction comprises: the observation section along the declination direction and the transition section along the right ascension direction are mutually alternated, and an inflection point is formed at the joint of the observation section and the transition section; the scanning mode observation trajectory planning in the right ascension direction movement comprises the following steps:
planning an observation section track along the declination direction: determining the scanning speed in the declination direction in the observation section;
planning a track along the right ascension direction transition section:
step S1, determining the time required for the change of the right ascension line in the right ascension direction in the transition section, namely the time t2 of the transition section;
step S2, in the t2 time period, a deceleration section is added to the forward scanning, and an acceleration section is added to the reverse scanning; determining the distance required by acceleration and deceleration according to the maximum acceleration limit value and the maximum speed limit value of the deceleration section and the acceleration section;
step S3, calculating the coordinates of the terminal point of the deceleration section and the starting point of the acceleration section at the turning point;
and step S4, planning the feed source phase center position coordinates on the observation track by combining the sphere center and the radius of the transition section track.
2. An exercise planning method according to claim 1, characterized in that: the starting planning, the observation track planning and the ending planning are carried out in sequence, namely, the observation track planning is carried out firstly, then the actual observation track coordinate under the rectangular coordinate system is determined, and then the starting planning and the ending planning are carried out according to the current position of the feed source supporting system and the observation track coordinate, so that the starting and ending positions are obtained.
3. An exercise planning method according to claim 1, characterized in that: the observation track of the scanning mode in the movement along the declination direction comprises: the observation section along the right ascension direction and the transition section along the declination direction are mutually alternated, and an inflection point is formed at the joint of the observation section and the transition section; the scanning mode observation trajectory planning in the declination direction comprises the following steps:
planning an observation section track along the right ascension direction: determining the scanning speed along the right ascension direction in the observation section;
planning a track along the declination direction transition section:
step S1, determining the time required for changing the declination line along the declination direction in the transition section, namely the time t2 of the transition section;
step S2, in the time period of t2, a deceleration section is added in the forward scanning, an acceleration section is added in the reverse scanning, and the acceleration and deceleration section is from the end point of the deceleration section to the start point of the acceleration section; determining the distance required by acceleration and deceleration according to the maximum acceleration limit value and the maximum speed limit value of the deceleration section, the acceleration section and the acceleration and deceleration section;
step S3, calculating the coordinates of the terminal point of the deceleration section and the starting point of the acceleration section at the turning point;
and step S4, planning the feed source phase center position coordinates on the observation track by combining the sphere center and the radius of the transition section track.
4. An exercise planning method according to claim 1, characterized in that: the launch plan comprises the following steps:
setting PO as a start point and P1P2 as an observation track, wherein P1 is an observation start point, and P1 is behind the PO and is closer to P0 than P2;
step S1, calculating the distance and time needed for starting according to the position coordinate and speed of the observation starting point P1, the set maximum speed limit value and the set maximum acceleration limit value;
step S2, determining an arc equation where the P0P1 is located according to the trends of the observation positions of the observation starting point P1 and the next point of the observation starting point P1;
and step S3, obtaining the position coordinates of the starting point P0 according to the distance and time required for starting and the arc equation where P0P1 is located.
5. An exercise planning method according to claim 1, characterized in that: the end plan includes the steps of:
setting Pe as an end point, P1P2 as an observation locus, wherein P2 is an observation end point, P2 precedes and is closer to Pe than P1;
step S1, calculating the distance and time required by the deceleration termination according to the position coordinate and the speed at the observation end point P2, the set maximum acceleration limit value and the set maximum speed limit value;
step S2, determining an arc equation of the P2Pe according to the trend of the observation end point P2 and the trend of the previous point of the observation end point P2;
and step S3, obtaining the position coordinate of the end point Pe according to the distance and the time required by the deceleration end and the arc equation of the P2 Pe.
6. An exercise planning method according to claim 1, characterized in that: the motion planning also comprises source changing planning, and the sequence of the motion planning sequentially comprises observation track planning, starting planning and finishing planning to form complete motion track planning; and when the exercise starts, performing source changing planning, wherein the end point of the source changing planning is the starting point PO.
7. An exercise planning method according to claim 1, characterized in that: the motion planning comprises a plurality of motion trajectory plans, and source changing planning is needed in the middle of each motion trajectory plan.
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| CN112597429B (en) * | 2021-03-04 | 2021-05-25 | 中国科学院自动化研究所 | Scanning mode trajectory planning method and system in motion of large-caliber radio telescope |
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