CN109857152A - A kind of feed telescope support system changes source planing method - Google Patents
A kind of feed telescope support system changes source planing method Download PDFInfo
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Abstract
Source planing method is changed the present invention relates to a kind of feed telescope support system characterized by comprising is determined and is changed source start position and change source end position；Determine the point that distance is changed on the nearest focal plane of source start position, which is to change source corner position；Straightway is used to change source to source corner position is changed from source start position is changed；Focal plane Duan Huanyuan is used to source end position is changed from source corner position is changed.The method for changing source and focal plane Duan Huanyuan combination using straightway, reduce the pulling force of rope driving, guarantee that Suo Li's is controllable, it is changed in source in straightway and rope driving attitude angle is moved into the corresponding pitch angle in the position of focal plane, the velocity and acceleration of focal plane section becomes smaller, the stabilization of guarantee feed support system mechanism, and the movement angle of AB axis rotating mechanism and multi-beam rotating mechanism is planned according to entirely source time is changed, it can reduce its angular speed for changing source, so that system motion is stablized.
Description
Technical field
The present invention relates to a kind of motion control field of radio telescope, in particular to a kind of feed telescope support
System changes source planing method.
Background technique
It is known as 500m bore spherical radio telescope (the Five-hundred-meter Aperture of " Chinese day eye "
Spherical radio Telescope, FAST) engineering is national Eleventh Five-Year Plan major science and technology infrastructure projects construction project,
Main composition includes reflecting surface and feed reception device, and basic ideas are then presented by reflective surface and convergence radio wave
The reception of source reception device completion radio wave.Feed reception device is moved by feed support system, and feed support system uses
Three active control mechanisms: rope driven Parallel Kinematic Manipulator, AB axis rotating mechanism and Stewart parallel institution.Rope driven Parallel Kinematic Manipulator
Feed receiver can be controlled to correct position, AB axis rotating mechanism is for adjusting the posture of feed receiver, Stewart
Parallel institution disturbs influence for reducing wind, further adjusts position and the posture of feed receiver, it is ensured that feed receiver can be with
It is high-precision to be located in focus, radio signal is received, is realized using above-mentioned active control mechanism and positions the feed phase heart
In focal position.Stewart parallel institution is divided into lower platform, when its lower platform installs multibeam receiver, can pacify simultaneously
A multi-beam rotating mechanism is filled, multibeam receiver can be helped to realize spinning motion, rotation angle block gauge, which is drawn, needs basis
Astronomical observation planning is calculated and is planned.
Therefore, source planning is changed to need to transport rope driven Parallel Kinematic Manipulator, AB axis rotating mechanism and multi-beam rotating mechanism
Dynamic planning.
It changes source planning and refers to that Cabin from the current location after a upper observation mission, moves to next observation and appoints
The starting point of business.The source planing method of changing used in prior art is the method that full section uses straightway to change source, is be easy to cause
The Suo Li of rope driving transfinites, and easily causes the control mechanism of feed support system that can not carry and alarm；In addition, the prior art is not yet
Consider influence of the attitude angle of rope driving for rope driving pulling force, be easy to cause feed support system mechanism fluctuation of service.
Therefore, there is still a need for improvement for the source planing method of changing of feed telescope support system at present.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, a kind of fortune of feed telescope support system is provided
Dynamic planing method.
The technical scheme is that a kind of feed telescope support system changes source planing method, feature exists
In, comprising: it determines and changes source start position and change source end position；Determine the point that distance is changed on the nearest focal plane of source start position,
The point is to change source corner position；Straightway is used to change source to source corner position is changed from source start position is changed；From changing source corner position
Focal plane Duan Huanyuan is used to source end position is changed.
It further, further include changing source time in determining support system each stage: when determining the focal plane Duan Huanyuan of support system
Between, the straightway of support system change source time and support system always change source time.
Further, further include that determining active control mechanism changes source planning: determining rope driving, AB axis rotating mechanism and Duo Bo
Beam rotating mechanism changes source planning.
Further, wherein determining support system each stage changes source time method particularly includes:
It determines that the focal plane section of support system changes source time: changing source corner position using described and described change source stop bits
It sets, obtains the feed phase heart and change source coordinate and distance on focal plane；And then according to the peak acceleration limit value of setting, maximum speed
Limit value calculates focal plane Duan Xiangxin and changes source time, when the focal plane Duan Xiangxin changes source time and is the focal plane Duan Huanyuan of support system
Between；
It determines that the straightway of support system changes source time: determining straightway Xiang Xinhuan source time, determine that straightway rope drives
Source time is changed, determines that straightway AB axis rotating mechanism changes source time, determines that straightway multi-beam rotating mechanism changes source time, four
The maximum value of time is that straightway changes source time；
Determine support system always changes source time: the straightway of support system changes source time and focal plane section changes the sum of source time
Source time is always changed for support system.
Further, wherein the straightway of the determining support system changes source time method particularly includes:
The calculation method of straightway Xiang Xinhuan source time are as follows: source start position and change source corner position, Yi Jishe according to changing
Fixed peak acceleration limit value, maximum speed limit value, calculate the straightway Xiang Xinhuan source time.
Straightway rope drives the calculation method for moving source time are as follows: it is driven according to rope in the initial angle for changing source start position,
And the angle that should reach at the corner position of source, and maximum angular acceleration limit value, the maximum angular rate of setting are being changed in rope driving
Limit value calculates the straightway rope drive and moves source time.Influence of the attitude angle for Suo Li of rope driving is considered, it can be into
The stabilization of one step guarantee feed support system mechanism.
Straightway AB axis rotating mechanism changes the calculation method of source time are as follows: changes AB axis rotation at the start position of source according to described
The angle that the initial angle of mechanism and the AB axis rotating mechanism changed at the end position of source should reach, most in conjunction with setting
Big angular acceleration limit value, maximum angular rate limit value, calculate AB axis rotating mechanism always changes source time；Utilize AB axis rotating mechanism
It always changes source time and subtracts the focal plane section of support system and change source time, obtain straightway AB axis rotating mechanism changes source time.
The calculation method that straightway multi-beam rotating mechanism changes source time includes: to change more waves at the start position of source described in utilization
The initial angle of beam rotating mechanism, the angle that the multi-beam rotating mechanism changed at the end position of source should reach, most in conjunction with setting
Big angular acceleration limit value, maximum angular rate limit value, calculate multi-beam rotating mechanism always changes source time；Utilize multi-beam whirler
Structure, which always changes source time and subtracts the focal plane section of support system, changes source time, when obtaining the straightway multi-beam rotating mechanism and changing source
Between.
It is the straightway Xiang Xinhuan source time, the drive of straightway rope when moving source that the straightway of support system, which changes source time,
Between, straightway AB axis rotating mechanism changes source time, straightway multi-beam rotating mechanism changes maximum value among source time.
Further, wherein the determining active control mechanism changes source planning method particularly includes:
It determines that rope drives and moves source planning: planning rope driving in the angle and phase heart position coordinate of straightway and focal plane section respectively
Change over time function.
Determine that AB axis rotating mechanism changes source planning: planning AB axis rotating mechanism is always changing source time internal rotation angle degree at any time
Change function.
Determine multi-beam rotating mechanism change source planning: planning multi-beam rotating mechanism always change source time internal rotation angle degree with
Time change function.
Further, wherein determining that rope drive is moved source planning and specifically included:
Initial angle at the start position of source is being changed and rope driving is being changed at the corner position of source and should reached according to rope driving
Angle and the straightway of support system change source time, can plan rope drives in the straightway angle and phase heart position coordinate
The function changed over time.
Initial angle at the corner position of source is being changed and rope driving is being changed at the end position of source and should reached according to rope driving
Angle and the focal plane section of support system change source time, plan that the angle of rope driving and phase heart position coordinate are at any time in focal plane section
Between the function that changes.
Further, wherein determining that AB axis rotating mechanism changes source planning and specifically includes:
Terminated in the initial angle and AB axis rotating mechanism for changing source initial position in the source of changing according to AB axis rotating mechanism
The angle that should reach at position and support system always change source time, plan in the angle for always changing AB axis rotating mechanism in source time
The function changed over time.
Further, wherein determining that multi-beam rotating mechanism changes source planning and specifically includes:
Source is being changed in the initial angle and multi-beam rotating mechanism for changing source initial position according to multi-beam rotating mechanism
The angle that should reach at end position and support system always change source time, and multi-beam rotating mechanism in source time is always being changed in planning
The function that changes over time of angle.
The invention has the following advantages: firstly, the method for changing source and focal plane Duan Huanyuan combination using straightway, reduces
The pulling force of rope driving, guarantees that Suo Li's is controllable.Secondly, considering the attitude angle of rope driving for Suo Li's in changing source procedure
It influences, is changed in source in straightway and rope driving attitude angle is moved into the corresponding pitch angle in the position of focal plane, the speed of focal plane section
Degree and acceleration change become smaller, and guarantee the stabilization of feed support system mechanism.Finally, AB axis rotating mechanism and multi-beam whirler
The movement angle of structure is planned according to entirely source time is changed, and can reduce its angular speed for changing source, so that system motion is steady
It is fixed.
Detailed description of the invention
Fig. 1 is the schematic diagram that feed support system of the present invention changes source planing method；
Fig. 2 is that feed support system changes source planned trajectory schematic diagram under rectangular coordinate system of the present invention；
Fig. 3 is the idiographic flow schematic diagram that feed support system of the present invention changes source planing method；
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It is a kind of schematic diagram for changing source planing method of feed telescope support system of the invention referring to Fig. 1-3,
Cabin needs to move to the start position P1 of next observation mission from current location Ph, then changing source start position is Ph, changes
Source end position is P1, determines that changing source start position Ph and changing source end position is P1, determines and changes source start position described in distance
Inflection point P0 on Ph nearest focal plane；Source is changed using straightway from the point P0 for changing source start position Ph to the focal plane to advise
It draws；From the inflection point P0 to the source end position P1 that changes using focal plane Duan Huanyuan planning.Source and coke are changed using straightway in this way
The method that face Duan Huanyuan is combined can reduce the pressure of rope driving, guarantee that Suo Li's is controllable.Here focal plane refers to that reflecting surface becomes
When shape is paraboloid, the set of parabolic focus.In view of the feed phase heart is not on focal plane or angle does not reach requirement,
First is that since there are errors to cause the feed phase heart not on focal plane, the second is since debugging or failure cause lead to the feed phase heart not
On focal plane or attitude angle difference is larger, and therefore, the present invention is according to rope driving, AB axis rotating mechanism, multi-beam rotating mechanism
Position and angle change source planning.
A kind of feed telescope support system changes source planing method, comprising:
1. determining that changing source start position Ph and changing source end position is P1；Determine that distance changes the nearest coke of source start position Ph
Point on face, the point are to change source corner position P0；Straightway is used to change source to source corner position P0 is changed from source start position Ph is changed；
Focal plane Duan Huanyuan is used to source end position P1 is changed from source corner position P0 is changed；
2. determining that support system each stage changes source time: determining that the focal plane section of support system changes source time, support system
What straightway changed source time and support system always changes source time.
3. determining that active control mechanism changes source planning: determining rope driving, AB axis rotating mechanism and multi-beam rotating mechanism
Change source planning.
Wherein determine that support system each stage changes source time, specifically includes:
2.1 determine support systems focal plane section change source time: using it is described change source corner position P0 and it is described change source tie
Beam position P1 obtains the feed phase heart and changes source coordinate and distance on focal plane；And then according to the peak acceleration limit value of setting, most
Big speed limit calculates focal plane Duan Xiangxin and changes source time, and the focal plane Duan Xiangxin changes the focal plane section that source time is support system
Change source time.
2.2 determine that the straightway of support system changes source time: determining straightway Xiang Xinhuan source time, determine that straightway rope drives
Move source time, determine that straightway AB axis rotating mechanism changes source time, determines that straightway multi-beam rotating mechanism changes source time, four
The maximum value of a time is that straightway changes source time.
2.3 determining support systems always change source time: the straightway of support system changes source time and focal plane section changes source time
The sum of always change source time for support system；
Wherein determine that active control mechanism changes source planning and specifically includes:
3.1, which determine that rope drives, moves source planning: planning rope driving in the angle and phase heart position of straightway and focal plane section respectively
Coordinate changes over time function.
3.2 determine AB axis rotating mechanisms change source planning: planning AB axis rotating mechanism always change source time internal rotation angle degree with
Time change function.
3.3 determine that multi-beam rotating mechanism changes source planning: planning multi-beam rotating mechanism is always changing source time internal rotation angle
Degree changes over time function.
Wherein determine that the straightway of support system changes source time and specifically includes:
2.2.1 the calculation method of straightway Xiang Xinhuan source time (T_for_line) are as follows: according to change source start position Ph and
Source corner position P0, and peak acceleration limit value, the maximum speed limit value of setting are changed, when calculating the source straightway Xiang Xinhuan
Between.
2.2.2 straightway rope drives the calculation method for moving source time (T_cable_line) are as follows: is changing source according to rope driving
The angle that should reach at the corner position P0 of source, and the maximum of setting are being changed in initial angle and the rope driving of start position Ph
Angular acceleration limit value, maximum angular rate limit value calculate the straightway rope drive and move source time.Consider the posture of rope driving
Influence of the angle for Suo Li, can be further ensured that the stabilization of feed support system mechanism.
2.2.3 straightway AB axis rotating mechanism changes the calculation method of source time are as follows: is changed at the start position Ph of source according to described
The angle that the initial angle of AB axis rotating mechanism and the AB axis rotating mechanism changed at the end position P1 of source should reach, knot
Maximum angular acceleration limit value, the maximum angular rate limit value of setting are closed, calculate AB axis rotating mechanism always changes source time (T_AB_
time)；It subtracts the focal plane section of support system using the source time that always changes of AB axis rotating mechanism and changes source time, obtain straightway AB axis
Rotating mechanism changes source time (T_AB_time-T_arc).
2.2.4 it includes: to change source start position described in utilization that straightway multi-beam rotating mechanism, which changes the calculation method of source time,
The initial angle of multi-beam rotating mechanism at Ph, the angle that the multi-beam rotating mechanism changed at the end position P1 of source should reach, knot
Maximum angular acceleration limit value, the maximum angular rate limit value of setting are closed, calculate multi-beam rotating mechanism always changes source time (T_
horn_time)；Source time is always changed using multi-beam rotating mechanism subtract the focal plane section of support system and change source time, obtain described
Straightway multi-beam rotating mechanism changes source time (T_horn_time-T_arc).
2.2.5 the straightway of support system change source time be the straightway Xiang Xinhuan source time (T_for_line), it is straight
Source time (T_cable_line) is moved in the drive of line segment rope, straightway AB axis rotating mechanism changes source time (T_AB_time-T_arc),
Straightway multi-beam rotating mechanism changes the maximum value among source time (T_horn_time-T_arc).
Wherein determine that rope drive is moved source planning and specifically included:
3.1.1 it is driven according to rope and is changing the initial angle start position Ph of source at and rope drives and changing source corner position
The straightway of the angle and support system that should reach at P0 changes source time, can plan rope drives in the straightway angle and phase
The function that heart position coordinates change over time.
3.1.2 it is driven according to rope and is changing the initial angle corner position P0 of source at and rope drives and changing source end position
The focal plane section of the angle and support system that should reach at P1 changes source time, plans the angle and Xiang Xinwei of rope driving in focal plane section
Set the function that coordinate changes over time.
Wherein determine that AB axis rotating mechanism changes source planning and specifically includes:
It is tied in source of changing according to AB axis rotating mechanism changing initial angle at the initial position Ph of source and AB axis rotating mechanism
The angle that should reach at beam position P1 and support system always change source time, and AB axis rotating mechanism in source time is always being changed in planning
The function that angle changes over time.
Wherein determine that multi-beam rotating mechanism changes source planning and specifically includes:
Initial angle at the initial position Ph of source is being changed and multi-beam rotating mechanism is changing according to multi-beam rotating mechanism
The angle that should reach at the end position P1 of source and support system always change source time, and multi-beam rotation in source time always is being changed in planning
The function that the angle of mechanism changes over time.
Therefore, it is entirely changed in the planning of source in of the invention, changes mode of the source in conjunction with focal plane Duan Huanyuan using straightway, and
It makes rational planning for the acceleration-deceleration of feed support system movement mechanism, ensure that the stability for changing source procedure system.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (9)
1. a kind of feed telescope support system changes source planing method characterized by comprising determine that point is played in source of changing
Set and change source end position；Determine the point that distance is changed on the nearest focal plane of source start position, which is to change source corner position；From changing
Source start position uses straightway to change source to source corner position is changed；Focal plane section is used to source end position is changed from source corner position is changed
Change source.
2. according to claim 1 change source planing method, it is characterised in that: further include changing source in determining support system each stage
Time: determining that the focal plane section of support system changes source time, the straightway of support system changes source time and support system always changes source
Time.
3. according to claim 2 change source planing method, it is characterised in that: further include that determining active control mechanism changes source rule
Draw: determine rope driving, AB axis rotating mechanism and multi-beam rotating mechanism changes source planning.
4. according to claim 2 change source planing method, it is characterised in that:
Wherein determining support system each stage changes source time method particularly includes:
Determine that the focal plane section of support system changes source time: using it is described change source corner position and it is described change source end position, obtain
The feed phase heart is taken to change source coordinate and distance on focal plane；And then peak acceleration limit value, maximum speed limit value according to setting,
It calculates focal plane Duan Xiangxin and changes source time, the focal plane Duan Xiangxin changes the focal plane section that source time is support system and changes source time；
It determines that the straightway of support system changes source time: determining straightway Xiang Xinhuan source time, determine that source is moved in the drive of straightway rope
Time determines that straightway AB axis rotating mechanism changes source time, determines that straightway multi-beam rotating mechanism changes source time, four times
Maximum value be straightway change source time；
Determine support system always changes source time: the straightway of support system changes source time and focal plane section changes the sum of source time as branch
Support system always changes source time.
5. according to claim 4 change source planing method, it is characterised in that:
Wherein the straightway of the determining support system changes source time method particularly includes:
The calculation method of straightway Xiang Xinhuan source time are as follows: according to changing source start position and change source corner position, and setting
Peak acceleration limit value, maximum speed limit value calculate the straightway Xiang Xinhuan source time.
Straightway rope drives the calculation method for moving source time are as follows: it is driven according to rope in the initial angle for changing source start position, and
The angle that should reach at the corner position of source, and maximum angular acceleration limit value, the maximum angular rate limit value of setting are being changed in rope driving,
It calculates the straightway rope drive and moves source time.Influence of the attitude angle of rope driving for Suo Li is considered, it can be further
Guarantee the stabilization of feed support system mechanism.
Straightway AB axis rotating mechanism changes the calculation method of source time are as follows: changes AB axis rotating mechanism at the start position of source according to described
Initial angle and the angle that should reach of the AB axis rotating mechanism changed at the end position of source, in conjunction with the maximum angular of setting
Acceleration limit value, maximum angular rate limit value, calculate AB axis rotating mechanism always changes source time；Utilize always changing for AB axis rotating mechanism
The focal plane section that source time subtracts support system changes source time, and obtain straightway AB axis rotating mechanism changes source time.
The calculation method that straightway multi-beam rotating mechanism changes source time includes: to change multi-beam at the start position of source described in utilization to revolve
The initial angle of rotation mechanism, the angle that the multi-beam rotating mechanism changed at the end position of source should reach, in conjunction with the maximum angular of setting
Acceleration limit value, maximum angular rate limit value, calculate multi-beam rotating mechanism always changes source time；It is total using multi-beam rotating mechanism
It changes source time and subtracts the focal plane section of support system and change source time, obtain the straightway multi-beam rotating mechanism and change source time.
It is that source time, straight is moved in the straightway Xiang Xinhuan source time, the drive of straightway rope that the straightway of support system, which changes source time,
Line segment AB axis rotating mechanism changes source time, straightway multi-beam rotating mechanism changes the maximum value among source time.
6. according to claim 3 change source planing method, it is characterised in that:
Wherein the determining active control mechanism changes source planning method particularly includes:
Determine rope drive move source planning: respectively plan rope driving straightway and focal plane section angle and phase heart position coordinate at any time
Between change function.
Determine that AB axis rotating mechanism changes source planning: planning AB axis rotating mechanism is changed over time always changing source time internal rotation angle degree
Function.
Determine that multi-beam rotating mechanism changes source planning: planning multi-beam rotating mechanism is always changing source time internal rotation angle degree at any time
Change function.
7. according to claim 6 change source planing method, it is characterised in that:
Wherein determine that rope drive is moved source planning and specifically included:
Initial angle at the start position of source is being changed and the angle that should reach at the corner position of source is being changed in rope driving according to rope driving
Degree and the straightway of support system change source time, can plan that the angle of rope driving and phase heart position coordinate are at any time in the straightway
Between the function that changes.
Initial angle at the corner position of source is being changed and the angle that should reach at the end position of source is being changed in rope driving according to rope driving
The focal plane section of degree and support system changes source time, plans that the angle of rope driving and phase heart position coordinate become at any time in focal plane section
The function of change.
8. according to claim 6 change source planing method, it is characterised in that:
Wherein determine that AB axis rotating mechanism changes source planning and specifically includes:
Source end position is being changed in the initial angle and AB axis rotating mechanism for changing source initial position according to AB axis rotating mechanism
Angle that place should reach and support system always change source time, and planning is always changing the angle of AB axis rotating mechanism in source time at any time
Between the function that changes.
9. according to claim 6 change source planing method, it is characterised in that:
Wherein determine that multi-beam rotating mechanism changes source planning and specifically includes:
Terminated in the initial angle and multi-beam rotating mechanism for changing source initial position in the source of changing according to multi-beam rotating mechanism
The angle that should reach at position and support system always change source time, plan at the angle for always changing multi-beam rotating mechanism in source time
Spend the function changed over time.
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