CN103543735A - Distributed type low-speed high-precision device and method for controlling astronomical telescope - Google Patents
Distributed type low-speed high-precision device and method for controlling astronomical telescope Download PDFInfo
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Abstract
The invention discloses a distributed type low-speed high-precision device and method for controlling an astronomical telescope, wherein the device and the method are applied to distributed type high-precision control of the astronomical telescope. The device is composed of a field control box, a remote control box and a PC control desk. A driver and a main operation panel are contained in the field control box. A remote operation panel is contained in the remote control box. The PC control desk is composed of an industrial personal computer with an RS485 and operation software running on the industrial personal computer. The remote control box and the PC control desk of the device are in communication with the main operation panel of the main device field control box through an RS485 bus and send out operation instructions so that master-slave distributed type control can be achieved. The main operation panel sends movement control instructions to the driven device driver through a CAN2.0 bus to monitor the running state of the driver. The driver is connected with a motor line and a feedback line in the astronomical telescope, conducts power amplification on the movement control instructions and transmits amplified movement control instructions to a drive motor of the astronomical telescope, position traction interpolation is achieved at a reasonable speed inside power amplification, and precise control is achieved.
Description
Technical field
The present invention relates to astronomical telescope control technology field, the distributed low-speed highly precise that relates in particular to astronomical telescope is controlled with star.
Background technology
For observing star in the sky, obtain the astronomical characteristic of star, wish that star keeps static in telescope field-of-view image, there is not pixel drift.Due to earth rotation, if astronomical telescope transfixion, star will be per second from the motion of east orientation west with 15 rads.For guaranteeing that star is static in the visual field, telescope need to be followed operation from east orientation west with 15 rads of speed per second equally.Experiment shows, both velocity errors must be no more than 0.01 rad/second, and the position naked eyes of star in field-of-view image can not differentiated movement, do not occur pixel drift.Therefore, the control of astronomical telescope has two difficult points, and the one, extremely low speed, 15 rads/second, almost naked eyes be can't see; The 2nd, the stability requirement of speed is high, longevity of service, and a common star is wanted Continuous Observation several hours, and star all can not change in the visual field in several hours.
Meanwhile, the operating room of astronomical telescope and astronomical telescope have certain space length.For realizing reliably working, general telescopical on-site control device is placed near telescope, and the operating personnel workplace outside several meters or tens meters conventionally.
Current existing astronomical telescope control device is realized telescopical low speed by drivers velocity ring and is controlled, or by the mode that motion control card adds driver, realizing low speed controls, the common deficiency of these two kinds of modes is, although speed is controlled in average meaning the speed of matching star comparatively exactly, but actual instantaneous velocity can constantly change, and causes the fluctuation of image.Meanwhile, a lot of astronomical telescopes remain unit control system, or only have an operation interface, can not realize remote control.
The system that the present invention is directed to must realize with star, need a plurality of on all four guidance panels to carry out the situation of same operation by high precision low-speed motion, discloses a kind of novel distributed astronomical telescope control device and low-speed highly precise control method.
The invention has the advantages that distributed control mode can connect many running node simultaneously.Adopt the mode of interpolation in position traction and driver, the error of release rate not only, but also the integration of release rate error is realized further speed stabilizing and is controlled.Meanwhile, based on interpolation in driver, realize the accurate tracking of any rational fraction velocity amplitude.
Summary of the invention
For achieving the above object, the present invention proposes a kind of distributed low-speed highly precise astronomical telescope control device and method, be applied to astronomical telescope and control.This device is comprised of field control box, remote control box and PC control desk three parts.Field control box contains driver, main operation panel; Remote control box contains remote operator panel; PC control desk is comprised of the industrial computer with RS485 serial communication port and the software that operates on industrial computer.
Preferably, the main operation panel of the field control box in described control device is main equipment, and the remote operator panel of remote control box, PC control desk and driver are from equipment.Main operation panel intercoms by RS485 universal serial bus mutually with remote control box, PC control desk, intercoms mutually by CAN2.0 universal serial bus with driver, realizes master-salve distributed control.
Preferably, in described control device, the main operation panel of field control box receives the key command from remote control box and PC control desk incessantly, and the button operation instruction of synthetic user to main operation panel self, translate into from the accessible operational order of telescope being implemented to control of device driver, and be handed down to driver; Simultaneously main operation panel is periodically collected the present mode of operation of driver, and the status information of monitor driver, at main operation Display panel and be published to remote control box and PC control desk shows.
Preferably, described remote control box, for responding the button operation of self and to the instruction of main operation panel upload operation, receiving the running status of the driver of autonomous operation panel, by charactron, show its speed and state, by pilot lamp, show running status.
Preferably, described PC control desk, by a function software, realize pseudo operation panel, respond the push-botton operation of self and to the instruction of main operation panel upload operation, receive the running status of the driver of autonomous operation panel, by word, show its speed and state, by virtual pilot lamp, show running status.
Preferably, the driver in described field control box is for responding the control information that master control board is sent; The speed parameter sending according to master control board is controlled the electric machine rotation of The Cloud Terrace; When driver or motor make a mistake, send error message to master control board.
Preferably, the main operation panel in affiliated control device, remote control box and PC control desk have identical operation interface.User enters the operating instructions to astronomical telescope by operation 4*3 push-button array; By the running status of group of four figures pipe and 4*3LED lamp finder; By power light, observe power-up state.
Preferably, operation interface in described control device on field control box, remote control box, PC control desk, wherein button comprises: plus-minus dial-up button, perpetual motion button, fast forward button, slow-motion button, fine motion add button, fast backward button, move back that button, fine motion subtract button, hold bottom button slowly, stop button, reset button; Pilot lamp comprises: alarm lamp, communication light, perpetual motion lamp, F.F. lamp, slow-motion lamp, fine motion add lamp, rewind down lamp, move back lamp slowly, fine motion subtracts lamp, power lights, stopping light; Digital demonstration comprises: four seven segment digital tubes.
Preferably, in described operation interface, at perpetual motion state, press and add dial-up button, perpetual motion speed will increase, and automatically be saved in inner flash, and this speed will keep, and restart also and will not lose, unless again pressed plus-minus dial-up button after power down; Press and subtract dial-up button, perpetual motion speed will reduce, and automatically be saved in inner flash, and this speed will keep, and restart also and will not lose, unless again pressed plus-minus dial-up button after power down.Perpetual motion button is pressed, and control device enters perpetual motion state, controls telescope with earth rotation speed constant-speed operation, and star keeps static in the telescopical visual field.Fast forward button is pressed, and control device enters F.F. state, controls telescope and advances with the opposite direction that is earth rotation towards positive dirction fast, allows telescope fast search star; Fast forward button is upspring, and control device returns to perpetual motion state.Slow-motion button is pressed, and control device enters slow-motion state, controls telescope and advances with the opposite direction that is earth rotation towards positive dirction at a slow speed, allows telescope approach at a slow speed search star; Slow-motion button is upspring, and control device returns to perpetual motion state.Fine motion adds button presses, and control device enters fine motion and adds state, and the opposite direction that control telescope is earth rotation with fine motion speed towards positive dirction is advanced, and allows telescope fine motion approach search star; Fine motion adds button upsprings, and control device returns to perpetual motion state.Fast backward button is pressed, and control device enters rewind down state, controls telescope and advances with the direction that is earth rotation towards negative direction fast, allows telescope fast search star; Fast backward button is upspring, and control device returns to perpetual motion state.Slowly move back button and press, control device enters the state that moves back slowly, controls telescope to be at a slow speed that earth rotation direction is advanced in the opposite direction, allows telescope approach at a slow speed search star; Slowly move back button and upspring, control device returns to perpetual motion state.Fine motion subtracts button presses, and control device enters fine motion and subtracts state, and the direction that control telescope is earth rotation with fine motion speed is in the opposite direction advanced, and allows telescope fine motion approach search star; Fine motion subtracts button upsprings, and control device returns to perpetual motion state.Stop button is pressed, and telescope is by stop motion.Reset button is for resetting to the operation interface at button place.When alarm lamp is bright, be designated as malfunction.Communication pilot lamp, is used to indicate current communications status, and when in normal condition, the long bright length of pilot lamp is gone out alternately; When in error condition, quick flashing length is gone out and pointed out error communications state.When perpetual motion pilot lamp is bright, be designated as perpetual motion state; When F.F. pilot lamp is bright, be designated as F.F. state; When slow-motion pilot lamp is bright, be designated as slow-motion state; Fine motion adds pilot lamp when bright, is designated as fine motion and adds state; When rewind down pilot lamp is bright, be designated as rewind down state; Slowly move back pilot lamp when bright, be designated as the state that moves back slowly; Fine motion subtracts pilot lamp when bright, is designated as fine motion and subtracts state; Power light is used to indicate duty, when powering on, and this lamp Chang Liang.Stop pilot lamp when bright, be designated as halted state.Charactron shows different velocity amplitudes according to different states, when perpetual motion state, shows perpetual motion velocity amplitude; When F.F. state, show fast forward speed value, etc.
Preferably, the driver in described field control box, internal operation pattern is, and first power-up initializing, carries out hardware check after initialization, and self check is no problem enters idle condition, if made a mistake, enters error condition.Main operation panel sends after command adapted thereto, and driver will be switched to running status from idle condition.Under running status, driver will be with position ring work.Main operation panel can also send order and allow driver self check again.When running status runs into mistake, will enter error condition.After error reason investigation, by wrong clear instruction, can allow system get back to idle condition.When hope is shut down, main operation panel sends stop instruction, and driver enters stopped status.If receive startup command during stopped status, can get back to idle condition.
Preferably, described astronomical telescope low-speed highly precise control method, realizes high stable low speed and controls, the velocity amplitude of given rational fraction by being built in the position traction method of driver.Regulation denominator is the periodicity of position ring, and molecule is the dfisplacement pulse number that must walk under these positional cycle numbers.Within the single cycle of each position ring, carry out linear interpolation, produce desired position instruction, give position ring, realize closed loop position servo; Complete after a denominator periodicity, start again new one and take turns the speed cycle, realize position traction, position is our required velocity amplitude to the slope of time.
Preferably, described telescope low-speed highly precise control method, when the speed command of rational fraction issues and send execution instruction, first carries out initialization: reference position instruction is arranged to feedback position instruction.According to speed denominator and speed bulk of molecule, be divided into two kinds of situations.When speed denominator is greater than speed, divide the period of the day from 11 p.m. to 1 a.m, this is defined as special interpolation pattern; When speed molecule is greater than speed denominator, this is defined as normal interpolation pattern.
Preferably, described telescope low-speed highly precise control method, under special interpolation pattern, initialization interpolation parameters C is that speed molecule absolute value, interpolation parameters C1 that speed denominator deducts twice are that speed molecule absolute value, the interpolation parameters C2 of negative twice is the twice that speed denominator deducts the difference of speed molecule absolute value.Under normal interpolation pattern, initialization interpolation parameters C is that speed denominator, interpolation parameters C1 that speed molecule absolute value deducts twice are that speed denominator, the interpolation parameters C2 of negative twice is that the difference that speed molecule absolute value deducts speed denominator is multiplied by 2.Molecule counter, denominator counter O reset.
Preferably, described telescope low-speed highly precise control method, after initialization is finished, in the timer cycle of position ring, carry out following steps: in normal interpolation situation, if molecule counter is more than or equal to speed molecule, finish the interpolation that this takes turns speed denominator periodicity, molecule counter, denominator counter O reset, C replacement speed molecule absolute value deducts the speed denominator of twice, and will open the interpolation of new round speed denominator periodicity; If molecule counter is less than speed molecule, judge the positive and negative of parameters C, if C is greater than zero, molecule counter constantly increases by 1, and position command also increases or reduces 1, parameters C assignment is C:=C+C1, until C is less than zero, if C has been less than zero, molecule denominator counter all increases by 1, position command increases or reduces 1, and parameters C assignment is C:=C+C2.
Preferably, described telescope low-speed highly precise control method, after initialization is finished, in the timer cycle of position ring, carry out following steps: under special interpolation pattern, if denominator counter is more than or equal to speed denominator, finish the interpolation that this takes turns speed denominator periodicity, molecule counter, denominator counter O reset, C replacement speed denominator deducts the speed molecule absolute value of twice, and will start the interpolation of next round speed denominator periodicity; If denominator counter is less than speed denominator, first judge the positive and negative of parameters C, if C is less than zero, counting denominator increases, and position command increases or reduces 1, and parameters C assignment is C:=C+C2; If C is greater than zero, denominator count value adds 1, and parameters C assignment is C:=C+C1.
Preferably, described telescope low-speed highly precise control method, the position command producing by linear interpolation, using the input instruction signal in the drive location ring cycle, to position ring, the driver low-speed highly precise speed that position ring realizes position-based traction of reruning is controlled.
From such scheme, can find out, the present invention has the following advantages:
The one, adopt special principal and subordinate's control model.This pattern distinguishes real-time Communication for Power and non-realtime traffic, has realized the stratified distributed control of multinode.Between main operation panel and driver, adopt CAN2.0 to realize real-time reliable communication; Main panel and other operation interfaces adopt RS485 bus, and the principal and subordinate who realizes long distance multi-node controls.And if take driver as main, keypad be from, will cause the driver will be too many in the occupied system resource of communication aspects, reduced the real-time of driver.
Two, main operation panel and field control box, PC control desk have been realized on all four operation interface, and this makes, and operation is simple and reliable, realized multi-point control, realized again the object of multi-point monitoring.Be convenient to further expanding of system.
Three, be built in driver, with the position haulage speed line interpolation method of the rational fraction of drive location ring same frequency operation, realized without the low-speed highly precise telescope of cumulative errors and having controlled with star.
Accompanying drawing explanation
Fig. 1 system forms schematic diagram
Fig. 2 guidance panel interface layout
Fig. 3 main operation panel is controlled software flow pattern
Fig. 4 remote control box and PC control desk software flow pattern
Fig. 5 driver software process flow diagram
The position ring process flow diagram of the built-in linear interpolation of Fig. 6
The initialization that Fig. 7 straight-line interpolation is mended
The once execution of the normal interpolation pattern of Fig. 8
The once execution of the special interpolation pattern of Fig. 9
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
1, system forms
Fig. 1 is the structural representation of the distributed low-speed highly precise astronomical telescope of the present invention control device.This device is comprised of field control box, remote control box and PC control desk.
Field control box contains driver, main operation panel.
Remote control box contains remote operator panel.
PC control desk is comprised of industrial computer and the software that operates on industrial computer.
The main operation panel of field control box has 1 road CAN2.0 communication interface, 1 road RS485 interface.
The driver of field control box has 1 road CAN2.0 communication interface.
Remote operator panel band 1 road RS485 interface.
PC control desk has RS485 communication interface.
Main operation panel and the driver of field control box are realized real-time Communication for Power by CAN2.0.In real-time Communication for Power, main operation panel is main equipment, and driver is from equipment.
The main operation panel of field control box and remote control box, PC control desk are realized multinode long haul communication by RS485.In RS485 communication, main operation panel is main equipment, and remote control box and PC control desk are from equipment.
The driver of field control box is connected with the brush drive motor that has of astronomical telescope.Driver and brush motor connecting line comprise the encoder feedback of two-way motor lines and motor.
2 guidance panels
Fig. 2 is the man-machine interface of main operation panel, remote control box and PC control panel in the distributed low-speed highly precise astronomical telescope of the present invention control device.
Above man-machine interface, be four eight segment numeral pipes, for showing the velocity information under current running status.
Below eight segment numeral pipes, it is the button of 3*4 array., there is corresponding LED light on the side of button.From left to right, from top to bottom, button be followed successively by add key, subtract key, perpetual motion key, fast forward button, slow-motion key, fine motion add key, fast backspace key, slow backspace key, fine motion subtract key, reservation, stop key, reset key.From left to right, from top to bottom, LED lamp is followed successively by that alarm lamp, communication light, perpetual motion lamp, F.F. lamp, slow-motion lamp, fine motion add lamp, rewind down lamp, move back lamp slowly, fine motion subtracts lamp, power lights, stopping light.
At perpetual motion state, to press and add dial-up button, perpetual motion speed will increase, and automatically be saved in inner flash, and this speed will keep, and restart also and will not lose, unless again pressed plus-minus dial-up button after power down; Press and subtract dial-up button, perpetual motion speed will reduce, and automatically be saved in inner flash, and this speed will keep, and restart also and will not lose, unless again pressed plus-minus dial-up button after power down.
Perpetual motion button is pressed, and control device enters perpetual motion state, controls telescope with earth rotation speed constant-speed operation, and star keeps static in the telescopical visual field.Perpetual motion button is upspring, and does not change perpetual motion state.
Fast forward button is pressed, and control device enters F.F. state, controls telescope and advances with the opposite direction that is earth rotation towards positive dirction fast, allows telescope fast search star; Fast forward button is upspring, and control device returns to perpetual motion state.
Slow-motion button is pressed, and control device enters slow-motion state, controls telescope and advances with the opposite direction that is earth rotation towards positive dirction at a slow speed, allows telescope approach at a slow speed search star; Slow-motion button is upspring, and control device returns to perpetual motion state.
Fine motion adds button presses, and control device enters fine motion and adds state, and the opposite direction that control telescope is earth rotation with fine motion speed towards positive dirction is advanced, and allows telescope fine motion speed approach search star; Fine motion adds button upsprings, and control device returns to perpetual motion state.
Fast backward button is pressed, and control device enters rewind down state, controls telescope and advances with the direction that is earth rotation towards negative direction fast, allows telescope fast search star; Fast backward button is upspring, and control device returns to perpetual motion state.
Slowly move back button and press, control device enters the state that moves back slowly, controls telescope to be at a slow speed that earth rotation direction is advanced in the opposite direction, allows telescope approach at a slow speed search star; Slowly move back button and upspring, control device returns to perpetual motion state.
Fine motion subtracts button presses, and control device enters fine motion and subtracts state, and the direction that control telescope is earth rotation with fine motion speed towards negative direction is advanced, and allows telescope fine motion speed approach search star; Fine motion subtracts button upsprings, and control device returns to perpetual motion state.
Stop button is pressed, and telescope is by stop motion.
Reset button is for resetting to the operation interface at button place.
When alarm lamp is bright in figure, be designated as malfunction.
Communication pilot lamp, is used to indicate current communications status, and when in normal communication state, the long bright length of pilot lamp is gone out alternately; When in error communications state, by the quick flashing length prompting error condition of going out.
When perpetual motion pilot lamp is bright, be designated as perpetual motion state.
When F.F. pilot lamp is bright, be designated as F.F. state.
Slowly move back pilot lamp when bright, be designated as the state that moves back slowly.
Fine motion adds pilot lamp when bright, is designated as fine motion and adds state.
When rewind down pilot lamp is bright, be designated as rewind down state.
When slow-motion pilot lamp is bright, be designated as slow-motion state.
Fine motion subtracts pilot lamp when bright, is designated as fine motion and subtracts state.
When power lights is bright, indication mechanism powers on.
Stop pilot lamp when bright, be expressed as halted state.
Charactron shows different velocity amplitudes according to different states, when perpetual motion state, shows perpetual motion velocity amplitude; When F.F. state, show fast forward speed value, etc.
3, main operation panel is controlled software flow
Fig. 3 is main control software flow pattern of the present invention, operates on the main operation panel of field control box.
After system reset, enter init state, first carry out peripheral hardware and built-in variable initial work, and allow LED, charactron, button in original state, and wait for that driver completes initialization and self check work.In init state, button is inoperative.
After initialization, system enters self check state.At self check state: communicate with driver, the communication guaranteed is normal.Read internal drive state, if drive operation is normal, can be in disconnected forceful electric power state, main operation panel is write current code-disc number; If driver is undesired, main operation panel is reported to the police according to the error condition of driver, and mistake appears in prompting, waits for that technician investigates mistake, has just completed self check work.At self check state, button is inoperative.
Normal or F.F., rewind down, the slow-motion while pressing perpetual motion key or search condition when halted state of System self-test, move back slowly, fine motion adds, fine motion subtracts button and upsprings, system can be sent and add forceful electric power instruction, enters perpetual motion state.At perpetual motion state, main operation panel can write perpetual motion operational factor, and system is advanced according to the perpetual motion speed of default setting.But if user presses and adds key or subtract key, can fine adjustment speed, fine setting has upper and lower bound, and at this time main operation panel can issue new speed command.Perpetual motion state main operation panel can cyclic polling the state of driver, if there is mistake, main operation panel can enter error condition and reports to the police.
In perpetual motion state or halted state, if press F.F., slow-motion, rewind down, move back slowly, the button such as fine motion adds, fine motion subtracts, enter search condition.At search condition, will be with F.F., slow-motion, rewind down, move back slowly, fine motion adds, fine motion subtracts uniform velocity operation.When respective keys is upspring, will reenter perpetual motion state.Search condition main operation panel can cyclic polling the state of driver, if there is mistake, main operation panel can enter error condition and reports to the police.
If press stop key, enter halted state.In halted state, can give an order and make driver stop motion, disconnected forceful electric power.Search condition main operation panel can cyclic polling the state of driver, if there is mistake, main operation panel can enter error condition and reports to the police.
When system in self check, perpetual motion, the state such as search for, stop, if there is during run-time error, can enter error condition, can make indication.Wait for that user fixes a breakdown.After fault is got rid of, main operation panel can send clear instruction.After removing successfully, system can jump to halted state.
4, remote control box and PC control desk software flow
Fig. 4 is the software module process flow diagram operating on operated from a distance box and PC control desk, carries out identical function.Their flow process is as follows:
First be system reset, then carry out initialization, provide the original state of each button, charactron and pilot lamp.After initialization, enter the main sweep cycle.
In the main sweep cycle, first constantly inquiry, whether main sweep cycle flag puts 1.If so, will read in the state of all current key value, and with upper one circulation key assignments comparison, according to the variation of button value, draw concrete key information.If the variation without any button, is left intact; If have key to be pressed or upspring, it is main operation panel that key information will send to host computer.When having inquired about key information, or main sweep cycle flag is zero, will inquiry whether has the serial ports message of host computer issue; If had, resolve respective communication agreement, the running status that the system that obtains is current, upgrades charactron according to up-to-date velocity information and shows, and upgrades the state of pilot lamp.
5, driver software process flow diagram
Please refer to Fig. 5, Fig. 5 is driver software process flow diagram of the present invention.
After system powers on, driver carries out initial work, and initialization peripheral hardware first, then to system initialization.
After initialization is over, carry out self check work, whether working properlyly detect each interface and metal-oxide-semiconductor, self check is complete, when all are normal, enters idle condition.When breaking down, enter error condition.
Enter after idle condition, power tube is still closed, and by idle condition, can be arrived running status and can again be forced self check.
Enter running status, the automatic in-position of system ring status, the rational fraction Speed interpolation of position-based traction will run on position ring inside.When end of run, can get back to idle condition or enter stopped status.
Enter after stopped status, all peripheral hardwares are closed, and system can not return to running status, can only re-power.
Enter after error condition, first according to error number, make corresponding prompting.After getting rid of, fault will get back to idle condition.
6, the rational fraction speed operation of position traction linear interpolation
Fig. 6 is that the rational fraction speed line interpolation method of position traction is at the process flow diagram of internal drive.When driver enters running status, automatically enter linear interpolation position ring pattern.Under linear interpolation position ring pattern, holding fix ring cycle home position 1, represents that the position ring cycle arrives.After the position ring cycle arrives, will carry out straight-line interpolation compensating method, generate the instruction of position ring desired position and give position ring.Position ring carries out closed-loop control according to position command and physical location feedback, realizes position servo.Straight-line interpolation is mended and position ring combines, and realizes the rational fraction speed servo of low-speed highly precise.
Fig. 7 is the initialization flow process that straight-line interpolation is mended.This process flow operation is " carrying out a straight-line interpolation mends " link in Fig. 6.
When new speed command to or in-position inscription of loop for the first time, will enter the initialization flow process that straight-line interpolation is mended.First we are according to assigned speed command, the speed molecule of initialization directive and speed denominator.Speed molecule can just can be born, and speed denominator is positive number always.And position feedback assignment to position command.And judge the size of speed molecule and speed denominator.
When speed molecule is greater than speed denominator, enter normal interpolation pattern.Under normal interpolation pattern, initialization interpolation parameters C is that speed denominator, interpolation parameters C1 that speed molecule absolute value deducts twice are that speed denominator, the interpolation parameters C2 of negative twice is that the difference that speed molecule absolute value deducts speed denominator is multiplied by 2.
When speed denominator is greater than speed, divide the period of the day from 11 p.m. to 1 a.m, enter special interpolation pattern.Under special interpolation pattern, initialization interpolation parameters C is that speed molecule absolute value, interpolation parameters C1 that speed denominator deducts twice are that speed molecule absolute value, the interpolation parameters C2 of negative twice is the twice that speed denominator deducts the difference of speed molecule absolute value.
Initialization C, after C1 and C2, molecule counter, denominator counter O reset.Linear interpolation initialization finishes.
Fig. 8 is the once execution of normal interpolation pattern.When driver enters after normal interpolation pattern, first judge whether molecule counter is more than or equal to speed molecule.If, show that a last round of rational fraction speed is finished, the distance of carrying out is speed molecule absolute value, the time of carrying out is speed denominator, and the rational fraction speed of carrying out a new round is carried out, at this moment molecule counter O reset, initiation parameter C is the difference that the absolute value of speed molecule deducts the speed denominator of twice, starts the interpolation of a new round.
If molecule counter is less than speed molecule, or completed the initialization of new round interpolation, whether cycle criterion C is greater than zero.If C is greater than zero, judge whether molecule counter is more than or equal to speed molecule, if be more than or equal to, interpolation in finishing this time, if be less than, molecule counter adds 1, if speed molecule is greater than zero, position command increases by 1 pulse, if being less than zero position instruction, speed molecule reduces 1 pulse, and undated parameter C, C equals C and adds C1, and continue cycle criterion C and whether be greater than zero, until C is less than or equal to zero.
If C is less than or equal to zero, judge whether molecule counter is greater than speed molecule, if be more than or equal to, finish this time interior interpolation; If be less than, molecule counter adds 1, and denominator counter adds 1, if speed molecule is greater than zero, position command increases by 1 pulse, if speed molecule is less than zero position instruction, reduces 1 pulse, and undated parameter C, and C equals C and adds C2, finishes this time interior interpolation.
Fig. 9 is the once execution of special interpolation pattern.First judge whether denominator counter is less than speed denominator.
If so, continue to judge whether C is less than or equal to zero, if be less than or equal to zero, denominator counter increases by 1, if speed molecule is greater than zero, position command increases by 1, if speed molecule is less than zero, it is that C adds C2 that position command reduces 1, C assignment, finishes this time interior interpolation; If C is greater than zero, it is that C adds C1 that denominator counter increases by 1, C assignment, finishes this time interior interpolation.
If not, the counter O reset of molecule denominator, C is initialized as the difference that speed denominator deducts the speed molecule absolute value of 2 times, and interpolation in finishing this time.
All or part of content in the technical scheme that above embodiment provides can realize by software programming, and its software program is stored in the storage medium can read, storage medium for example: the hard disk in computing machine, CD or floppy disk.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a distributed low-speed highly precise astronomical telescope control device, described device comprises field control box, remote control box and PC control desk,
Described field control box comprises driver, main operation panel;
Described remote control box comprises remote operator panel;
Described PC control desk comprises the industrial computer with guidance panel and communication port;
It is characterized in that, the described main operation panel of described field control box is main equipment, the described remote operator panel of described remote control box, described PC control desk, and described driver is from equipment.
2. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 1, it is characterized in that, described main operation panel intercoms by RS485 universal serial bus mutually with described remote control box, described PC control desk, intercom mutually by CAN2.0 universal serial bus with described driver, realize master-salve distributed control.
3. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 2, it is characterized in that, described main operation panel receives the key command from described remote control box and described PC control desk incessantly, and the button operation instruction of synthetic user to main operation panel self, translate into from the accessible operational order of described astronomical telescope being implemented to control of driver described in equipment, and be handed down to described driver; Simultaneously described main operation panel is periodically collected the present mode of operation of described driver, monitors the status information of described driver, at described main operation Display panel and be published to described remote control box and described PC control desk shows.
4. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 3, it is characterized in that, described remote control box is for responding the button operation of self and to the instruction of described main operation panel upload operation, reception, from the running status of the described driver of described main operation panel, shows its running status;
Described PC control desk, by the push-botton operation of its guidance panel response self and to the instruction of described main operation panel upload operation, receives the running status from the driver of described main operation panel, shows its running status;
Driver in described field control box is for responding the control information that master control board is sent; The speed parameter sending according to master control board is controlled the electric machine rotation of The Cloud Terrace; When driver or motor make a mistake, send error message to master control board.
5. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 4, is characterized in that, the main operation panel of described field control box, and described remote control box and described PC control desk have identical operation interface.
6. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 5, is characterized in that, the button of the operation interface on described field control box, remote control box, PC control desk comprises:
Plus-minus dial-up button, perpetual motion button, fast forward button, slow-motion button, fine motion add button, fast backward button, move back that button, fine motion subtract button, hold bottom button slowly, stop button, reset button;
The pilot lamp of described operation interface comprises:
Alarm lamp, communication light, perpetual motion lamp, F.F. lamp, slow-motion lamp, fine motion add lamp, rewind down lamp, move back lamp slowly, fine motion subtracts lamp, power lights, stopping light;
The number demonstration of described operation interface comprises four seven segment digital tubes.
7. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 6, is characterized in that:
At perpetual motion state, to press and add dial-up button, perpetual motion speed will increase, and automatically be saved in inner flash, and this speed will keep, and restart also and will not lose, unless again pressed plus-minus dial-up button after power down; Press and subtract dial-up button, perpetual motion speed will reduce, and automatically be saved in inner flash, and this speed will keep, and restart also and will not lose, unless again pressed plus-minus dial-up button after power down;
Perpetual motion button is pressed, and control device enters perpetual motion state, controls telescope with earth rotation speed constant-speed operation, and star keeps static in the telescopical visual field;
Fast forward button is pressed, and control device enters F.F. state, controls telescope and advances with the opposite direction that is earth rotation towards positive dirction fast, allows telescope fast search star; Fast forward button is upspring, and control device returns to perpetual motion state;
Slow-motion button is pressed, and control device enters slow-motion state, controls telescope and advances with the opposite direction that is earth rotation towards positive dirction at a slow speed, allows telescope approach at a slow speed search star; Slow-motion button is upspring, and control device returns to perpetual motion state;
Fine motion adds button presses, and control device enters fine motion and adds state, and the opposite direction that control telescope is earth rotation with fine motion speed towards positive dirction is advanced, and allows telescope fine motion approach search star; Fine motion adds button upsprings, and control device returns to perpetual motion state;
Fast backward button is pressed, and control device enters rewind down state, controls telescope and advances with the direction that is earth rotation towards negative direction fast, allows telescope fast search star; Fast backward button is upspring, and control device returns to perpetual motion state;
Slowly move back button and press, control device enters the state that moves back slowly, controls telescope to be at a slow speed that earth rotation direction is advanced in the opposite direction, allows telescope approach at a slow speed search star; Slowly move back button and upspring, control device returns to perpetual motion state;
Fine motion subtracts button presses, and control device enters fine motion and subtracts state, and the direction that control telescope is earth rotation with fine motion speed is in the opposite direction advanced, and allows telescope fine motion approach search star; Fine motion subtracts button upsprings, and control device returns to perpetual motion state;
Stop button is pressed, and telescope is by stop motion;
Reset button is for resetting to the operation interface at button place;
When alarm lamp is bright, be designated as malfunction;
Communication pilot lamp, is used to indicate current communications status, and when in normal condition, the long bright length of pilot lamp is gone out alternately; When in error condition, quick flashing length is gone out and pointed out error communications state;
When perpetual motion pilot lamp is bright, be designated as perpetual motion state;
When F.F. pilot lamp is bright, be designated as F.F. state;
When slow-motion pilot lamp is bright, be designated as slow-motion state;
Fine motion adds pilot lamp when bright, is designated as fine motion and adds state;
When rewind down pilot lamp is bright, be designated as rewind down state;
Slowly move back pilot lamp when bright, be designated as the state that moves back slowly;
Fine motion subtracts pilot lamp when bright, is designated as fine motion and subtracts state;
Power light is used to indicate duty, when powering on, and this lamp Chang Liang;
Stop pilot lamp when bright, be designated as halted state;
Charactron shows different velocity amplitudes according to different states, when perpetual motion state, shows perpetual motion velocity amplitude; When F.F. state, show fast forward speed value.
8. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 7, is characterized in that, the driver in described field control box can be carried out following internal operation pattern:
First power-up initializing, carries out hardware check after initialization, and self check is no problem enters idle condition, if made a mistake, enters error condition;
Main operation panel sends after command adapted thereto, and driver will be switched to running status from idle condition; Under running status, driver will be with position ring work; Main operation panel can also send order and allow driver self check again;
When running status runs into mistake, will enter error condition; After error reason investigation, by wrong clear instruction, can allow system get back to idle condition;
When hope is shut down, main operation panel sends stop instruction, and driver enters stopped status;
If receive startup command during stopped status, can get back to idle condition.
9. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 8, is characterized in that, described driver can be within the cycle of each position ring, carry out linear interpolation, produce desired position instruction, give position ring, realize closed loop position servo.
10. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 9, is characterized in that, when described driver has normal interpolation pattern and special interpolation pattern;
In described normal interpolation pattern, described driver can be carried out following steps:
First judge whether molecule counter is more than or equal to speed molecule; If, show that a last round of rational fraction speed is finished, the distance of carrying out is speed molecule absolute value, the time of carrying out is speed denominator, and the rational fraction speed of carrying out a new round is carried out, at this moment molecule counter O reset, initiation parameter C is the difference that the absolute value of speed molecule deducts the speed denominator of twice, starts the interpolation of a new round;
If molecule counter is less than speed molecule, or completed the initialization of new round interpolation, whether cycle criterion C is greater than zero; If C is greater than zero, judge whether molecule counter is more than or equal to speed molecule, if be more than or equal to, interpolation in finishing this time, if be less than, molecule counter adds 1, if speed molecule is greater than zero, position command increases by 1 pulse, if being less than zero position instruction, speed molecule reduces 1 pulse, and undated parameter C, C equals C and adds C1, and continue cycle criterion C and whether be greater than zero, until C is less than or equal to zero;
If C is less than or equal to zero, judge whether molecule counter is greater than speed molecule, if be more than or equal to, finish this time interior interpolation; If be less than, molecule counter adds 1, and denominator counter adds 1, if speed molecule is greater than zero, position command increases by 1 pulse, if speed molecule is less than zero position instruction, reduces 1 pulse, and undated parameter C, and C equals C and adds C2, finishes this time interior interpolation;
In described special interpolation pattern, described driver can be carried out following steps:
First judge whether denominator counter is less than speed denominator;
If so, continue to judge whether C is less than or equal to zero, if be less than or equal to zero, denominator counter increases by 1, if speed molecule is greater than zero, position command increases by 1, if speed molecule is less than zero, it is that C adds C2 that position command reduces 1, C assignment, finishes this time interior interpolation; If C is greater than zero, it is that C adds C1 that denominator counter increases by 1, C assignment, finishes this time interior interpolation;
If not, the counter O reset of molecule denominator, C is initialized as the difference that speed denominator deducts the speed molecule absolute value of 2 times, and interpolation in finishing this time.
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