CN113945210A - Method and device for quickly positioning foundation large-caliber optical telescope and telescope - Google Patents
Method and device for quickly positioning foundation large-caliber optical telescope and telescope Download PDFInfo
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Abstract
The invention is suitable for the technical field of astronomical observation, and provides a method and a device for quickly positioning a foundation large-caliber optical telescope and the telescope, wherein the method comprises the following steps: calculating reference speed and positioning position errors according to the target position instruction aiming at the telescope; calculating a speed curve of the telescope in a deceleration stage, namely a deceleration curve, by adopting the maximum acceleration of the telescope, the positioning position error and the reference speed; and calculating the speed curve of the telescope at each moment according to the deceleration curve, the maximum speed and the maximum acceleration of the telescope, and generating a motion instruction aiming at the target position. The telescope can be switched and positioned quickly, stably and accurately due to the fact that the actual motion command comprises the maximum speed and the maximum acceleration information of the telescope.
Description
Technical Field
The invention belongs to the astronomical observation technology, and particularly relates to a method and a device for quickly positioning a foundation large-caliber optical telescope and the telescope.
Background
The foundation large-caliber optical telescope has large rotational inertia and low mechanical resonance frequency of a control system, so that the dynamic response bandwidth of the control system is limited. During observation of the telescope, when an observation target is switched, the telescope is generally required to be switched at a large angle. The telescope control system can enter a nonlinear saturation link under the limitation of the dynamic response bandwidth, the maximum speed and the maximum acceleration of the telescope, so that the controller has long depolyated saturation time, and oscillation and even limit cycle phenomena occur when the controller is close to a positioning position, thereby causing long telescope position switching time. In order to solve the problems, the traditional telescope control system generally adopts a position segmentation control method, an anti-integral saturation strategy or a variable structure controller method. However, the conventional position location method has a problem in that the location process time is not designed according to the fastest speed and the maximum acceleration capability of the system, resulting in a long location time.
Disclosure of Invention
The invention aims to provide a method and a device for quickly positioning a foundation large-aperture optical telescope and the telescope, and aims to solve the technical problem that the positioning time of the foundation large-aperture optical telescope is long in the prior art.
In a first aspect, the present invention provides a method for rapidly positioning a ground-based large-aperture optical telescope, the method comprising:
calculating reference speed and positioning position errors according to the target position instruction aiming at the telescope;
calculating a speed curve of the telescope in a deceleration stage, namely a deceleration curve, by adopting the maximum acceleration of the telescope, the positioning position error and the reference speed;
and calculating the speed curve of the telescope at each moment according to the deceleration curve, the maximum speed and the maximum acceleration of the telescope, and generating a motion instruction aiming at the target position.
Optionally, the step of calculating the reference velocity according to the target position command for the telescope includes:
acquiring a target position instruction for the telescope;
and calculating a reference speed according to the current position and the target position of the telescope.
Optionally, the step of calculating a speed curve of the telescope in a deceleration stage by using the maximum acceleration of the telescope, the positioning position error and the reference speed includes:
calculating a positioning position error according to the current position and the target position of the telescope;
and calculating the speed curve of the telescope at each moment according to the maximum acceleration of the telescope, the reference speed and the positioning position error.
Optionally, the step of calculating a speed curve of the telescope at each time according to the deceleration curve, the maximum speed of the telescope, and the maximum acceleration, and generating a motion command for a target position includes:
calculating the estimated speed of the next time period according to the speed of the current time period and the maximum acceleration of the telescope; at the same time, the user can select the desired position,
calculating a deceleration speed of a next time period from the deceleration curve;
and determining the response speed of the telescope in the next time period from the estimated speed, the deceleration speed and the maximum speed of the telescope, and generating a motion instruction aiming at the target position according to the response speed.
In a second aspect, the present invention further provides a device for quickly positioning a ground-based large-aperture optical telescope, including:
the reference speed calculation module is used for calculating a reference speed and a positioning position error according to a target position instruction aiming at the telescope;
the deceleration curve calculation module is used for calculating a speed curve of the telescope in a deceleration stage, namely a deceleration curve, by adopting the maximum acceleration of the telescope, the positioning position error and the reference speed;
and the speed determining module is used for calculating the speed curve of the telescope at each moment according to the deceleration curve, the maximum speed and the maximum acceleration of the telescope and generating a motion instruction aiming at the target position.
In a third aspect, the invention further provides a foundation large-aperture optical telescope, wherein the telescope comprises a processor, a telescope system controller, a driving motor and a position encoder, the telescope system controller is electrically connected with the processor, the driving motor and the position encoder respectively, and the position encoder is electrically connected with the driving motor; and after receiving the motion instruction sent by the processor, the telescope system controller controls the driving motor to drive the telescope to move, and meanwhile, the position encoder feeds back the position of the telescope system controller.
In a fourth aspect, the present invention further provides a ground-based large-aperture optical telescope, including:
a processor; and
a memory communicatively coupled to the processor; wherein the content of the first and second substances,
the memory stores readable instructions which, when executed by the processor, implement the method of the first aspect.
In a fifth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed, performs the method of the first aspect.
In the method and the device for quickly positioning the foundation large-aperture optical telescope and the telescope, the foundation large-aperture optical telescope carries out position preprocessing on a target position instruction of the telescope to obtain an actual reference position instruction of the telescope, and the telescope can be switched and positioned quickly, stably and accurately because the actual reference position instruction comprises the maximum speed and the maximum acceleration information of the telescope.
Drawings
Fig. 1 is a flowchart illustrating an implementation of a method for quickly positioning a ground-based large-aperture optical telescope according to an embodiment.
Fig. 2 is a schematic diagram illustrating a trapezoidal velocity trajectory in a method for rapidly positioning a ground-based large-aperture optical telescope according to an embodiment.
Fig. 3(a) and 3(b) are graphs of data of a telescope fast positioning process when a continuous linear switching function is not added in the method for fast positioning of a ground-based large-aperture optical telescope according to the first embodiment.
Fig. 4(a) and 4(b) are graphs of data of a telescope fast positioning process when a continuous linear switching function is added to the method for fast positioning of a ground-based large-aperture optical telescope according to the first embodiment.
Fig. 5 is a block diagram of a fast positioning device of a ground-based large-aperture optical telescope according to the second embodiment.
Fig. 6 is a block diagram of a ground-based large-aperture optical telescope according to the third embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of specific implementations of the present invention is provided in conjunction with specific embodiments:
the first embodiment is as follows:
fig. 1 is a flowchart illustrating an implementation of a method for quickly positioning a ground-based large-aperture optical telescope according to an embodiment. The method for quickly positioning the foundation large-caliber optical telescope is suitable for the foundation large-caliber optical telescope, and a processor is arranged in the foundation large-caliber optical telescope to realize quick positioning of the telescope.
Step S110, calculating reference speed and positioning position error according to the target position command of the telescope.
And step S120, calculating a speed curve of the telescope in a deceleration stage, namely a deceleration curve, by adopting the maximum acceleration of the telescope, the positioning position error and the reference speed.
And step S130, calculating a speed curve of the telescope at each moment according to the deceleration curve, the maximum speed and the maximum acceleration of the telescope, and generating a motion instruction aiming at a target position.
Through the steps, the ground-based large-aperture optical telescope performs position preprocessing on the target position command of the telescope to obtain the actual reference position command of the telescope, and the telescope can be switched and positioned quickly, stably and accurately due to the fact that the actual reference position command contains the maximum speed and the maximum acceleration information of the telescope.
As shown in fig. 2, the present solution adopts a trapezoidal velocity trajectory generation method, which includes three parts: (1) at maximum acceleration amaxAn acceleration stage; (2) at a maximum velocity vmaxA uniform speed stage; (3) at maximum acceleration-amaxAnd (5) a deceleration stage.
Specifically, when the reference velocity is calculated based on the target position command for the telescope, the target position command for the telescope is acquired, and then the reference velocity is calculated based on the current position and the target position of the telescope. For example, target position command θ of telescope*，vr＝dθ*And/dt is the reference speed of the input positioning command.
In the deceleration stage, calculating a positioning position error according to the current position and the target position of the telescope; and calculating the speed curve of the telescope at each moment according to the maximum acceleration of the telescope, the reference speed and the positioning position error.
In particular, at step position command v r0, positioning error e and velocity vdThe expression of (a) is:
the ramp curve for the deceleration phase can be derived from the above expression:
in consideration of step position command vrNot equal to 0, finally obtaining the speed v of the deceleration stagedThe expression is as follows:
wherein v isr＝dθ*Dt is the reference speed of the input positioning command, v for step position command r0; e is the positioning position error; v. ofdIs the speed of the deceleration stage; a ismaxThe maximum acceleration of the telescope; sign () is a function of the sign,
and after the deceleration curve is calculated, calculating the speed curve of the telescope at each moment according to the maximum speed and the maximum acceleration of the telescope, and generating a motion instruction aiming at a target position. Specifically, the estimated speed of the next time period is calculated according to the speed of the current time period and the maximum acceleration of the telescope; meanwhile, calculating the deceleration speed of the next time period by the deceleration curve; then, determining the response speed of the telescope in the next time period from the estimated speed, the deceleration speed and the maximum speed of the telescope, and generating a motion instruction for the target position according to the response speed.
From the above formula (3): with the continuously reduced positioning error of the telescope, the speed vdSmaller and smaller, the velocity converges to the reference velocity v when the positioning error is zeror. Thus, the velocity vdWhich may be considered as the limit speed marking the beginning of the deceleration phase. As shown in fig. 2, the velocity trajectory first passes through an acceleration phase to reach a maximum velocity vmaxAt this time vmaxLess than vdThe value of the curve; the position error is continuously reduced with the accumulation of time until vd＝vmaxThe actual running speed v of the telescope is switched into the speed curve v in the deceleration phased. From the above analysis, the discretized velocity expression for the entire telescope positioning process is as follows:
wherein v istIs an intermediate variable, v (k) is a sample ktsVelocity at time, v (k +1) being sample (k +1) tsVelocity of time tsIs the sampling period. saturation { } is a saturation function, whose expression is:
min { } is a function for solving the minimum value, and the expression of the function is as follows:
performing numerical integration on the telescope speed v (k) obtained by the expression (4) to obtain a reference position instruction expression subjected to prediction processing:
θr(k)＝θr(k-1)+v(k)ts (7)
wherein, thetar(k) Is ktsA pre-processed position command of time, thetar(k-1) is (k-1) tsA time of day preprocessed position instruction.
According to the calculation methods shown in the above equations (3) to (7), the small angle step command of 10 ° and the large angle step command of 180 ° are processed respectively, and the results are shown in fig. 3(a) and fig. 3(b), respectively. As can be seen from the data curves: in the small angle positioning process of 10 degrees, the speed is firstly 6 degrees/s at the maximum acceleration2Accelerating, entering a deceleration stage when the speed does not reach the maximum speed of 20 degrees/s, and finally reaching a positioning instruction along with the continuous reduction of the positioning error; in the process of large-angle positioning of 180 degrees, the speed is firstly 6 degrees/s at the maximum acceleration2Accelerating is carried out, after the speed reaches the maximum speed of 20 degrees/s, the speed enters a deceleration stage after the speed is operated at a constant speed for a period of time, and the positioning instruction is finally reached along with the continuous reduction of the positioning error.
The reason why the sign function is adopted in expression (3) and the sign function switches back and forth between positive and negative values according to the position positioning error, which causes switching jitter, is that high-frequency vibration exists in the acceleration curves of the processing result of the 10-degree small angle and the 180-degree large angle position instruction shown in fig. 3(a) and 3(b), which affects the final positioning effect of the telescope. In order to solve the above problem, a continuous linear switching function is adopted to replace a sign function sign () in an expression (3) so as to solve the high-frequency jitter caused by the sign function, and the expression of the continuous linear switching function sat () is as follows:
wherein e is a positioning error; ε is the linear region boundary value, always positive.
The telescope positioning instruction preprocessing algorithm modified by the continuous linear switching function respectively processes the 10-degree small-angle step instruction and the 180-degree large-angle step instruction, and the results are respectively shown in fig. 4(a) and 4 (b). As can be seen from the data curves: the corrected preprocessing algorithm does not influence the processing results of the 10-degree small angle and 180-degree large angle position instructions, high-frequency vibration existing in the final acceleration curve is eliminated, the final positioning effect of the telescope is improved, and the smoothness of switching in the positioning process is further improved.
Example two:
fig. 5 is a block diagram of the fast positioning device of the ground-based large-aperture optical telescope according to the second embodiment. The device can execute all or part of the steps of any one of the quick positioning methods of the foundation large-aperture optical telescope. The device includes:
and the reference speed calculating module 1 is used for calculating a reference speed and a positioning position error according to the target position instruction aiming at the telescope.
And the deceleration curve calculation module 2 is used for calculating a speed curve of the telescope in a deceleration stage, namely a deceleration curve, by adopting the maximum acceleration of the telescope, the positioning position error and the reference speed.
And the speed determining module 3 is used for calculating a speed curve of the telescope at each moment according to the deceleration curve, the maximum speed and the maximum acceleration of the telescope and generating a motion instruction aiming at the target position.
Example three:
as shown in fig. 6, a third embodiment of the present invention provides a ground-based large-aperture optical telescope, where the telescope includes a processor, a telescope system controller, a driving motor, and a position encoder, the telescope system controller is electrically connected to the processor, the driving motor, and the position encoder, respectively, and the position encoder is electrically connected to the driving motor; and after receiving the motion instruction sent by the processor, the telescope system controller controls the driving motor to drive the telescope to move, and meanwhile, the position encoder feeds back the position of the telescope system controller.
Example four:
the fourth embodiment of the invention provides a foundation large-aperture optical telescope which can execute all or part of the steps of any one of the quick positioning methods of the foundation large-aperture optical telescope. The telescope includes:
a processor; and
a memory communicatively coupled to the processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method according to any one of the above exemplary embodiments, which will not be described in detail herein.
In this embodiment, a storage medium is also provided, which is a computer-readable storage medium, such as a transitory and non-transitory computer-readable storage medium including instructions. The storage medium, for example, includes a memory of instructions executable by a processor of a server system to perform the method for fast positioning of a ground-based large-aperture optical telescope described above.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A method for quickly positioning a ground-based large-aperture optical telescope is characterized by comprising the following steps:
calculating reference speed and positioning position errors according to the target position instruction aiming at the telescope;
calculating a speed curve of the telescope in a deceleration stage, namely a deceleration curve, by adopting the maximum acceleration of the telescope, the positioning position error and the reference speed;
and calculating the speed curve of the telescope at each moment according to the deceleration curve, the maximum speed and the maximum acceleration of the telescope, and generating a motion instruction aiming at the target position.
2. The method of claim 1, wherein the step of calculating the reference velocity based on the target position command for the telescope comprises:
acquiring a target position instruction for the telescope;
and calculating a reference speed according to the current position and the target position of the telescope.
3. The method of claim 1, wherein the step of calculating the speed profile of the telescope during the deceleration phase using the maximum acceleration of the telescope, the positional error, and the reference speed comprises:
calculating a positioning position error according to the current position and the target position of the telescope;
and calculating the speed curve of the telescope at each moment according to the maximum acceleration of the telescope, the reference speed and the positioning position error.
4. The method of claim 1, wherein the step of calculating a velocity profile of the telescope at each time based on the deceleration profile, the maximum velocity of the telescope, and the maximum acceleration, and generating motion commands for the target location comprises:
calculating the estimated speed of the next time period according to the speed of the current time period and the maximum acceleration of the telescope; at the same time, the user can select the desired position,
calculating a deceleration speed of a next time period from the deceleration curve;
and determining the response speed of the telescope in the next time period from the estimated speed, the deceleration speed and the maximum speed of the telescope, and generating a motion instruction aiming at the target position according to the response speed.
5. A device for rapidly positioning a ground-based large-aperture optical telescope, said device comprising:
the reference speed calculation module is used for calculating a reference speed and a positioning position error according to a target position instruction aiming at the telescope;
the deceleration curve calculation module is used for calculating a speed curve of the telescope in a deceleration stage, namely a deceleration curve, by adopting the maximum acceleration of the telescope, the positioning position error and the reference speed;
and the speed determining module is used for calculating the speed curve of the telescope at each moment according to the deceleration curve, the maximum speed and the maximum acceleration of the telescope and generating a motion instruction aiming at the target position.
6. A foundation large-aperture optical telescope is characterized by comprising a processor, a telescope system controller, a driving motor and a position encoder, wherein the telescope system controller is electrically connected with the processor, the driving motor and the position encoder respectively; and after receiving the motion instruction sent by the processor, the telescope system controller controls the driving motor to drive the telescope to move, and meanwhile, the position encoder feeds back the position of the telescope system controller.
7. A ground-based large aperture optical telescope, said telescope comprising:
a processor; and
a memory communicatively coupled to the processor; wherein the content of the first and second substances,
the memory stores readable instructions which, when executed by the processor, implement the method of any of claims 1-4.
8. A computer-readable storage medium, on which a computer program is stored which, when executed, implements the method of any one of claims 1-4.
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