CN109857152B - Source changing planning method for feed source supporting system of radio telescope - Google Patents
Source changing planning method for feed source supporting system of radio telescope Download PDFInfo
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Abstract
The invention relates to a source changing planning method of a feed source supporting system of a radio telescope, which is characterized by comprising the following steps: determining a source changing starting position and a source changing ending position; determining a point on the focal plane closest to the position of the source changing starting point, wherein the point is the position of a source changing inflection point; adopting a straight line segment to change the source from the source changing starting point position to the source changing inflection point position; and changing the source by adopting the focal plane section from the source changing inflection point position to the source changing end position. The method for combining the linear section source changing and the focal plane section source changing is utilized, the pulling force of cable driving is reduced, the controllability of cable force is guaranteed, the cable driving posture angle is moved to the pitching angle corresponding to the focal plane position in the linear section source changing, the speed and acceleration change of the focal plane section is reduced, the stability of a feed source supporting system mechanism is guaranteed, the movement angles of the AB axis rotating mechanism and the multi-beam rotating mechanism are planned according to the whole source changing time, the source changing angular speed can be reduced, and the system can move stably.
Description
Technical Field
The invention relates to the field of motion control of radio telescopes, in particular to a source changing 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 Stewart parallel mechanism is divided into an upper platform and a lower platform, when the multi-beam receiver is arranged on the lower platform, a multi-beam rotating mechanism is arranged at the same time, so that the multi-beam receiver can be helped to realize autorotation movement, and the autorotation angle planning needs to be calculated and planned according to astronomical observation planning.
Therefore, the source-changing planning needs to perform motion planning on the cable-driven parallel mechanism, the AB axis rotating mechanism and the multi-beam rotating mechanism.
The source changing planning means that the feed source cabin moves from the current position after the last observation task is finished to the starting point of the next observation task. The source changing planning method adopted in the prior art is a method of changing sources by adopting straight line segments in the whole section, which easily causes the cable force of cable drive to exceed the limit and easily causes the control mechanism of the feed source supporting system to be incapable of bearing and give an alarm; in addition, the influence of the cable-driven attitude angle on the cable-driven tension is not considered in the prior art, and the feed source supporting system mechanism is easy to operate unstably. Therefore, the source changing planning method of the current radio telescope feed source supporting system still needs to be improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a motion planning method of a feed source supporting system of a radio telescope.
The technical scheme of the invention is as follows: a source changing planning method for a feed source supporting system of a radio telescope is characterized by comprising the following steps: determining a source changing starting position and a source changing ending position; determining a point on the focal plane closest to the position of the source changing starting point, wherein the point is the position of a source changing inflection point; adopting a straight line segment to change the source from the source changing starting point position to the source changing inflection point position; and changing the source by adopting the focal plane section from the source changing inflection point position to the source changing end position.
Further, the method also comprises the following steps of determining the source changing time of each stage of the support system: and determining the focal plane segment source changing time of the support system, the straight line segment source changing time of the support system and the total source changing time of the support system.
Further, the method also comprises the following steps of determining the active control mechanism source change plan: and determining source changing plans of the cable drive, the AB shaft rotating mechanism and the multi-beam rotating mechanism.
Further, the specific method for determining the source changing time of each stage of the support system comprises the following steps:
determining the source changing time of a focal plane segment of the support system: acquiring a source changing coordinate and a distance of a feed source center on a focal plane by using the source changing inflection point position and the source changing end position; calculating focal plane segment source-changing time according to the set maximum acceleration limit value and the set maximum speed limit value, wherein the focal plane segment source-changing time is the focal plane segment source-changing time of the support system;
determining the straight-line segment source changing time of the support system: determining the source changing time of a straight line segment core, determining the source changing time of a straight line segment cable drive, determining the source changing time of a straight line segment AB axis rotating mechanism, and determining the source changing time of a straight line segment multi-beam rotating mechanism, wherein the maximum value of the four times is the source changing time of the straight line segment;
determining the total source changing time of the support system: the sum of the straight-line segment source changing time and the focal plane segment source changing time of the support system is the total source changing time of the support system.
Further, the specific method for determining the straight-line segment source changing time of the support system comprises the following steps:
the calculation method of the linear segment source-exchanging time comprises the following steps: and calculating the linear segment core source changing time according to the source changing starting point position, the source changing inflection point position, the set maximum acceleration limit value and the set maximum speed limit value.
The method for calculating the time for changing the source by driving the linear cable comprises the following steps: and calculating the straight-line cable drive source changing time according to the initial angle of the cable drive at the source changing starting position, the angle which the cable drive should reach at the source changing inflection point position, the set maximum angular acceleration limit and the set maximum angular velocity limit. The influence of the cable-driven attitude angle on the cable force is considered, and the stability of the feed source supporting system mechanism can be further ensured.
The method for calculating the source changing time of the linear section AB axis rotating mechanism comprises the following steps: calculating the total source changing time of the AB shaft rotating mechanism according to the initial angle of the AB shaft rotating mechanism at the source changing starting position and the angle which the AB shaft rotating mechanism at the source changing ending position should reach, and combining the set maximum angular acceleration limit value and the set maximum angular velocity limit value; and subtracting the focal plane section source changing time of the support system from the total source changing time of the AB axis rotating mechanism to obtain the source changing time of the straight-line section AB axis rotating mechanism.
The method for calculating the source switching time of the linear segment multi-beam rotating mechanism comprises the following steps: calculating the total source changing time of the multi-beam rotating mechanism by utilizing the initial angle of the multi-beam rotating mechanism at the source changing starting position and the angle which the multi-beam rotating mechanism at the source changing ending position should reach and combining the set maximum angular acceleration limit value and the set maximum angular velocity limit value; and subtracting the focal plane section source changing time of the support system from the total source changing time of the multi-beam rotating mechanism to obtain the source changing time of the straight-line section multi-beam rotating mechanism.
And the straight-line segment source changing time of the support system is the maximum value of the straight-line segment core source changing time, the straight-line segment cable drive source changing time, the straight-line segment AB axis rotating mechanism source changing time and the straight-line segment multi-beam rotating mechanism source changing time.
Further, the specific method for determining the active control mechanism source change plan comprises the following steps:
determining a cable drive source change plan: the angular and phase position coordinates of the cable drives at the straight line segment and focal plane segment are programmed separately as a function of time.
Determining AB axis rotating mechanism source changing plan: and planning the rotation angle of the AB axis rotating mechanism to change along with time in the total source changing time.
Determining a multi-beam rotating mechanism source changing plan: the multi-beam rotation mechanism is programmed with a time-varying function of the angle of rotation over the total source change time.
Further, the determining of the cable-driven source-changing plan specifically includes:
according to the initial angle of the cable drive at the source changing starting position, the angle which the cable drive should reach at the source changing inflection point position and the straight-line section source changing time of the support system, the function of the change of the angle and the phase position coordinate of the cable drive in the straight-line section along with the time can be planned.
And planning a function of the angle of the cable drive in the focal plane section and the change of the coordinates of the phase position along with the time according to the initial angle of the cable drive at the position of the source changing inflection point, the angle which the cable drive should reach at the position of the source changing end and the focal plane section source changing time of the support system.
Further, the determining the AB axis rotation mechanism source change plan specifically includes:
and planning a function of the angle of the AB axis rotating mechanism changing along with time in the total source changing time according to the initial angle of the AB axis rotating mechanism at the source changing initial position, the angle which the AB axis rotating mechanism should reach at the source changing end position and the total source changing time of the support system.
Further, wherein determining the multi-beam rotation mechanism transduction plan specifically comprises:
and planning a function of the angle of the multi-beam rotating mechanism changing along with time in the total source changing time according to the initial angle of the multi-beam rotating mechanism at the source changing initial position, the angle which the multi-beam rotating mechanism should reach at the source changing end position and the total source changing time of the supporting system.
The invention has the following beneficial effects: firstly, the tension driven by the cable is reduced by using a method of combining the linear section source changing and the focal plane section source changing, and the controllability of the cable force is ensured. Secondly, in the source changing process, the influence of the cable-driven attitude angle on cable force is considered, the cable-driven attitude angle is moved to the pitching angle corresponding to the focal plane position in the linear source changing process, the speed and acceleration changes of the focal plane section are reduced, and the stability of the feed source supporting system mechanism is ensured. And finally, the motion angles of the AB axis rotating mechanism and the multi-beam rotating mechanism are planned according to the whole source changing time, so that the source changing angular speed can be reduced, and the system can stably move.
Drawings
FIG. 1 is a schematic diagram of a source change planning method of a feed source support system according to the present invention;
FIG. 2 is a schematic diagram of a source-changing planning trajectory of a feed source supporting system in a rectangular coordinate system according to the present invention;
FIG. 3 is a schematic flow chart of a source change planning method for a feed source support system according to 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. 1-3, for a schematic diagram of a source change planning method of a radio telescope feed source support system of the present invention, a feed source cabin needs to move from a current position Ph to a starting position P1 of a next observation task, then a source change starting position is Ph, a source change ending position is P1, the source change starting position Ph and the source change ending position are determined to be P1, and a inflection point P0 on a focal plane closest to the source change starting position Ph is determined; adopting a straight line segment source changing plan from the source changing starting position Ph to a point P0 of the focal plane; and adopting focal plane segment source changing planning from the inflection point P0 to the source changing end position P1. Therefore, by using the method of combining the linear section source changing and the focal plane section source changing, the pressure of cable driving can be reduced, and the controllability of cable force is ensured. The focal plane here refers to the set of parabolic focal points when the reflecting surface is deformed into a paraboloid. Considering that the phase center of the feed source is not on the focal plane or the angle does not meet the requirement, the first is that the phase center of the feed source is not on the focal plane due to the existence of errors, and the second is that the phase center of the feed source is not on the focal plane or the posture angle difference is large due to debugging or fault reasons, therefore, the invention carries out source changing planning according to the positions and the angles of the cable drive mechanism, the AB axis rotating mechanism and the multi-beam rotating mechanism.
A source changing planning method for a feed source supporting system of a radio telescope comprises the following steps:
1. determining a source changing starting position Ph and a source changing ending position P1; determining a point on the focal plane closest to a source change starting point Ph, wherein the point is a source change inflection point position P0; adopting a straight line segment for source changing from a source changing starting position Ph to a source changing inflection point position P0; adopting a focal plane segment to change the source from a source changing inflection point position P0 to a source changing ending position P1;
2. determining the source changing time of each stage of the support system: and determining the focal plane segment source changing time of the support system, the straight line segment source changing time of the support system and the total source changing time of the support system.
3. Determining an active control mechanism source change plan: and determining source changing plans of the cable drive, the AB shaft rotating mechanism and the multi-beam rotating mechanism.
The method for determining the source changing time of each stage of the support system specifically comprises the following steps:
2.1 determining the focal plane segment source changing time of the support system: acquiring a source changing coordinate and a distance of a feed source center on a focal plane by using the source changing inflection point position P0 and the source changing end position P1; and calculating the focal plane segment source-changing time according to the set maximum acceleration limit value and the set maximum speed limit value, wherein the focal plane segment source-changing time is the focal plane segment source-changing time of the support system.
2.2 determining the straight-line segment source changing time of the support system: determining the source changing time of a straight line segment core, determining the source changing time of a straight line segment cable drive, determining the source changing time of a straight line segment AB axis rotating mechanism, and determining the source changing time of a straight line segment multi-beam rotating mechanism, wherein the maximum value of the four times is the source changing time of the straight line segment.
2.3 determining the total source change time of the support system: the sum of the straight-line segment source changing time and the focal plane segment source changing time of the support system is the total source changing time of the support system;
the method for determining the source change plan of the active control mechanism specifically comprises the following steps:
3.1 determining a cable drive source change plan: the angular and phase position coordinates of the cable drives at the straight line segment and focal plane segment are programmed separately as a function of time.
3.2 determining AB axis rotating mechanism source changing plan: and planning the rotation angle of the AB axis rotating mechanism to change along with time in the total source changing time.
3.3 determine multi-beam rotating mechanism source change plan: the multi-beam rotation mechanism is programmed with a time-varying function of the angle of rotation over the total source change time.
The method for determining the straight-line segment source changing time of the support system specifically comprises the following steps:
2.2.1 the calculation method of the line segment core source-changing time (T _ for _ line) is as follows: and calculating the straight line segment core source changing time according to the source changing starting position Ph, the source changing inflection point position P0, the set maximum acceleration limit and the set maximum speed limit.
2.2.2 the calculation method of the straight-line segment cable driving source changing time (T _ cable _ line) comprises the following steps: and calculating the straight line segment cable drive source changing time according to the initial angle of the cable drive at the source changing starting position Ph, the angle which the cable drive should reach at the source changing inflection point position P0, the set maximum angular acceleration limit value and the set maximum angular velocity limit value. The influence of the cable-driven attitude angle on the cable force is considered, and the stability of the feed source supporting system mechanism can be further ensured.
2.2.3 the method for calculating the source changing time of the AB axis rotating mechanism of the straight-line segment comprises the following steps: calculating the total source changing time (T _ AB _ time) of the AB shaft rotating mechanism according to the initial angle of the AB shaft rotating mechanism at the source changing starting position Ph and the angle which the AB shaft rotating mechanism at the source changing ending position P1 should reach by combining the set maximum angular acceleration limit value and the set maximum angular velocity limit value; and subtracting the focal plane segment source changing time of the support system from the total source changing time of the AB axis rotating mechanism to obtain the source changing time (T _ AB _ time-T _ arc) of the straight line segment AB axis rotating mechanism.
2.2.4 method for calculating the time for changing source of linear segment multi-beam rotating mechanism includes: calculating the total source changing time (T _ horn _ time) of the multi-beam rotating mechanism by utilizing the initial angle of the multi-beam rotating mechanism at the source changing starting position Ph and the angle which the multi-beam rotating mechanism at the source changing ending position P1 should reach, and combining the set maximum angular acceleration limit value and the set maximum angular velocity limit value; and subtracting the focal plane section source changing time of the support system from the total source changing time of the multi-beam rotating mechanism to obtain the straight-line section multi-beam rotating mechanism source changing time (T _ horn _ time-T _ arc).
And 2.2.5, the straight-line segment source changing time of the support system is the maximum value among the straight-line segment core source changing time (T _ for _ line), the straight-line segment cable drive source changing time (T _ cable _ line), the straight-line segment AB axis rotating mechanism source changing time (T _ AB _ time-T _ arc) and the straight-line segment multi-beam rotating mechanism source changing time (T _ horn _ time-T _ arc).
The method for determining the cable drive source change plan specifically comprises the following steps:
3.1.1 the angle and phase position coordinates of the cable drives in the straight line segment can be planned as a function of time according to the initial angle of the cable drives at the source change starting position Ph, the angle which the cable drives should reach at the source change inflection point position P0 and the straight line segment source change time of the supporting system.
3.1.2 the angle of the cable drive and the phase position coordinates within the focal plane segment are planned as a function of time based on the initial angle of the cable drive at the source change knee position P0, as well as the angle the cable drive should reach at the source change end position P1 and the focal plane segment source change time of the support system.
The determining of the AB axis rotating mechanism source changing plan specifically comprises the following steps:
and planning a function of the angle of the AB axis rotating mechanism changing along with time in the total source changing time according to the initial angle of the AB axis rotating mechanism at the source changing initial position Ph, the angle which the AB axis rotating mechanism should reach at the source changing end position P1 and the total source changing time of the support system.
Wherein determining a multi-beam rotary mechanism source switching plan specifically comprises:
a function of the angle of the multi-beam rotation mechanism over time during the total sourcing time is planned based on the initial angle of the multi-beam rotation mechanism at the sourcing initial position Ph, and the angle that the multi-beam rotation mechanism should reach at the end-sourcing position P1 and the total sourcing time of the support system.
Therefore, in the whole source changing planning of the invention, the mode of combining the linear section source changing and the focal plane section source changing is used, the acceleration and deceleration of the motion mechanism of the feed source supporting system is reasonably planned, and the stability of the system in the source changing process is ensured.
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 source changing planning method for a feed source supporting system of a radio telescope is characterized by comprising the following steps: determining a source changing starting position and a source changing ending position; determining a point on the focal plane closest to the position of the source changing starting point, wherein the point is the position of a source changing inflection point; adopting a straight line segment to change the source from the source changing starting point position to the source changing inflection point position; adopting a focal plane section to change the source from the source changing inflection point position to the source changing end position; the source changing planning method also comprises the following steps of determining the source changing time of each stage of the support system: determining the focal plane segment source changing time of the support system, the straight line segment source changing time of the support system and the total source changing time of the support system:
determining the source changing time of a focal plane segment of the support system: acquiring a source changing coordinate and a distance of a feed source center on a focal plane by using the source changing inflection point position and the source changing end position; calculating focal plane segment source-changing time according to the set maximum acceleration limit value and the set maximum speed limit value, wherein the focal plane segment source-changing time is the focal plane segment source-changing time of the support system;
determining the straight-line segment source changing time of the support system: determining the source changing time of a straight line segment core, determining the source changing time of a straight line segment cable drive, determining the source changing time of a straight line segment AB axis rotating mechanism, and determining the source changing time of a straight line segment multi-beam rotating mechanism, wherein the maximum value of the four times is the source changing time of the straight line segment;
determining the total source changing time of the support system: the sum of the straight-line segment source changing time and the focal plane segment source changing time of the support system is the total source changing time of the support system.
2. The source change planning method according to claim 1, wherein: further comprising determining an active control mechanism source change plan: and determining source changing plans of the cable drive, the AB shaft rotating mechanism and the multi-beam rotating mechanism.
3. The source change planning method according to claim 1, wherein:
the specific method for determining the straight-line segment source changing time of the support system comprises the following steps:
the calculation method of the linear segment source-exchanging time comprises the following steps: calculating the linear segment core source-changing time according to the source-changing starting point position, the source-changing inflection point position, the set maximum acceleration limit value and the set maximum speed limit value;
the method for calculating the time for changing the source by driving the linear cable comprises the following steps: calculating the linear section cable drive source changing time according to the initial angle of the cable drive at the source changing starting point position, the angle which the cable drive should reach at the source changing inflection point position, the set maximum angular acceleration limit value and the set maximum angular velocity limit value; the influence of the cable-driven attitude angle on the cable force is considered, and the stability of the feed source supporting system mechanism can be further ensured;
the method for calculating the source changing time of the linear section AB axis rotating mechanism comprises the following steps: calculating the total source changing time of the AB shaft rotating mechanism according to the initial angle of the AB shaft rotating mechanism at the source changing starting position and the angle which the AB shaft rotating mechanism at the source changing ending position should reach, and combining the set maximum angular acceleration limit value and the set maximum angular velocity limit value; subtracting the focal plane section source changing time of the support system from the total source changing time of the AB axis rotating mechanism to obtain the source changing time of the straight-line section AB axis rotating mechanism;
the method for calculating the source switching time of the linear segment multi-beam rotating mechanism comprises the following steps: calculating the total source changing time of the multi-beam rotating mechanism by utilizing the initial angle of the multi-beam rotating mechanism at the source changing starting position and the angle which the multi-beam rotating mechanism at the source changing ending position should reach and combining the set maximum angular acceleration limit value and the set maximum angular velocity limit value; subtracting the focal plane section source changing time of the support system from the total source changing time of the multi-beam rotating mechanism to obtain the source changing time of the straight-line section multi-beam rotating mechanism;
and the straight-line segment source changing time of the support system is the maximum value of the straight-line segment core source changing time, the straight-line segment cable drive source changing time, the straight-line segment AB axis rotating mechanism source changing time and the straight-line segment multi-beam rotating mechanism source changing time.
4. The source change planning method of claim 2, wherein:
the specific method for determining the active control mechanism source change plan comprises the following steps:
determining a cable drive source change plan: respectively planning the angle and phase position coordinates of the cable drive in the straight line section and the focal plane section as a function of time;
determining AB axis rotating mechanism source changing plan: planning a function of the rotation angle of the AB axis rotating mechanism along with time in the total source changing time;
determining a multi-beam rotating mechanism source changing plan: the multi-beam rotation mechanism is programmed with a time-varying function of the angle of rotation over the total source change time.
5. The source change planning method of claim 4, wherein:
the method for determining the cable drive source change plan specifically comprises the following steps:
according to the initial angle of the cable drive at the source changing starting point position, the angle which the cable drive should reach at the source changing inflection point position and the straight-line segment source changing time of the support system, the function of the change of the angle of the cable drive in the straight-line segment and the coordinate of the phase position along with the time can be planned;
and planning a function of the angle of the cable drive in the focal plane section and the change of the coordinates of the phase position along with the time according to the initial angle of the cable drive at the position of the source changing inflection point, the angle which the cable drive should reach at the position of the source changing end and the focal plane section source changing time of the support system.
6. The source change planning method of claim 4, wherein:
the determining of the AB axis rotating mechanism source changing plan specifically comprises the following steps:
and planning a function of the angle of the AB axis rotating mechanism changing along with time in the total source changing time according to the initial angle of the AB axis rotating mechanism at the source changing initial position, the angle which the AB axis rotating mechanism should reach at the source changing end position and the total source changing time of the support system.
7. The source change planning method of claim 4, wherein:
wherein determining a multi-beam rotary mechanism source switching plan specifically comprises:
and planning a function of the angle of the multi-beam rotating mechanism changing along with time in the total source changing time according to the initial angle of the multi-beam rotating mechanism at the source changing initial position, the angle which the multi-beam rotating mechanism should reach at the source changing end position and the total source changing time of the supporting system.
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