CN1313859C - Active optical active supporting electrocontrolling system for astronomical telescope - Google Patents

Active optical active supporting electrocontrolling system for astronomical telescope Download PDF

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Publication number
CN1313859C
CN1313859C CNB2004100143961A CN200410014396A CN1313859C CN 1313859 C CN1313859 C CN 1313859C CN B2004100143961 A CNB2004100143961 A CN B2004100143961A CN 200410014396 A CN200410014396 A CN 200410014396A CN 1313859 C CN1313859 C CN 1313859C
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control
computer
intelligent controller
control computer
computing machine
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CN1591078A (en
Inventor
张振超
崔向群
王佑
李国平
毕汪虹
马礼胜
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Nanjing Institute of Astronomical Optics and Technology NIAOT of CAS
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Nanjing Institute of Astronomical Optics and Technology NIAOT of CAS
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Abstract

The present invention relates to an active optics active support electric control system for an astronomical telescope. A master control computer is respectively connected with a plurality of slave computers. Each slave computer is respectively connected with a plurality of intelligent controllers. Each intelligent controller is respectively connected with a plurality of sets of force actuators. The present invention is characterized in that the superior of the master control computer is provided with a general control computer connected with the master control computer to realize four-stage control. Simultaneously, the general computer, the master control computer and each slave computer are respectively provided with communication interfaces. Each intelligent controller is provided with an independent embedded CPU mainboard with communication interfaces. The present invention has the optimization scheme that the general computer, the master control computer, the slave computers and the intelligent controllers are respectively provided with optical fiber communication modules simultaneously to form optical fiber communication interface boards. Long-range and high-speed monitoring and control can be realized by utilizing the optical fiber communication. The processing capacity and the processing speed are greatly increased by the four-stage control of the present invention, and the long-range control is realized. A base is established for further increasing the control precision.

Description

The electric-control system of astronomical telescope active optics Active support
Technical field
The present invention relates to a kind of opertaing device of astronomical telescope, particularly a kind of electric-control system of astronomical telescope active optics Active support.
Background technology
The active optics astronomical telescope is modern astronomical sight new technology.The appearance of this technology is the technical difficulty for the large-scale astronomical telescope that solves the construction super large caliber, and adopts the sub-mirror of polylith to be spliced into large-scale astronomical telescope; The sub-mirror of in the splicing construction each is action simultaneously under control system is handled, and can form the deformation of whole minute surface, reaches the needs of astronomical sight, promptly constitutes the active optics astronomical telescope.The technological difficulties of the large-scale active optics astronomical telescope of this splicing construction are control system: it need satisfy all sub-mirrors and receive instruction simultaneously, Dong Zuo technical requirement simultaneously, also include displacement action and deformation action in the action, it is huge needing the factor quantity of control, also will satisfy the control accuracy of milli newton level simultaneously.01113669.3 number Chinese invention patent provides a kind of " mirror shift control system for large astronomical telescope ", its scheme is: minute surface is spliced by some hexagonal sub-mirrors, the micrometric displacement actuator is placed at the back side of each piece mirror and microbit is put sensor, the output that microbit is put sensor is connected to computing machine, the output of computing machine connects each actuator, form closed-loop control system, it is characterized in that: connect master controller by host computer, master controller connects several displacement controllers respectively, each displacement controller connects the driver of several displacement actuators respectively, and each driver connects a displacement actuator.
01113668.5 number Chinese invention patent provides a kind of " electric-control system of force actuator in the large-scale astronomical telescope ", its scheme is: minute surface is spliced by the sub-mirror of some sexangle thin mirror surfaces, the back side of each piece mirror is provided with force actuator, and force transducer is set, sensor connects the computer close-loop control system, computing machine sends real-time command to each force actuator, it is characterized in that: the composition of control system is, connect some universal digital interfaces respectively by the active optics controller, digital interface connects user interface controller, controller is relay actuator controller again, force actuator controller relay actuator, the force transducer on the sub-mirror connects user interface controller.
These two technical schemes have solved all sub-mirrors substantially and have received instruction simultaneously, and the control accuracy of newton's level has in the least also been satisfied in Dong Zuo technical requirement simultaneously substantially.But in the above scheme, signal transmission between the three-level computer is to control by wired connection, and this ultra-large type is telescopical large-scale, lean on wired connection fully and line traffic control is arranged, in use can cause very big difficulty and problem, facts have proved of astronomical sight: realize that on this large-scale astronomical telescope Long-distance Control is very important.Simultaneously, along with the factor quantity of needs control becomes the increase of geometric series, above-mentioned three-level computer control can't further improve control accuracy, and this control model can not become the basis of new round technical progress.
Summary of the invention
The object of the invention is to provide a kind of electric-control system of astronomical telescope active optics Active support, this technical scheme will further be improved " electric-control system of force actuator in the large-scale astronomical telescope " in the prior art, so that in this system, realize Long-distance Control, the new control model that can improve constantly control accuracy is provided, and adapts to the technical requirement of " factor quantity of needs control becomes geometric series to increase ".
The scheme of finishing the foregoing invention task is: the electric-control system of astronomical telescope active optics Active support, main control computer connect some respectively from computing machine; Every connects several intelligent controllers (sub-computing machine) respectively from computing machine; Each intelligent controller connects some cover force actuators again respectively, it is characterized in that: the higher level at main control computer is provided with total control computer, total control computer is connected with main control computer, the control of realization level Four, simultaneously, at total control computer, main control computer, each all is provided with communication interface from computing machine, each intelligent controller is provided with independently, has the embedded type CPU mainboard of communication interface.Said " level Four control ", the first order is an active optics overhead control computing machine; The second level is controlled Active support, displacement actuator and displacement transducer respectively by three main control computing machines; The third level for control Active support from computing machine; The fourth stage is an intelligent controller.
The further optimization of this programme, at total control computer, main control computer, on computing machine and intelligent controller, also be provided with optical-fibre communications module (for example using express network processor module MPC85XX or MPC82XX series circuit) simultaneously, constitute the optical communication interface plate, utilize optical-fibre communications to realize remote high-speed monitoring and control.
Be provided with after total control computer, the whole controlling system data are handled by total control computer and main control computer respectively according to foreground management and back-stage management, have increased considerably processing capacity and processing speed; Each intelligent controller (for example: 586/300M) as control and treatment is provided with independently the embedded type CPU mainboard, simultaneously by the communication interface on the mainboard, for example: RS232/485 carries out serial communication and ethernet communication, prioritization scheme also can carry out optical-fibre communications, thereby realizes remote monitoring and control.
Subsystem structure information transmission mode and reliability:
The dual mode of the information transmission of each intelligent controller and RS232/485 serial communication and ethernet communication is divided the work mutually and is backed up mutually.
1, under the situation of normal operation, transmits real-time command and data between intelligent controller and the main control computer with point-to-point mode by RS232/485; By Ethernet transmission execute file and data file.
2, each intelligent controller acquiescence executive routine is solidificated among the shielded EPROM; Be responsible for control program upgrading, realize communication self check safety, with the collection and the control algolithm of acquiescence.
3, when the control program of each intelligent controller need be revised or need carry out remotely modifying by INTERNET, the acquiescence executive routine of each intelligent controller is by the safe self-check program in the Ethernet verification master controller, after determining control program safe and punctual, control program is downloaded to intelligent controller and execution by Ethernet.The new control program of main control computer and safe self-check program file can pass through INTERNET remote transmission or download.
4, through after safety and the level authentication, can observe the real-time state of a control of every sub-mirror reinforcing Anywhere by INTERNET in the whole world.
5, when meeting accident, if a certain connection short circuit of main frame and intelligent controller, instruction can be passed through Ethernet with the real-time Transmission of data, and the download of control documents also can transmit and receive data and order by RS232/485.
6,5 intelligent controllers are formed sub-communication network.
In other words, the concrete scheme of level Four control of the present invention is:
The first order, main control computer are to control each from computing machine by the multiplex communication controller;
The second level, be to control Active support, displacement actuator and displacement transducer respectively by three main control computing machines, be responsible for its affiliated control section respectively, have independently operation system of software and software control system in each principal computer, resolve the order of upper level and the running status of enforcement and this machine of report;
Each is responsible for sub-mirror under it respectively from computing machine in the third level, and each has independently operation system of software and software control system from computing machine, resolve the order of upper level and the running status of enforcement and this machine of report;
A sub-mirror moves simultaneously with five intelligent controller controls, 34 cover force actuators in the fourth stage, have independently operation system of software and software control system in each intelligent controller, resolve the order of upper level and the running status of enforcement and this machine of report, each intelligent controller is respectively to overlap force actuator by stepping motor control card control.
Simultaneously, at total control computer, main control computer, each all is provided with communication interface from computing machine, each intelligent controller is provided with independently, has the embedded type CPU mainboard of communication interface;
At total control computer, main control computer, on computing machine and intelligent controller, also be provided with the optical-fibre communications module simultaneously, constitute the optical communication interface plate.
The present invention is provided with after total control computer, and the level Four control data of The whole control system is handled by total control computer and main control computer respectively according to foreground management and back-stage management, has increased considerably processing capacity and processing speed; Sub-communication network is provided with three kinds of communication modes: 1, high speed fibre communication network, it realizes order and exchanges data by specialized. circuit modules and the special module from control computer.2, connect intelligent controller from control computer by the multiplex communication plate and realize operations such as program upgrade modification.3, thereby each intelligent controller reliability of adopting RS232/485 to communicate with one another each other to guarantee the upgrading of order, data and program to revise has realized Long-distance Control simultaneously in this system, new control model can adapt to the technical requirement of " factor quantity of needs control becomes geometric series to increase ", lays a good foundation for further improving control accuracy.
Description of drawings
Fig. 1 is the block diagram of the electric-control system of Active support;
Fig. 2 is the structural representation of the monitoring and the control of a sub-mirror;
Fig. 3 is a PR0676 high-accuracy data collection card block diagram;
Fig. 4 is ISO32 stepping motor control card (placing 8 cover stepper motor drivers on this a plate) block diagram;
Fig. 5 is small signal amplifier plate (placing 8 cover driving sources on this plate) block diagram of PRO624 force transducer;
Fig. 6 forms the control enclosure block diagram for intelligent controller.
Embodiment
Embodiment 1, LAMOST telescope M AThe electric-control system of Active support in electric-control system conceptual design, control method and the active optics astronomical telescope of the sub-mirror experiment in 1: 1 of middle active optics.With reference to Fig. 1～Fig. 6: present embodiment uses 34 cover force actuators according to the requirement of experiment of active optics, controls the experiment that a sub-mirror changes minute surface face shape.Have the main control computing machine under its command by total control computer, master controller is controlled 6 from computing machine by the multiplex communication controller; Control 20 intelligent controllers again from computing machine for every; Each intelligent controller is again by the custom-designed ISO32 stepping motor control card control 8 cover force actuators of the present invention, the structure of special-purpose ISO32 stepping motor control card is: the PCI04 bus is connected with logic control and register are two-way by bus interface circuit, and logic control is isolated by light with register and is connected with each step motor drive module respectively.Control 24 sub-mirrors altogether, every sub-mirror is with 5 intelligent controllers, each intelligent controller connects the signal input (comprising excitation) of 8 force transducers, data acquisition, the output of 8 tunnel step motor control, each intelligent controller have independently, and embedded type CPU mainboard (586/300M) carries out communication and ethernet communication by RS232/485 simultaneously as control and treatment, thereby realize remote monitoring and control, structural representation such as Fig. 1, Fig. 2.Realized issue an order very easily, taken orders and control such as exchanges data by 5 intelligent control boxs of Ethernet control from computing machine.Used force transducer as the feedback device that adds the closed-loop control of (drawing) power.Adopt the method for soft or hard combination, carry out the control thought of logical combination.This system 34 cover force actuator operations have been realized controlling simultaneously.Afterburning scope is ± 150N that computing machine has reached 5/10000ths, root-mean-square value≤50mN to the closed-loop control precision of force actuator.This system is by the controlled parameter control break of LAN (Local Area Network) M AThe aspheric surface of sub-mirror.
Intelligent controller hardware, software control structure.
Hardware configuration, intelligent controller by:
1, embedded type CPU mainboard, 586/300M is now used in the active optics experiment,
2, electric board,
3,16 A/D card, model: PRO16AD,
4, stepping motor control card, model: ISO32 (on this plate, placing 8 cover stepper motor drivers),
5, the small signal amplifier plate of force transducer, model: PRO624 places 8 cover driving sources on this plate, form.
8 cover driving sources adopt the modular circuit of SM9XXX to form.High-precision excitation degree of stability, the voltage of 10V is stabilized in 10 -7Thereby the signal stabilization and the reliability of force transducer output have been guaranteed.Adopted the AD6XX circuit to constitute the small signal amplifier of force transducer, delivered to 16 A/D card after the signal of μ V level is amplified 333 times, carried out computer data acquiring and handle.
The software control structure:
Be the control algolithm of a sub-mirror below:
Y → = K X → + B → - - - ( 1 )
Wherein,
Y → = y 1 y 2 · · · y 34 - - - ( 2 )
K = k 11 k 12 · · · k 1 n k 21 k 22 · · · k 2 n · · · · · · k m 1 k m 2 · · · k mn - - - ( 3 )
X → = x 1 x 2 · · · x 34 - - - ( 4 )
B → = b 1 b 2 · · · b 34 - - - ( 5 )
Be the K value of surveying in advance when m=n wherein, this value is from m=n=1,2 ... 3,4 modes with data file exist in the computing machine; All the other K values are 0.B is telescope different height function b of when operation n* cos (α) concerns.X is the array that obtains from detect.Computing machine is by resolving the value of obtaining array Y, according to the value control actuator operation of Y.
A fourth stage wherein sub-mirror moves simultaneously with five intelligent controller controls, 34 cover force actuators.Have independently operation system of software and software control system in each intelligent controller; Resolve the order of upper level and the running status of enforcement and this machine of report.
Wherein each is responsible for sub-mirror under it respectively from computing machine to the third level, and each has independently operation system of software and software control system from computing machine; Resolve the order of upper level and the running status of enforcement and this machine of report.
The second level is controlled Active support, displacement actuator and displacement transducer respectively by three main control computing machines; Be responsible for its affiliated control section respectively, have independently operation system of software and software control system in each principal computer; Resolve the order of upper level and the running status of enforcement and this machine of report.
The total control computer of first order active optics is responsible for receiving the state, order etc. of azel of data, the telescope operation of optical detection; Resolve and to the next stage issue an order, the implementation status of sense command, and to the running status of observation control system report active optics electric control gear.
The invention is not restricted to these disclosed embodiments, the present invention will cover the scope described in the patent claims, and the various modification of claim scope and equivalence variation.

Claims (2)

1, a kind of electric-control system of astronomical telescope active optics Active support, main control computer connects some respectively from computing machine, every connects several intelligent controllers respectively from computing machine, each intelligent controller connects some cover force actuators again respectively, it is characterized in that: the higher level at main control computer is provided with total control computer, and total control computer is connected with main control computer, realizes level Four control, wherein
The first order, main control computer are to control each from computing machine by the multiplex communication controller;
The second level, control Active support, displacement actuator and displacement transducer respectively by three main control computing machines, be responsible for its affiliated control section respectively, have independently operation system of software and software control system in each principal computer, resolve the order of upper level and the running status of enforcement and this machine of report;
Each is responsible for sub-mirror under it respectively from computing machine in the third level, and each has independently operation system of software and software control system from computing machine, resolve the order of upper level and the running status of enforcement and this machine of report;
A sub-mirror moves simultaneously with five intelligent controller controls, 34 cover force actuators in the fourth stage, have independently operation system of software and software control system in each intelligent controller, resolve the order of upper level and the running status of enforcement and this machine of report, each intelligent controller is respectively to overlap force actuator by stepping motor control card control;
Simultaneously, at total control computer, main control computer, each all is provided with communication interface from computing machine, each intelligent controller is provided with independently, has the embedded type CPU mainboard of communication interface;
At total control computer, main control computer, on computing machine and intelligent controller, also be provided with the optical-fibre communications module simultaneously, constitute the optical communication interface plate.
2, according to the electric-control system of the described astronomical telescope active optics of claim 1 Active support, it is characterized in that: the connected mode of described intelligent controller and force actuator is, each intelligent controller is by ISO32 stepping motor control card control 8 cover force actuators, the structure of ISO32 stepping motor control card is: the PCI04 bus is connected with logic control and register are two-way by bus interface circuit, and logic control is isolated by light with register and is connected with each step motor drive module respectively.
CNB2004100143961A 2004-03-23 2004-03-23 Active optical active supporting electrocontrolling system for astronomical telescope Expired - Fee Related CN1313859C (en)

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Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100445799C (en) * 2005-09-02 2008-12-24 中国科学院国家天文台南京天文光学技术研究所 Intelligent control system for displacement actuator in large-scale astronomical telescope
CN100388046C (en) * 2005-09-02 2008-05-14 中国科学院国家天文台南京天文光学技术研究所 Intelligent control system of force actuator in large astronomical telescope
CN100561967C (en) * 2007-08-17 2009-11-18 中国科学院国家天文台南京天文光学技术研究所 Wireless LAN control system of large-scale astronomical telescope
CN105425618B (en) * 2015-10-26 2018-04-03 中国科学院光电技术研究所 Implementation method of software framework applicable to primary mirror control system with active support technology
CN107643770A (en) * 2017-09-15 2018-01-30 中国科学院长春光学精密机械与物理研究所 A kind of telescope control system and method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1343898A (en) * 2001-06-05 2002-04-10 中国科学院国家天文台南京天文光学技术研究所 Electric control system of force actuator in large astronomic telescope
CN2514362Y (en) * 2001-12-14 2002-10-02 中国科学院国家天文台南京天文光学技术研究所 Mechanism for positioning and regulating chamber of astronomical telescope
CN2711759Y (en) * 2004-03-23 2005-07-20 中国科学院国家天文台南京天文光学技术研究所 Active optics active supported electric control system for astronomical telescope

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1343898A (en) * 2001-06-05 2002-04-10 中国科学院国家天文台南京天文光学技术研究所 Electric control system of force actuator in large astronomic telescope
CN2514362Y (en) * 2001-12-14 2002-10-02 中国科学院国家天文台南京天文光学技术研究所 Mechanism for positioning and regulating chamber of astronomical telescope
CN2711759Y (en) * 2004-03-23 2005-07-20 中国科学院国家天文台南京天文光学技术研究所 Active optics active supported electric control system for astronomical telescope

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