JP3004895B2 - Cable winding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a satellite communication antenna having an azimuth axis and an altitude axis, or a cable winding device used for an astronomical telescope. In particular,
The present invention relates to a control system of a cable winding device.

[0002]

2. Description of the Related Art A conventional cable winding device will be described with reference to FIGS. FIG. 9 is a diagram showing an entire configuration of an astronomical telescope using a conventional cable winding device.

In FIG. 9, reference numeral 1 denotes a lens barrel structure for holding a primary mirror and a secondary mirror. Reference numeral 2 denotes a top ring for holding a sub-mirror and the like, 3 denotes a truss that supports the top ring 2, 4 denotes a center section where the lens barrel structure 1 is mounted on a gantry described later, 5 denotes an altitude axis (EL axis), 6 Is a truss that supports the primary mirror structure 7, and 8 is an EL cable through which signals for driving the altitude axis 5 pass.

In FIG. 1, reference numeral 9 denotes a mount for mounting the lens barrel structure 1 and rotating about an azimuth axis (AZ axis) 10. Reference numeral 11 denotes a pier supporting the mount 9 and the like. An AZ cable 13 through which signals and the like pass is a control device 13 including a power supply for supplying various signals.

When observing an astronomical object, the astronomical telescope tracks the diurnal motion of the astronomical object by driving the two axes of the altitude axis 5 and the azimuth axis 10 under the control of the control device 13. The lens barrel structure 1 rotates around the altitude axis 5 in a range of, for example, 0 to 90 degrees, and rotates around the azimuth axis 10 in a range of, for example, ± 270 degrees. Then, as the lens barrel structure 1 rotates, the cables 8 and 12 are pulled or loosened. Therefore,
A sufficient amount of cable length is provided so that the lens barrel structure 1 can be pulled or wound as the lens barrel structure 1 is driven.

FIG. 10 is a diagram showing a cross section of a winding device for the EL system cable 8. FIG. 2A is a side view and FIG. 2B is a cross-sectional view taken along line AA ′ of FIG. In the figure, 14 is a gantry for supporting the altitude axis 5, 15 is a cable bear for moving the cable 8, 16 is a slider attached to the tip of the cable bear 15, 17 is a drive motor for moving the slider 16, and 18 is a drive motor for moving the slider 16. A rail for guiding the slider 16, 19 is a proximity switch provided on the slider 16, and 20 is a detector provided on the center section 4.

FIG. 11 is a diagram showing the structure of the cable bear 15. In the figure, a cable carrier 15 is provided at an appropriate position between two chains 15a and 15b.
5c is inserted, and each line constituting the EL system cable 8 passes through the supporter 15c.

FIG. 12 shows the proximity switch 19 and the detector 20
FIG. In FIG.
Are provided with two proximity switches 19A and 19B composed of, for example, reed switches, and the center section 4 is provided with a detector 20 composed of, for example, a magnet.

FIG. 13 is a view showing a fixed state of the EL system cable 8. In the figure, the cable 8 is fixed to the slider 16 by a clamper 21 and is fixed to the center section 4 by a clamper 22. Note that the cable bear 15 and the drive motor 17 are omitted.

FIG. 14 is a diagram showing the configuration of the control device 13. In the figure, the control device 13 includes a control panel 30
And a drive power amplifier 31. Control panel 30
Has an ON / OFF control processing unit 32. The drive power amplifying section 31 includes an SSR / ON / OFF control logic section 33, a motor drive power supply 34, two solid state relays (SSR) 35 and 36, and a thermal relay 37.

Next, the operation of the cable take-up device of the astronomical telescope in the altitude axis direction will be described.

When the center section 4 rotates about the altitude axis 5, the ON / OFF control drive motor 17 moves accordingly. This drive motor 17 is controlled by:
This is performed by the proximity switch 19 and the detector 20.

In FIG. 12, for example, when the center section 4 moves in the R → L direction, the proximity switch 19A is turned on. The control device 13 that has detected the ON of the proximity switch 19A gives a command to the drive motor 17 to perform the winding operation in the R → L direction. The drive motor 17 is controlled so that the relative positional relationship between the portion of the cable 8 clamped by the center section 4 and the portion clamped by the slider 16 does not change. The details are controlled as shown in FIG.

The control system turns on / off the drive motor 17
The SSRs (Solid State Relays) 35 and 36 as shown in FIG. 14 are provided as an internal configuration of the control device 13.

That is, as shown in FIG. 14, the ON / OFF control processing section 32 of the control panel 30 sends the drive power amplification section 31 the proximity switch signals (position detection signals) from the proximity switches 19A and 19B. If it is determined that the control is necessary based on the control signal, a command signal (ON / OFF CMD) for driving the drive motor 17 is output.

Upon receiving the command signal (ON / OFFCMD), the SSR / ON / OFF control logic unit 33 of the drive power amplifying unit 31 outputs a command signal (CWCMD: clockwise command signal, or CCWCMD: counterclockwise command). Signal) to the solid state relay 35 or 36 to turn it on, and to supply a drive power supply 34 to the drive motor 17. In order to protect the drive motor 17, when an overcurrent flows, the thermal relay 37 operates, and an NFB (NO FUSE BRAKER) trips so as not to supply power to the drive motor 17.

Next, the azimuth axis system will be described. FIG.
FIG. 3 is a diagram showing a cross section of a winding device for the AZ cable 12. In the figure, reference numeral 9 denotes a mount on which the lens barrel structure 1 is mounted and rotates about an azimuth axis 10, reference numeral 11 denotes a pier supporting the mount 9, and the like, and reference numeral 12a denotes a line constituting the AZ-based cable 12. 40 is a clamp plate for clamping the cable 12, 41 is a swivel bearing for rotating the clamp plate 40, 42 is a drive motor for rotating the clamp plate 40,
43 and 44 are rings for bundling the cable 12, 45 is a cable duct, and 46 is a cable duct 4
A fixing member 47 fixed to 5 is a detector holding cylinder that rotates together with the gantry 9. The AZ cable 12 is fixed to the gantry 9, the clamp plate 40, and the cable duct 45, respectively.

FIG. 16 is an enlarged view of the periphery of the clamp plate 40. In the figure, a proximity switch 48 is provided on a clamp plate 40, and a detector 4 is mounted on a detector holding cylinder 47.
9 are provided. The configuration and operation of the proximity switch 48 and the detector 49 are the same as those of the proximity switch 1 shown in FIG.
9 and the detector 20.

FIG. 17 shows the cable 12 and the clamp plate 40.
FIG. 5 is a diagram showing a relationship between the ring and rings 43 and 44. As shown in FIG. 3A, the clamp plate 40 has holes through which the wires 12a of the cable 12 pass, and these holes are arranged concentrically in the clamp plate 40. Also,
The wires 12a are bundled by rings 43 and 44 as appropriate.

Next, the operation in the azimuth axis direction will be described.

When the gantry 9 rotates about the azimuth axis 10, the detector holding cylinder 47, that is, the detector 4
9 rotates. Following this, the ON / OFF control drive motor 42 rotates the clamp plate 40. This ON /
The control of the OFF control drive motor 42 is controlled by the proximity switch 48 and the detector 49 similarly to the winding in the altitude axis direction.

The control device 13 that has detected the movement of the detector 49 by the proximity switch 48 gives a command to the drive motor 42 to rotate the clamp plate 40 with the movement of the detector 49. The drive motor 42 includes a portion where the cable 12 is clamped on the gantry 9 side and the clamp plate 4 on the winding mechanism side.
Control is performed so that the relative positional relationship with 0 does not change. The control method is the same as that for winding in the high axial direction.

[0023]

In the above-described conventional cable winding apparatus, since the ON / OFF control method is used, the position error is large, and the disturbance torque due to the cable to the telescope mount is large. Therefore, there is a problem that the tracking accuracy of the drive control system of the telescope mount may be impaired. Further, the absolute angle of only the winding mechanism cannot be detected, and it is difficult to drive the telescope stand independently of the driving mechanism during maintenance operation. Furthermore, although there is a sensor for position detection, there is no sensor for limiting the drive, and there is a problem that the run-up mechanism or the telescope may be mutually damaged via a cable during runaway. Was.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is intended to reduce disturbance torque caused by a cable to a telescope mount and to detect an absolute angle in a cable winding mechanism to thereby drive the telescope mount. Follow
It is an object of the present invention to provide a cable winding device capable of restricting a relative driving range when an abnormality occurs.

[0025]

SUMMARY OF THE INVENTION A cable winding device according to the present invention comprises a drive motor for driving a cable winding mechanism that follows a structure rotating in an altitude axis and an azimuth axis;
An angle detector for detecting an actual angle of the winding mechanism; and a control for driving and controlling the drive motor by a servo control method based on the angle command value corresponding to the actual angle of the building input from the outside and the actual angle. And a device.

Further, in the cable winding device according to the present invention, the drive motor drives a winding mechanism of the high axis system cable, and the angle detector is connected to the high axis system cable winding mechanism. It is provided.

Further, the cable winding device according to the present invention has a sensor in the winding mechanism for limiting a relative driving range between the structure for winding the cable of the advanced axis system and the structure. Things.

Further, in the cable winding device according to the present invention, the drive motor drives an azimuth axis-based cable winding mechanism, and the angle detector includes an azimuth axis-based cable winding mechanism. It is provided.

Further, the cable winding device according to the present invention has a sensor for limiting a relative driving range between the winding mechanism for the azimuth axis system cable and the building. Things.

[0030]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a diagram showing an overall configuration of Embodiment 1 of the present invention. FIG.
FIG. 10 is a diagram showing a drive unit of the high-axis cable winding mechanism according to the first embodiment, which corresponds to an enlarged view of the vicinity of the drive motor in FIG. FIG. 3 is a diagram showing a cross section taken along line BB ′ in FIG. FIG. 4 is a diagram illustrating a configuration of the control device according to the first embodiment. FIG. 5 is a diagram illustrating a configuration of a control panel of the control device according to the first embodiment. In the drawings, the same reference numerals indicate the same or corresponding parts.

In FIG. 1, reference numeral 5 denotes an altitude axis (EL axis);
Is an EL cable, 10 is an azimuth axis (AZ axis), 12 is A
The Z-system cable 13A is a control device.

In FIG. 2, reference numeral 17A denotes a servo control drive motor for driving the winding mechanism (slider 16).
Numeral 0 is a synchro (1X, 64X) which is connected to the slider 16 and detects an absolute angle. 70 is a gear box, 71 and 72 are pinions, 73 is a rail (rack).
It is. FIG. 3 is a sectional view taken along line BB ′ of FIG. In the figure, reference numeral 74 denotes a cable bear. When the shaft of the motor 17A rotates, the gear of the gear box 70 rotates, and the pinions 71 and 72 further rotate. Thus, the motor 17A moves on the rail 73. At this time, the axis of the synchro 50 rotates, and the synchro 50 also moves and detects the angle.

4 and 5, the control device 13A
Includes a control panel 30A and a drive power amplifier 31A. The control panel 30A is a telescopic gantry drive control device 5
Cable winding drive control processing unit (CPU) connected to 1
52; a synchro input / angle conversion processing unit 53 connected to the synchro 50; a position loop compensation processing unit 54;
P (digital signal processor) 55. The DSP 55 includes a main speed loop compensation processing unit, a sub speed loop compensation processing unit, and an angular velocity conversion processing unit. The drive power amplifying unit 31A includes a power amplifying processing unit 56,
It has an R / D conversion processing unit 57 and a parallel input / output processing unit 58.

Next, the winding operation in the altitude axis direction will be described. When the center section 4 in FIG. 1 rotates about the altitude axis 5, the servo control drive motor 17A moves following the rotation. Drive motor 1 for servo control
7A, the controller 13A of the cable winding mechanism having received the actual angle from the telescope mount drive controller 51 gives a command to perform the winding operation using this as a command value. Is detected by the synchro 50 and fed back to the control device 13A. As a result, control is performed so that the relative positional relationship between the portion where the cable 8 is clamped on the center section 4 side and the portion where the cable 8 is clamped on the winding mechanism side does not change.

The control method is a servo control drive motor 17A.
And a control loop configuration as shown in FIGS. 4 and 5 as an internal configuration of the control device 13A. It mainly comprises a CPU 52, a DSP 55 and a drive power amplifier 31A. The absolute angle (actual angle) of the winding mechanism from the synchro 50 is defined as a position loop signal, and the actual angular velocity of the winding mechanism based on a pulse signal from a resolver provided in the servo control drive motor 17A is defined as a speed loop signal. The speed loop is provided with a double loop of a main speed loop and a sub speed loop, so that disturbance torque to the winding mechanism by the cable 8 or the like can be suppressed.

That is, as shown in FIGS. 4 and 5, the cable winding drive control processing section (CP) of the control panel 30A that has received the angle command signal from the telescope mount drive control device 51.
U) 52 uses the command signal as a command signal, calculates the difference from the current angle signal from the synchro 50, and outputs it as an angle error signal. This angle error signal is output to the velocity loop of the DSP 55 through the position loop compensation processing unit 54 (separately shown in the figure) in the CPU 52.

The DSP 55 adds a speed feedback from a resolver, performs double speed compensation, and outputs a current command signal for the drive motor 17A.

The current command signal is supplied to the drive power amplifier 31
A is amplified by the power amplification processing unit 56 of FIG.
7A is driven. When the drive mechanism such as the drive motor 17A runs out of control, a command is output from the CPU 52 to the drive power amplifier 31A and the like so as to stop the drive by an interlock signal from a limit sensor (switch units 61a to 61d) described later. You.

When the servo control method is used, the conventional ON / O
Position accuracy can be improved as compared with the FF control method, thereby reducing cable disturbance torque to the telescope gantry and increasing tracking accuracy of the telescope gantry drive control system.

At the time of maintenance operation, the operation is performed directly from the control panel 30A of the control device 13A. There are mainly two functions, one is a POINT function for inputting a command angle and moving the winding mechanism to a desired angle, and the other is a SLEW function for moving the winding mechanism at a constant speed. These two functions can be realized by performing absolute angle detection by the synchro 50.

Embodiment 2 Embodiment 2 of the present invention
Is such that, in addition to the servo control method of the first embodiment, the relative drive range can be limited in the event of an abnormality.

FIG. 6 is a diagram showing the relationship between the magnet unit of the magnetic proximity switch and the switch unit. In the same figure, 60 is a magnet unit, 61a to 61
d is a switch unit. The center section 4 includes two switch units 61a, 61b, 61c, and 61d in the UP direction and the DOWN direction, respectively. The switch units 61b and 61c on the inner side as viewed from the position of the magnet unit 60 are connected to the first limit sensor. And the outer switch units 61a and 61d
Of the limit sensor.

Next, the operation will be described. In FIG. 6, when the servo control drive motor 17A runs away, the magnet unit 60 of the magnetic proximity switch that moves together.
Approaches the switch unit 61b or 61c set at the position of the threshold value of the relative angle, and the limit is applied when the switch is turned on (turned on). That is, it is output to the control device 13A as the above-described interlock signal, and is sent to the telescope gantry drive control device 51 or the control device 13A.
A performs an operation such as applying a brake of the drive motor 17A. When the first limit sensor does not operate due to a failure or the like, the second limit sensor operates and has a double safety design. In consideration of the length of the cable 8, the threshold value of the relative angle is set to a position at which the cable 8 is not damaged by pulling the cable 8 to the gantry driving mechanism, the winding mechanism, or the cable 8 of the telescope.

Embodiment 3 FIG. Embodiment 3 of the present invention
Is to perform the cable winding drive in the azimuth axis direction by a servo control method.

FIG. 7 is a view showing a drive unit of the azimuth axis cable winding mechanism, and corresponds to an enlarged portion of the vicinity of the drive motor 42 in FIG. In the figure, reference numeral 42A denotes a servo control drive motor for driving the winding mechanism, and 62 denotes a synchro (1X, 64X) for detecting an absolute angle. Reference numeral 80 denotes a gear box, and 81 denotes a ball bearing. When the shaft of the motor 42A rotates, the gear box 80
Gear rotates, and the ball bearing 81 further rotates. Thereby, the clamp plate 40 rotates. At this time, the rotation of the ball bearing 81 rotates the shaft of the synchro 50, and detects the angle.

Next, the operation will be described. When the gantry 9 in FIG. 15 rotates about the azimuth axis 10, the clamp plate 40 is rotated by the servo control drive motor 42A following the rotation. Drive motor 42A for servo control
Is controlled by the telescopic gantry drive control device 51 to give a command so that the control device of the winding mechanism that has received the actual angle performs the winding operation using the command value as the command value. Is detected by the synchro 62. The drive motor 42A is controlled so that the relative positional relationship between the portion where the cable 12 is clamped on the gantry 9 side and the clamp plate 40 on the winding mechanism side does not change.

As the control method, the servo control method shown in FIG. The point that the position accuracy can be improved by this servo control method is the same as that of the advanced shaft winding. The operation function from the control panel of the control device of the winding mechanism is the same as that of the advanced shaft winding.

Embodiment 4 Embodiment 4 of the present invention
Is such that, in addition to the servo control method of the third embodiment, the relative drive range can be limited in the event of an abnormality.

FIG. 8 is a diagram showing the relationship between the light projecting unit and the light receiving unit of the photoelectric sensor. In the figure, reference numeral 63 denotes a light emitting unit of the photoelectric sensor, and 64a to 64d denote light receiving units. Light receiving section 64
a to 64d are provided on the gantry 9 two each in the CW (clockwise) direction and the CCW (counterclockwise) direction,
The light receiving portions 64b and 64 on the inner side when viewed from the position of the light projecting portion 63
c is the first limit sensor, the outer light receiving sections 64a and 64
4d is called a second limit sensor.

Next, the operation will be described. In FIG. 8, the clamp plate 40 is driven by the drive motor 42A for servo control.
Runaway, vertical light from the light emitting unit 63 of the photoelectric sensor on the clamp plate 40 is received by the light receiving unit 64b on the gantry 9 side.
Or, it enters the limit 64c. When the first limit sensor does not operate due to a failure or the like, the second limit sensor operates and has a double safety design. In consideration of the allowable amount of deformation of the cable, the threshold value of the relative angle is set to a position that does not damage the gantry driving mechanism, the winding mechanism, or the cable of the telescope due to the twisting of the cable.

[0051]

As described above, the cable winding device according to the present invention comprises a drive motor for driving a cable winding mechanism that follows a building rotating in the altitude axis and the azimuth axis direction, and a drive motor for driving the cable winding mechanism. An angle detector for detecting the actual angle,
Since a control device that drives and controls the drive motor by a servo control method based on the angle command value corresponding to the actual angle of the building and the actual angle input from the outside and the actual angle is provided, the position accuracy can be increased, An effect is obtained that disturbance torque to the winding mechanism by a cable or the like can be suppressed.

Further, in the cable winding device according to the present invention, as described above, the drive motor drives the winding mechanism of the high axis system cable, and the angle detector is the high axis system cable. Is installed in the take-up mechanism, so that the position accuracy can be increased, disturbance torque to the take-up mechanism due to a cable or the like can be suppressed, and the absolute angle can be detected with high accuracy. In operation, there is an effect that the winding mechanism can be driven independently.

Further, as described above, the cable winding device according to the present invention includes the sensor for limiting the relative driving range between the winding mechanism of the high-axis type cable and the building. Since the take-up mechanism is provided, the structure or the take-up mechanism can be prevented from being damaged by a cable during runaway.

Further, as described above, in the cable winding device according to the present invention, the drive motor drives the winding mechanism of the azimuth axis system cable, and the angle detector is the azimuth axis system cable. Is installed in the take-up mechanism, so that the position accuracy can be increased, disturbance torque to the take-up mechanism due to a cable or the like can be suppressed, and the absolute angle can be detected with high accuracy. In operation, there is an effect that the winding mechanism can be driven independently.

Further, as described above, the cable winding device according to the present invention includes the sensor for limiting a relative driving range between the azimuth axis cable winding mechanism and the structure. Since the take-up mechanism is provided, the structure or the take-up mechanism can be prevented from being damaged by a cable during runaway.

[Brief description of the drawings]

FIG. 1 is a diagram showing an entire configuration of an astronomical telescope according to Embodiment 1 of the present invention.

FIG. 2 is a diagram showing a drive unit of the cable winding mechanism in the high-altitude axial direction according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating a cross section taken along line B-B ′ of FIG. 2;

FIG. 4 is a diagram showing a configuration of a control device according to the first embodiment of the present invention.

FIG. 5 is a diagram showing a configuration of a control panel of the control device according to the first embodiment of the present invention.

FIG. 6 is a diagram illustrating a configuration of a limit sensor according to a second embodiment of the present invention.

FIG. 7 is a diagram illustrating a drive unit of a cable winding mechanism in an azimuth axis direction according to a third embodiment of the present invention.

FIG. 8 is a diagram illustrating a configuration of a limit sensor according to a fourth embodiment of the present invention.

FIG. 9 is a diagram showing an entire configuration of a conventional astronomical telescope.

FIG. 10 is a diagram showing a driving unit of a conventional cable winding mechanism in the high-altitude axis direction.

FIG. 11 is a diagram showing a part of a drive unit of a conventional cable winding mechanism in the high-altitude axis direction.

FIG. 12 is a view showing a part of a driving unit of a conventional cable winding mechanism in an advanced axial direction.

FIG. 13 is a view showing a part of a drive unit of a conventional cable winding mechanism in the high-altitude direction.

FIG. 14 is a diagram showing a configuration of a conventional control device for a cable winding mechanism in an altitude axial direction.

FIG. 15 is a diagram showing a driving unit of a conventional cable winding mechanism in the azimuth axis direction.

FIG. 16 is a diagram showing a part of a driving unit of a conventional cable winding mechanism in the azimuth axis direction.

FIG. 17 is a diagram showing a part of a driving unit of a conventional cable winding mechanism in the azimuth axis direction.

[Explanation of symbols]

4 center section, 5 altitude axis, 8 cable (altitude axis system), 9 gantry, 10 azimuth axis, 12 cable (azimuth axis system), 13A controller, 16 slider, 1
7A drive motor, 30A control panel, 31A drive power amplifier, 42A drive motor, 50 synchro, 6
0 magnet unit, 61 switch unit, 6
2 Synchro, 63 light emitting part, 64 light receiving part.

Claims (5)

(57) [Claims] 1. A drive motor for driving a winding mechanism of a cable that follows a structure rotating in an altitude axis and an azimuth axis direction, an angle detector for detecting an actual angle of the winding mechanism, and an external input. A cable winding device, comprising: an angle command value corresponding to an actual angle of the building; and a control device that drives and controls the drive motor by a servo control method based on the actual angle. 2. The high-axis system cable winding mechanism is driven by the drive motor, and the angle detector is provided on the high-axis system cable winding mechanism. 2. The cable winding device according to 1. 3. The winding mechanism according to claim 2, wherein the winding mechanism has a sensor for limiting a relative driving range between the winding mechanism for the cable of the advanced axis system and the building. Cable winding device. 4. The azimuth axis-based cable take-up mechanism, wherein the drive motor drives an azimuth-axis-based cable take-up mechanism. 2. The cable winding device according to 1. 5. The winding mechanism according to claim 4, wherein the winding mechanism has a sensor for limiting a relative driving range between the winding mechanism of the azimuth axis system cable and the building. Cable winding device.