CN113556065A - Safety protection system for large-aperture telescope - Google Patents
Safety protection system for large-aperture telescope Download PDFInfo
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- CN113556065A CN113556065A CN202110753006.6A CN202110753006A CN113556065A CN 113556065 A CN113556065 A CN 113556065A CN 202110753006 A CN202110753006 A CN 202110753006A CN 113556065 A CN113556065 A CN 113556065A
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 9
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- 238000010438 heat treatment Methods 0.000 claims description 6
- 229910052742 iron Inorganic materials 0.000 claims description 6
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- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
- H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by short-circuit or resistive braking
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
- H02P3/26—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by combined electrical and mechanical braking
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- Power Engineering (AREA)
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- Astronomy & Astrophysics (AREA)
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The application belongs to the technical field of electric braking and mechanical braking, and provides a large-caliber telescope safety protection system, which comprises: the device comprises a microprocessor, a detection device, a driving amplifier, a relay, a contactor group, a servo system, a permanent magnet brushless torque motor, an energy consumption braking circuit, a mechanical brake interface, an electric permanent magnet sucker driving controller, an electric permanent magnet sucker, a digital interface, a communication interface, a display device and an acousto-optic indicator lamp. And the microprocessor receives an external set threshold value through the communication interface, compares the real-time monitoring signal of the detection device with the set threshold value and judges whether the telescope is in a working state or a fault state. The application provides a large-caliber telescope safety protection system combining energy consumption braking and permanent magnetic disc friction braking, which is simple in structure, reliable in control and adjustable in braking acceleration.
Description
Technical Field
The application relates to the technical field of electric braking and mechanical braking, in particular to a safety protection system for a large-caliber telescope.
Background
The servo system of the large-caliber telescope is a core component for realizing tracking and positioning tasks of the telescope, and the safety protection system is designed to ensure that the telescope can still be stopped quickly and stably when the servo system fails or is out of control so as to avoid dangerous accidents of equipment and personnel.
The servo system has the fault protection functions of: the bus power supply is over-under-voltage, phase current is over-current, the motor is over-temperature protected, and the like, and the bus power supply also has triple limiting protection of software limiting, electric limiting and mechanical limiting. However, a single-denier digital processor runs away, a sensor fails, a servo system is out of control, and the like, can cause abnormal movement of the telescope and even flying.
Inertia of the large-caliber telescope can reach tens of thousands of kg.m2, once the telescope is out of control or flies, impact is large when the telescope impacts mechanical limit, and the telescope is slightly impacted to cause the mechanical limit to be damaged; and catastrophic results such as damage to the on-board optical system are caused. Therefore, a third-party safety protection system independent of the servo system is designed, so that the telescope can be stopped quickly and stably in abnormal operation or emergency, and the safety of personnel and equipment is guaranteed.
The large-caliber telescope mostly adopts a horizontal structure, and has the following motion characteristics: low rotation speed, large inertia, large moment and position limitation. In addition, the system on the telescope is complex, displacement and severe vibration are not allowed to occur after calibration, and particularly, the limit of the pitch axis exceeding the low angle of 0 degree or the high angle of 90 degrees is not allowed. Therefore, when the large-caliber telescope runs abnormally, on one hand, the acceleration is required to be as large as possible when the large-caliber telescope is braked, and the large-caliber telescope can be quickly stopped; on the other hand, the braking process is required to be as stable as possible, no vibration and impact occur, and the acceleration cannot be very large.
For the large-aperture telescope, because the rotating speed is low, the electric short-circuit energy-consumption braking can be adopted, the kinetic energy is consumed on the motor winding in a heating mode, the circuit and the control are simple, the braking process is relatively stable, but the braking torque is reduced along with the reduction of the rotating speed of the motor, so that the braking time is longer; if a mechanical brake with large braking torque is used for braking independently, the large-caliber telescope can be stopped quickly, but the large-caliber telescope is large in size and complex in equipment, and an oil path or a braking gap and the like need to be maintained regularly. For the feedback braking in the electric braking, the design control is very complicated, and the requirement of the large-caliber telescope on safety and reliability is not met.
Disclosure of Invention
Based on the technical scheme, the safety protection system of the large-aperture telescope is combined with energy consumption braking and permanent magnet disc friction braking, and is simple in structure, reliable in control and adjustable in braking acceleration.
In order to solve the above technical problem, the present application provides a large-caliber telescope safety protection system, including: microprocessor, detection device, drive amplifier, relay, contactor group, servo system, permanent magnet brushless torque motor, energy consumption brake circuit, mechanical brake interface, electric permanent magnet sucker drive controller, electric permanent magnet sucker, digital interface, communication interface, display device, acousto-optic indicator lamp,
the microprocessor receives an external set threshold value through the communication interface, compares a real-time monitoring signal of the detection device with the set threshold value, and judges whether the telescope is in a working state or a fault state, when the real-time detection signal exceeds the range of the set threshold value, the telescope is in the fault state, a control signal output by a digital interface of the microprocessor passes through the drive amplifier, the drive amplifier drives the relay, the relay controls the contact group to act, the control coil power supply of the contact group is communicated, the energy consumption braking circuit is connected with the permanent magnet brushless torque motor, the electric braking is started, and meanwhile, the servo system is disconnected with the permanent magnet brushless torque motor;
and a digital interface of the microprocessor outputs a control signal, the electric permanent magnetic chuck driving controller is controlled by a mechanical braking interface, and the electric permanent magnetic chuck driving controller drives the electric permanent magnetic chuck to act.
Preferably, the signals monitored by the detection device comprise telescope position signals, motor current signals, servo system direct current power supply voltage signals, motor temperature signals, limit switch signals, servo system fault signals and manual emergency stop signals.
Preferably, the detection device includes:
the communication interface receives the position signal decoded by the external photoelectric encoder;
a Hall sensor for detecting the motor current and the DC power supply voltage signal of the servo system,
a PTC thermistor circuit for detecting the temperature of the permanent magnet brushless torque motor,
the signals collected by the Hall sensor and the PTC thermistor circuit are input to the microprocessor through the analog signal conditioning circuit and the analog-to-digital converter,
a digital interface for receiving a switch state signal: limit switch signal, servo system fault signal, manual scram signal.
Preferably, the contactor group comprises contactors KM1 and KM2, and the star grafting method is adopted.
Preferably, when the large-caliber telescope normally runs, the contactor KM1 is switched on, the contactor KM2 is switched off, and the permanent magnet brushless torque motor is connected with the servo system and normally runs electrically; when the large-aperture telescope is in fault in operation, the contactor KM2 is switched on, the contactor KM1 is switched off, the three-phase winding of the permanent magnet brushless torque motor is in short circuit, kinetic energy is consumed on the winding resistor of the permanent magnet brushless torque motor in a heating mode, and the large-aperture telescope is braked to operate in energy consumption.
Preferably, the electric permanent magnetic chucks are symmetrically distributed and installed below the azimuth axis system iron turntable or the pitch axis system iron turntable, and in a non-braking state, the electric permanent magnetic chucks are fixed on the mechanism device, the electric permanent magnetic chuck driving controller demagnetizes the electric permanent magnetic chucks, the electric permanent magnetic chucks have no magnetic adsorption force on the axis system turntable, and the electric permanent magnetic chucks are separated from the axis system turntable; when the electric permanent magnet chuck driving controller is in a braking state, the electric permanent magnet chuck drives the electric permanent magnet chuck to be magnetized, the electric permanent magnet chuck generates magnetic adsorption force on the shafting turntable, and the shafting turntable is adsorbed to generate friction force.
Preferably, the formula of the friction torque of the electric permanent magnetic chuck is as follows: and M is N mu FR, N is the number of the permanent magnetic chucks, u is the friction coefficient, F is the maximum adsorption force, and R is the braking radius.
Preferably, the maximum kinetic energy formula of the shafting motion process is as follows:
unit joule, J being the total inertia of the shafting, w being the mechanical angular velocity,
the formula of the angular travel of the shafting from the maximum speed to the standstill is as follows:
unit degree, M is the friction torque of the permanent magnetic chuck, Me is the energy consumption braking torque, Mf is the sliding friction torque,
shafting braking acceleration formula:
the unit °/s 2.
Preferably, the permanent magnet brushless torque motor is a permanent magnet brushless dc motor or a permanent magnet synchronous motor.
Preferably, the dynamic braking circuit is an electrical short-circuit dynamic braking.
The beneficial effect of this application:
the application utilizes the principles of dynamic braking and mechanical braking, provides a large-caliber telescope safety protection system combining dynamic braking and permanent magnet sucker friction braking, and is characterized by simple structure, reliable control and adjustable braking acceleration. When a servo system of the large-caliber telescope fails or flies, the brake can be quickly and stably stopped. On the basis of the protection function of the servo system, a layer of third-party safety protection is added, and double-layer protection is achieved. On the one hand, the contactor disconnects the servo system, further exerts out-of-control moment after the servo system breaks down, and simultaneously protects the servo system from further damage. On the other hand, the three-phase short circuit energy-consumption braking consumes the kinetic energy on the motor resistor in a heating mode.
In addition, the electric permanent magnetic chuck drive controller adjusts the adsorption force of the electric permanent magnetic chuck by setting magnetizing current, and can control the braking acceleration of the telescope to meet the requirements of rapidity and stability. The problem of longer parking time caused by the fact that the dynamic braking torque is reduced along with the reduction of the rotating speed of the motor is solved by combining the dynamic braking with the friction braking of the permanent magnetic chuck. Compared with the traditional friction disk brake, the brake has small volume, light weight, no maintenance and adjustable brake torque.
The safety protection system for the large-aperture telescope has the functions of automatic protection and manual emergency stop protection, and safety of personnel and equipment is guaranteed. Through the display of the fault codes, the fault types can be quickly identified, and the fault is conveniently eliminated.
Drawings
FIG. 1 is a schematic structural component diagram of a safety protection system for a large-aperture telescope according to an embodiment of the present disclosure;
FIG. 2 is a block diagram of a detection device of a safety protection system for a large-aperture telescope according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a work flow of a safety protection system for a large-aperture telescope according to an embodiment of the present disclosure;
FIG. 4 is a braking speed curve of the azimuth axis system provided by the embodiment of the present application at a maximum speed of 20 °/s;
FIG. 5 is a brake stroke graph of an azimuth axis system provided by an embodiment of the present application at a maximum speed of 20 °/s;
FIG. 6 is a brake speed graph of a pitch axis system at a maximum speed of 8 °/s according to an embodiment of the present application;
fig. 7 is a brake stroke graph of a pitch axis system at a maximum speed of 8 °/s according to an embodiment of the present application.
The meaning of the reference symbols in the drawings is:
1. a microprocessor; 2. 13, 21, a digital interface; 3. a driver amplifier; 4. a relay;
5. a set of contacts; 5_1, contactor KM1, 5_2, contactor KM 2;
6. a permanent magnet brushless torque motor; 7. a detection device; 8. a servo system; 9. an energy consumption braking circuit;
10. 11, 16, a communication interface; 12. a display device; 14. a mechanical brake interface;
15. an acousto-optic indicator light; 17. a Hall sensor; 18. an analog signal conditioning circuit;
19. a PTC thermistor circuit; 20. a digital-to-analog converter; 22. an emergency stop button;
23. an electric permanent magnetic chuck drive controller; 24. an electric permanent magnetic chuck.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Example 1:
referring to fig. 1, a safety protection system for a large-aperture telescope includes: microprocessor 1, detection device 7, drive amplifier 3, relay 4, contactor group 5, servo system 8, permanent magnet brushless torque motor 6, energy consumption brake circuit 9, mechanical brake interface 14, electric permanent magnet sucker drive controller 23, electric permanent magnet sucker 24, digital interfaces 2, 13, 21, communication interfaces 10, 11, display device 12, acousto-optic indicator light 15,
the microprocessor 1 is a control core of a safety protection system of the large-aperture telescope and mainly completes functions of communication, external signal reading, control signal output and the like. The microprocessor 1 receives an external set threshold value through the communication interface 10, compares a real-time monitoring signal of the detection device 7 with the set threshold value, and judges whether the telescope is in a working state or a fault state, if the real-time monitoring signal exceeds the range of the set threshold value, the telescope is in the fault state, a control signal output by the digital interface 2 of the microprocessor 1 passes through the driving amplifier 3, the driving amplifier 3 drives the relay 4, the relay 4 controls the contact set 5 to act, the control coil power supply of the contact set 5 is communicated, the energy consumption braking circuit 9 is connected with the permanent magnet brushless torque motor 6 to enter electric braking, and meanwhile, the servo system 8 is disconnected with the permanent magnet brushless torque motor 6; the servo system 8 is protected from the influence of the permanent magnet brushless torque motor 6.
Meanwhile, the digital interface 13 of the microprocessor 1 outputs a control signal, the electric permanent magnetic chuck driving controller 23 is controlled through the mechanical braking interface 14, and the electric permanent magnetic chuck driving controller 23 drives the electric permanent magnetic chuck 24 to act.
The detection device 7 can also receive a remote manual emergency stop signal, and the telescope can be manually braked in emergency. The microprocessor 1 is connected to a display device 12 via a communication interface 11, which locally displays the safety or fault status code of the telescope. The microprocessor 1 is connected with an acousto-optic indicator lamp through a digital interface 13 to indicate and alarm fault states. The microprocessor 1 sends a fault code to the upper computer via the communication interface 10.
The detection device 7 is a sensing organ of a safety protection system of the large-aperture telescope, collects a real-time working state signal of the telescope and sends the signal to the microprocessor 1. The signals monitored by the detection device 7 comprise telescope position signals, motor current signals, servo system direct current power supply voltage signals, motor temperature signals, limit switch signals, servo system fault signals and manual emergency stop signals.
The position signal can be from the decoding information of the photoelectric encoder, the motor speed can be obtained through position difference calculation, the motor acceleration can be obtained through speed difference, and then whether the telescope has speed and acceleration exceeding faults or not can be monitored; the motor current signal can monitor whether the motor has an overcurrent fault; the servo system power supply voltage can monitor whether power supply overvoltage and undervoltage faults exist; judging whether the temperature of the motor exceeds the standard or not; the limit switch signal is used for judging whether the telescope exceeds a limit position; a servo system fault signal is used for judging whether the driver has a fault; and a manual emergency stop signal is used for judging whether an emergency stop instruction of an emergency condition exists.
The detection device 7 is composed of the following parts: a communication interface 16 for receiving the position signal decoded by the external photoelectric encoder; the Hall sensor 17 is used for detecting the current of the motor and the voltage signal of the direct-current power supply of the servo system, the PTC thermistor circuit is used for detecting the temperature of the permanent magnet brushless torque motor, and the analog signals can be input into the microprocessor 1 only through the analog signal conditioning circuit 18 and the digital-to-analog converter 20; digital interface 21, receiving the switch status signal: limit switch signal, servo system fault signal, manual scram signal.
The contactor group 5 comprises contactors KM1 and KM2, and adopts a sealed star connection method. The contactor group 5 is an electric braking execution device, the on-off of the main contacts of the contactor KM1 and the contactor KM2 determine whether the permanent magnet brushless torque motor 6 is in an electric or braking working state, the main contacts form mechanical interlocking, the telescope can only work in the electric or braking state, the electric branch and the braking branch cannot simultaneously work to cause faults, and the control is simple, safe and reliable. When the telescope normally runs, the contactor KM1 is switched on, the contactor KM2 is switched off, the permanent magnet brushless torque motor is connected with the servo system, and the telescope normally runs electrically; when the large-caliber telescope is in fault in operation, the contactor KM2 is switched on, the contactor KM1 is switched off, the three-phase winding of the permanent magnet brushless torque motor is in short circuit, kinetic energy is consumed on the winding resistor of the motor in a heating mode, and the large-caliber telescope is braked to operate.
The electric permanent magnetic chucks 24 are symmetrically arranged below the azimuth axis system iron turntable or the pitch axis system iron turntable. In a non-braking state, the electric permanent magnetic chuck 24 is fixed on the mechanism device, the electric permanent magnetic chuck driving controller 23 demagnetizes the electric permanent magnetic chuck 24, the electric permanent magnetic chuck 24 has no magnetic adsorption force on the shafting turntable, and is separated from the shafting turntable by 2-3 mm under the action of a tension spring, so that the normal rotation of the shafting is not influenced; when in a braking state, the electric permanent magnet sucker driving controller 23 magnetizes the electric permanent magnet sucker, the electric permanent magnet sucker 24 generates magnetic adsorption force on the shafting turntable, the tension of the tension spring is overcome, and the adsorption shafting turntable generates friction force.
The electric permanent magnet sucker driving controller 23 adjusts the adsorption force by setting magnetizing current, so that the friction braking torque is adjusted, when the power-consumption braking operation is started, the servo system is disconnected, the microprocessor 1 outputs a mechanical braking signal, and the electric permanent magnet sucker driving controller 23 magnetizes the permanent magnet sucker, performs friction braking and combines power-consumption braking, so that the large-caliber telescope is rapidly and stably parked.
Formula of friction torque of permanent magnetic chuck: m is N mu FR, N is the number of the permanent magnetic chucks, u is the friction coefficient, F is the maximum adsorption force, the maximum adsorption force F can be adjusted through magnetizing current, and R is the braking radius.
The maximum kinetic energy formula of the shafting motion process is as follows:
unit joule, J is the total inertia of the shafting, and w is the mechanical angular velocity.
The formula of the angular travel of the shafting from the maximum speed to the standstill is as follows:
unit degree, M is permanent magnetic chuck friction torque, Me is energy consumption braking torque, Mf is sliding friction torque。
Shafting braking acceleration formula:
the unit °/s 2.
According to the requirements of the braking angle stroke theta and the braking acceleration a, the permanent magnet friction torque M is determined by selecting the number N of the permanent magnet suckers and the maximum adsorption force F, so that the braking performance of the large-aperture telescope can be adjusted according to requirements.
The dynamic braking circuit 9 is used for electrically short-circuit dynamic braking, and can also increase a three-phase braking resistor according to the limitation of braking torque and braking current.
The permanent magnet brushless torque motor 6 can be a permanent magnet brushless direct current motor or a permanent magnet synchronous motor.
In this embodiment, the microprocessor 1 is an ARM, and the model is sim3c166-b-gq of Silicon corporation, but the present embodiment is not limited thereto, and the microprocessor 1 may also be another digital controller such as a single chip microcomputer or a DSP.
In this embodiment, the digital interfaces 2, 13, and 21 are composed of an IO interface and a level conversion chip on an ARM chip.
In this embodiment, the communication interfaces 10, 11, and 16 are formed by a UART interface on an ARM chip and a serial port conversion chip, so as to implement RS422 communication.
In this embodiment, the hall sensor 17 is an isolated hall voltage and current sensor manufactured by LEM corporation.
In this embodiment, the analog signal conditioning circuit 18 is an operational amplifier and low-pass filter circuit composed of an operational amplifier LMV 358.
In this embodiment, the adc 20 is an on-chip adc of an ARM, and has a resolution of 12 bits.
In this embodiment, the contactor group 5 is a MG5-BF series contactor of tianjin second current collector factory, and the star connection method is adopted.
In this embodiment, the relay 4 is a 5V relay of song le corporation.
In this embodiment, the mechanical brake interface 14 is a 24V relay, and its normally open or normally closed contact is used to control the enabling or disabling of the external mechanical brake.
In this embodiment, the electric permanent magnetic chuck driving controller is a HEPC11-30 type controller of hanwei magnetoelectric corporation, and has maximum outputs of DC90V and 50A.
In this embodiment, the electric permanent magnet chuck model of adoption is hanwei magnetoelectric company's HEPM-1506TR, and adsorption power 3000N.
In this embodiment, the azimuth axis system selects an electro-permanent magnetic chuck controller to drive 4 permanent magnetic chucks symmetrically distributed and fixed on the azimuth base, and the pitch axis system selects an electro-permanent magnetic chuck controller to drive 2 permanent magnetic chucks diametrically installed on the pitch upright post.
In this embodiment, the permanent magnet brushless torque motor 6 may be a permanent magnet brushless dc motor or a permanent magnet synchronous motor.
In this embodiment, the braking circuit 9 is an electrical short-circuit energy-consumption brake, and a three-phase braking resistor can also be added according to the limitation of braking torque and braking current.
The application relates to a safety protection system of a large-caliber telescope, and a specific working flow refers to fig. 3, and with reference to fig. 1, fig. 2 and fig. 3, it can be seen that a microprocessor 1 receives a set threshold value from an upper computer, compares the set threshold value with a real-time detection value of a detection device 7, automatically monitors the working state of the large-caliber telescope, when the voltage, current, speed, acceleration, temperature and limit detected in real time exceed the range of the safety threshold value, a fault is indicated, a fault indicator lamp is on, the microprocessor 1 controls a contactor KM1 to be disconnected, a KM2 is switched on, a permanent magnet brushless torque motor 6 is disconnected with a servo system 8 and communicated with an energy consumption brake circuit 9, namely a three-phase winding is in short circuit, energy consumption brake is started, the kinetic energy of the large-caliber telescope is consumed on a stator winding resistor of the permanent magnet brushless torque motor 6, and meanwhile, the microprocessor 1 outputs a mechanical brake control signal, and an external mechanical brake is controlled to start braking, the two brakes work simultaneously until the telescope stops, the microprocessor 1 sends a fault code to the upper computer, the fault type is conveniently and quickly identified, and after a worker confirms and eliminates the fault, the fault can be reset, so that the telescope enters a normal electric operation state again. In addition, in an emergency, when a manual emergency stop signal is input, the microprocessor 1 can also control the contact set 5 to act, so that the permanent magnet brushless torque motor 6 enters into the electrically short-circuited dynamic braking. When the real-time detection value of the detection device 7 is within the set threshold range and no manual emergency stop signal is input, the safety indicator lamp is turned on, the microprocessor 1 controls the contactor KM1 to be switched on, the contactor KM2 is switched off, the permanent magnet brushless torque motor 6 is switched on with the servo system 8, and the servo system 8 controls the telescope to normally operate according to a control command sent by the upper computer.
As can be seen from fig. 4 and 5, the azimuth axis is at a maximum speed of 20 °/s, a braking time of 2.7s, and a braking stroke of 17.8 °; as can be seen from fig. 6 and 7, the pitch axis system has a maximum speed of 8 °/s, a braking time of 2.1s, and a braking stroke of 6.3 °. The braking effect meets the requirements of braking protection of the large-aperture telescope on rapidity, safety and stability.
The application utilizes the principles of dynamic braking and mechanical braking, provides a large-caliber telescope safety protection system combining dynamic braking and permanent magnet sucker friction braking, and is characterized by simple structure, reliable control and adjustable braking acceleration. When a servo system of the large-caliber telescope fails or flies, the brake can be quickly and stably stopped. On the basis of the protection function of the servo system, a layer of third-party safety protection is added, and double-layer protection is achieved. On the one hand, the contactor disconnects the servo system, further exerts out-of-control moment after the servo system breaks down, and simultaneously protects the servo system from further damage. On the other hand, the three-phase short circuit energy-consumption braking consumes the kinetic energy on the motor resistor in a heating mode.
In addition, the electric permanent magnetic chuck drive controller adjusts the adsorption force of the electric permanent magnetic chuck by setting magnetizing current, and can control the braking acceleration of the telescope to meet the requirements of rapidity and stability. The problem of longer parking time caused by the fact that the dynamic braking torque is reduced along with the reduction of the rotating speed of the motor is solved by combining the dynamic braking with the friction braking of the permanent magnetic chuck. Compared with the traditional friction disk brake, the brake has small volume, light weight, no maintenance and adjustable brake torque.
The safety protection system for the large-aperture telescope has the functions of automatic protection and manual emergency stop protection, and safety of personnel and equipment is guaranteed. Through the display of the fault codes, the fault types can be quickly identified, and the fault is conveniently eliminated.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express the preferred embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A large-aperture telescope safety protection system is characterized by comprising: microprocessor, detection device, drive amplifier, relay, contactor group, servo system, permanent magnet brushless torque motor, energy consumption brake circuit, mechanical brake interface, electric permanent magnet sucker drive controller, electric permanent magnet sucker, digital interface, communication interface, display device, acousto-optic indicator lamp,
the microprocessor receives an external set threshold value through the communication interface, compares a real-time monitoring signal of the detection device with the set threshold value, and judges whether the telescope is in a working state or a fault state, when the real-time detection signal exceeds the range of the set threshold value, the telescope is in the fault state, a control signal output by a digital interface of the microprocessor passes through the drive amplifier, the drive amplifier drives the relay, the relay controls the contact group to act, the control coil power supply of the contact group is communicated, the energy consumption braking circuit is connected with the permanent magnet brushless torque motor, the electric braking is started, and meanwhile, the servo system is disconnected with the permanent magnet brushless torque motor;
and a digital interface of the microprocessor outputs a control signal, the electric permanent magnetic chuck driving controller is controlled by a mechanical braking interface, and the electric permanent magnetic chuck driving controller drives the electric permanent magnetic chuck to act.
2. The system of claim 1, wherein the signals monitored by the detection device include telescope position signals, motor current signals, servo system dc power voltage signals, motor temperature signals, limit switch signals, servo system fault signals, and manual emergency stop signals.
3. The large aperture telescope safety protection system of claim 2, wherein the detection device comprises:
the communication interface receives the position signal decoded by the external photoelectric encoder;
a Hall sensor for detecting the motor current and the DC power supply voltage signal of the servo system,
a PTC thermistor circuit for detecting the temperature of the permanent magnet brushless torque motor,
the signals collected by the Hall sensor and the PTC thermistor circuit are input to the microprocessor through the analog signal conditioning circuit and the analog-to-digital converter,
a digital interface for receiving a switch state signal: limit switch signal, servo system fault signal, manual scram signal.
4. The safety protection system for large-aperture telescope as claimed in claim 1, wherein the set of contactors, including contactors KM1 and KM2, uses star-sealed connection.
5. The safety protection system for the large-aperture telescope according to claim 4, wherein the contactor KM1 is turned on and the contactor KM2 is turned off when the large-aperture telescope is in normal operation, and the permanent magnet brushless torque motor is connected with the servo system and is in normal electric operation; when the large-aperture telescope is in fault in operation, the contactor KM2 is switched on, the contactor KM1 is switched off, the three-phase winding of the permanent magnet brushless torque motor is in short circuit, kinetic energy is consumed on the winding resistor of the permanent magnet brushless torque motor in a heating mode, and the large-aperture telescope is braked to operate in energy consumption.
6. The safety protection system for a large-aperture telescope according to claim 1, wherein said electro-permanent magnetic chuck is symmetrically disposed under the azimuth axis system iron turntable or the pitch axis system iron turntable, and in a non-braking state, said electro-permanent magnetic chuck is fixed on the mechanism device, said electro-permanent magnetic chuck driving controller demagnetizes said electro-permanent magnetic chuck, said electro-permanent magnetic chuck has no magnetic attraction to the axis system turntable, and said electro-permanent magnetic chuck is separated from said axis system turntable; when the electric permanent magnet chuck driving controller is in a braking state, the electric permanent magnet chuck drives the electric permanent magnet chuck to be magnetized, the electric permanent magnet chuck generates magnetic adsorption force on the shafting turntable, and the shafting turntable is adsorbed to generate friction force.
7. The safety protection system for a large-aperture telescope according to claim 6, wherein the electro-permanent-magnet chuck friction torque formula is as follows: and M is N mu FR, N is the number of the permanent magnetic chucks, u is the friction coefficient, F is the maximum adsorption force, and R is the braking radius.
8. The safety protection system for a large-aperture telescope according to claim 7, wherein the maximum kinetic energy formula of the shafting motion process is as follows:
unit joule, J being the total inertia of the shafting, w being the mechanical angular velocity,
the formula of the angular travel of the shafting from the maximum speed to the standstill is as follows:
unit degree, M is the friction torque of the permanent magnetic chuck, Me is the energy consumption braking torque, Mf is the sliding friction torque,
shafting braking acceleration formula:
the unit °/s 2.
9. The safety protection system for a large-aperture telescope according to claim 1, wherein said permanent magnet brushless torque motor is a permanent magnet brushless dc motor or a permanent magnet synchronous motor.
10. The large aperture telescope safety protection system of claim 1, wherein the dynamic braking circuit is an electrical short dynamic brake.
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| CN202110753006.6A CN113556065A (en) | 2021-07-02 | 2021-07-02 | Safety protection system for large-aperture telescope |
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| CN202110753006.6A CN113556065A (en) | 2021-07-02 | 2021-07-02 | Safety protection system for large-aperture telescope |
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Cited By (1)
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| CN116381925A (en) * | 2023-04-18 | 2023-07-04 | 山东大学 | Astronomical telescope limit protection method and device and astronomical telescope system |
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