CN103543735B - Distributed type low-speed high-precision device for controlling astronomical telescope - Google Patents
Distributed type low-speed high-precision device for controlling astronomical telescope Download PDFInfo
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- CN103543735B CN103543735B CN201310526148.4A CN201310526148A CN103543735B CN 103543735 B CN103543735 B CN 103543735B CN 201310526148 A CN201310526148 A CN 201310526148A CN 103543735 B CN103543735 B CN 103543735B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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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 the distributed low-speed highly precise of astronomical telescope control technology field, more particularly, to astronomical telescope
With star control.
Background technology
For the star that observation is in the sky, obtain the astronomical characteristic of star it is desirable to star keeps quiet in telescope field-of-view image
Only, occur without pixel drift.Due to earth rotation, if astronomical telescope transfixion, star will with 15 rads per second from
The motion of east orientation west.Static in the visual field for guaranteeing star, then telescope needs also exist for 15 rads of speed per second from east orientation west
Follow operation.Experiment shows, both velocity errors must not exceed 0.01 rad/second, position in field-of-view image for the star
Discernable by eye does not go out movement, occurs without pixel drift.Therefore, the control of astronomical telescope has two difficult points, and one is extremely low speed
Degree, 15 rads/second, almost visually can't see；Two is the stability requirement height of speed, longevity of service, and a usual star will
The several hour of Continuous Observation, star all can not change in several hours in the visual field.
Meanwhile, the operating room of astronomical telescope and astronomical telescope have certain space length.For realizing reliably working, one
As the on-site control device of telescope be placed near telescope, and yard generally outside several meters or tens meters for the operator
Institute.
Existing astronomical telescope control device is controlled by the low speed that drivers velocity ring realizes telescope at present, or
Realize low speed control by way of motion control card plus driver, the deficiency jointly of both modes is, though speed controlling
So on average can relatively accurately matching star speed, but actual instantaneous velocity can be continually changing, and causes image
Fluctuation.Meanwhile, a lot of astronomical telescopes remain unit control system, or only one of which operation interface is it is impossible to realize long-range behaviour
Control.
The present invention is directed to system and high accuracy low-speed motion must realize with star, needs multiple on all four guidance panels to carry out phase
The situation of biconditional operation, discloses a kind of new distributed astronomical telescope control device and low-speed highly precise control method.
It is an advantage of the current invention that distributed control mode, many running node can be connect simultaneously.Led using position
Draw and driver in interpolation mode, the not only error of release rate, but also the integration of release rate error, realize further
Speed stabilizing control.Meanwhile, based on interpolation in driver, realize the accurate tracking of any rational fraction velocity amplitude.
Content of the invention
For reaching above-mentioned purpose, the present invention proposes a kind of distributed low-speed highly precise astronomical telescope control device, should
For astronomical telescope control.This device is made up of field control box, remote control box and PC control station three part.Field control
Box is contained within driver, main operation panel；Remote control box is contained within remote operator panel；PC control station is by carrying RS485 serial
The industrial computer of port and the software operating on industrial computer form.
Preferably, the main operation panel of the field control box in described control device is main equipment, remote control box remote
Journey guidance panel, PC control station and driver are from equipment.Main operation panel passes through RS485 with remote control box, PC control station
Universal serial bus is in communication with each other, and is in communication with each other by CAN 2.0 universal serial bus with driver, realizes Master-Slave Distributive Control.
Preferably, in described control device, the main operation panel of field control box receives incessantly from remote control box
And the key command of PC control station, and the button operation instruction to main operation panel itself for the synthetic user, translate into driver energy
Operational order telescope being implemented control understanding, and it is handed down to driver；Main operation panel cycle is collected and is driven simultaneously
The present mode of operation of device, the status information of monitor driver, in main operation Display panel and be published to remote control box and PC
Control station shows.
Described remote control box, for responding the button operation of itself and to the instruction of main operation panel upload operation, connecing
Receive the running status of the driver of autonomous operation panel, by its speed of numeral method and state, shown by display lamp
Running status.
Described PC control station, by one operation software realize Virtual operational panel, respond itself push-botton operation and to
Main operation panel upload operation instructs, and receives the running status of the driver of autonomous operation panel, by its speed of text importing
Degree and state, show running status by virtual display lamp.
Driver in described field control box is used for responding the control information that main operation panel is sent；According to master board
The speed parameter sending is controlling the motor of head to rotate；When driver or motor make a mistake, send error message to master
Panel.
Main operation panel in affiliated control device, remote control box and PC control station have identical operation circle
Face.User is entered the operating instructions to astronomical telescope by operating 4*3 push-button array；Seen by group of four figures pipe and 4*3LED lamp
Examine the running status of device；Power-up state is observed by power supply indicator.
Preferably, field control box in described control device, remote control box, the operation interface on PC control station, wherein
Button includes：Dial a yard button, subtract dial-up button, perpetual motion button, fast forward button, slow-motion button, fine motion adds button, rewind is pressed
Button, move back button slowly, fine motion subtracts button, hold bottom button, stop button, SR；Display lamp includes：Alarm lamp, communication light, perseverance
Dynamic lamp, F.F. lamp, slow-motion lamp, fine motion add lamp, rewind lamp, move back lamp slowly, fine motion subtracts lamp, power lights, stopping light；Digital-scroll technique bag
Include：Four seven segment digital tubes.
Preferably, in described operation interface, in perpetual motion state, press and dial a yard button, perpetual motion speed will increase, and automatically
It is saved in internal flash, this speed will keep, and restart and also do not lose after power down, unless press again and dialed yard button or subtracted
Dial-up button；Press and subtract dial-up button, perpetual motion speed will reduce, and be automatically saved in internal flash, this speed will keep,
Restart after power down and also do not lose, unless press again and dialed yard button or subtracted dial-up button.Perpetual motion button is pressed, and control device enters
Enter perpetual motion state, control telescope with earth rotation speed constant-speed operation, star remains stationary in the visual field of telescope.F.F.
Button is pressed, and control device enters F.F. state, controls telescope quickly to march forward towards the negative side that positive direction is earth rotation,
Allow telescope fast search star；Fast forward button is upspring, and control device returns perpetual motion state.Slow-motion button is pressed, control device
Enter slow-motion state, control telescope to march forward towards the negative side that positive direction is earth rotation at a slow speed, make telescope close at a slow speed
Search star；Slow-motion button is upspring, and control device returns perpetual motion state.Fine motion adds button and presses, and control device enters fine motion and adds
State, controls telescope to march forward towards the negative side that positive direction is earth rotation with fine motion speed, allows telescope fine motion close to search
Star；Fine motion adds button and upsprings, and control device returns perpetual motion state.Fast backward button is pressed, and control device enters fast-rewinding state, control
Telescope processed with quick be to advance in the direction of earth rotation in the opposite direction, allow telescope fast search star；Fast backward button is upspring,
Control device returns perpetual motion state.Slowly move back button to press, control device enters state of moving back slowly, control telescope with a slow speed towards negative side
Advance to i.e. earth rotation direction, allow telescope at a slow speed close to search star；Slowly move back button to upspring, control device returns perpetual motion
State.Fine motion subtracts button and presses, and control device enters fine motion and subtracts state, controls telescope to be the earth in the opposite direction with fine motion speed
Advancing in the direction of rotation, allows telescope fine motion close to search star；Fine motion subtracts button and upsprings, and control device returns perpetual motion state.
Stop button is pressed, and telescope is by stop motion.The operation interface that SR is used for button is located resets.Warning refers to
When showing that lamp is bright, it is designated as malfunction.Communication display lamp, for indicating Current Communications Status, when being in normal condition, instruction
The bright length of lamp length is gone out alternately；When being in error condition, quick flashing length is gone out prompting erroneous communications states.When perpetual motion display lamp is bright, refer to
It is shown as perpetual motion state；When F.F. display lamp is bright, it is designated as F.F. state；When slow-motion display lamp is bright, it is designated as slow-motion state；Fine motion
Plus display lamp bright when, be designated as fine motion and add state；When rewind display lamp is bright, it is designated as fast-rewinding state；Slowly move back display lamp bright when, refer to
It is shown as moving back slowly state；Fine motion subtract display lamp bright when, be designated as fine motion and subtract state；Power supply indicator is used for indicating operating status, when
During upper electricity, power supply indicator Chang Liang.When stopping display lamp is bright, it is designated as halted state.Charactron is according to different status displays
Different velocity amplitudes, 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 to be first powered up initializing, initialization
After carry out hardware check, self-inspection has no problem and then enters idle condition, then enters error condition in the event of mistake.Main operation face
After plate sends command adapted thereto, 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-inspection again.When running status runs into mistake, mistake will be entered
State.After error reason is investigated, system can be allowed to return to idle condition by wrong clearance order.When hope is shut down, main
Guidance panel sends halt instruction, and driver enters stopped status.If receiving startup order during stopped status can return to the free time
State.
Preferably, described astronomical telescope low-speed highly precise control method, by being built in the position traction side of driver
Method is realized high stable low speed and is controlled, the velocity amplitude of given rational fraction.Regulation denominator is the periodicity of position ring, and molecule is at this
The dfisplacement pulse number that must walk under the periodicity of a little positions.In the signal period of each position ring, carry out linear interpolation, produce
Desired position instructs, and gives position ring, realizes closed loop location servo；After completing denominator periodicity, start new again
In one wheel speed cycle, realize position traction, position is our required velocity amplitudes to the slope of time.
Preferably, described telescope low-speed highly precise control method, holds when the speed command of rational fraction issues and sends
During row instruction, initialized first：Reference position instruction is arranged to feedback position instruction.Divided according to speed denominator and speed
The size of son is divided into two kinds of situations.When speed denominator is more than speed molecule, this is defined as special interpolation pattern；Work as speed
When molecule is more than speed denominator, this is defined as normal interpolation pattern.
Preferably, described telescope low-speed highly precise control method, under special interpolation pattern, initializes interpolation parameters C
Deduct the speed molecule absolute value of twice for speed denominator, interpolation parameters C1 is the speed molecule absolute value of negative twice, interpolation
Parameter C2 deducts the twice of the difference of speed molecule absolute value for speed denominator.Under normal interpolation pattern, initialize interpolation
Parameter C deducts the speed denominator of twice for speed molecule absolute value, interpolation parameters C1 is the speed denominator of negative twice, interpolation ginseng
The difference that number C2 deducts speed denominator for speed molecule absolute value is multiplied by 2.Numerator counts device, denominator counter O reset.
Preferably, described telescope low-speed highly precise control method, after initialization is finished, in the timing of position ring
In the device cycle, execute following steps：In the case of normal interpolation, if numerator counts device is more than or equal to speed molecule, terminate this
The interpolation of wheel speed denominator periodicity, numerator counts device, denominator counter O reset, C resets speed molecule absolute value and deducts twice
Speed denominator, and will open new round speed denominator periodicity interpolation；If numerator counts device is less than speed molecule, judge
Parameter C positive and negative, if C be more than zero, numerator counts device is continuously increased 1, and position command also increaseds or decreases 1, and parameter C is entered as
C:=C+C1, till C is less than zero, if C is already less than zero, molecule denominator enumerator all increases by 1, and position command increases
Or reducing 1, parameter C is entered as C:=C+C2.
Preferably, described telescope low-speed highly precise control method, after initialization is finished, in the timing of position ring
In the device cycle, execute following steps：Under special interpolation pattern, if denominator enumerator is more than or equal to speed denominator, terminate this
The interpolation of wheel speed denominator periodicity, numerator counts device, denominator counter O reset, C resets the speed that speed denominator deducts twice
Molecule absolute value, and the interpolation of next wheel speed denominator periodicity will be started；If denominator enumerator is less than speed denominator, first
First judge the positive and negative of parameter C, if C is less than zero, counting denominator increases, and position command increaseds or decreases 1, and parameter C is entered as
C:=C+C2；If C is more than zero, denominator count value adds 1, and parameter C is entered as C:=C+C1.
Preferably, described telescope low-speed highly precise control method, the position command being produced by linear interpolation, using as
To position ring, driver reruns position ring realization based on position traction to input instruction signal in the drive location ring cycle
Low-speed highly precise speed controlling.
From such scheme as can be seen that advantage of the present invention is as follows：
It is built in the position hauling speed linear interpolation of the rational fraction of driver and the operation of drive location ring same frequency
Method is it is achieved that the low-speed highly precise telescope of no cumulative error is with star control.
Brief description
Fig. 1 system composition schematic diagram
Fig. 2 guidance panel interface layout
Fig. 3 main operation panel control software flow chart
Fig. 4 remote control box and PC control station software flow pattern
Fig. 5 driver software flow chart
The position ring flow chart 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
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
1st, system composition
Fig. 1 is the structural representation of the present invention distributed low-speed highly precise astronomical telescope control device.This device is by existing
Field control box, remote control box and PC control station composition.
Field control box is contained within driver, main operation panel.
Remote control box is contained within remote operator panel.
PC control station by industrial computer and operates in the software on industrial computer and forms.
The main operation panel of field control box has 1 road CAN 2.0 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 station has RS485 communication interface.
The main operation panel of field control box and driver realize real-time Communication for Power by CAN2.0.In real-time Communication for Power, main
Guidance panel is main equipment, and driver is from equipment.
The main operation panel of field control box and remote control box, PC control station realize multinode distance by RS485
Communication.In RS485 communication, main operation panel is main equipment, and remote control box and PC control station are from equipment.
The driver of field control box is connected with the brush drive motor that has of astronomical telescope.Driver is with brush motor even
Wiring includes two-way motor lines and the encoder feedback of motor.
2 guidance panels
Fig. 2 is main operation panel, remote control box in the present invention distributed low-speed highly precise astronomical telescope control device
And the man machine interface of PC panel.
Above man machine interface, it is four eight segment numeral pipes, for showing the velocity information under current operating conditions.
In the lower section of 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 is followed successively by plus key, subtracts key, perpetual motion key, fast forward button, slow-motion key, fine motion plus key, fast backspace key, moves back slowly
Key, fine motion subtract key, reservation, stop key, reset key.From left to right, from top to bottom, LED is followed successively by alarm lamp, communication light, perseverance
Dynamic lamp, F.F. lamp, slow-motion lamp, fine motion add lamp, rewind lamp, move back lamp slowly, fine motion subtracts lamp, power lights, stopping light.
In perpetual motion state, press and dial a yard button, perpetual motion speed will increase, and be automatically saved in internal flash, should
Speed will keep, and restart and also do not lose after power down, unless press again and dialed yard button or subtracted dial-up button；Press subtract dial-up by
Key, perpetual motion speed will reduce, and be automatically saved in internal flash, and this speed will keep, and restart and also do not lose, remove after power down
Non- pressing again dials yard button or subtracts dial-up button.
Perpetual motion button is pressed, and control device enters perpetual motion state, controls telescope with earth rotation speed constant-speed operation, star
Star remains stationary in the visual field of telescope.Perpetual motion button is upspring, and does not change perpetual motion state.
Fast forward button is pressed, and control device enters F.F. state, control telescope with quick towards positive direction be earth rotation
Negative side march forward, allow telescope fast search star；Fast forward button is upspring, and control device returns perpetual motion state.
Slow-motion button is pressed, control device enter slow-motion state, control telescope with a slow speed towards positive direction be earth rotation
Negative side march forward, allow telescope at a slow speed close to search star；Slow-motion button is upspring, and control device returns perpetual motion state.
Fine motion adds button and presses, and control device enters fine motion and adds state, and control telescope with fine motion speed towards positive direction is
The negative side of earth rotation marches forward, and allows telescope fine motion speed close to search star；Fine motion adds button and upsprings, and control device returns
Perpetual motion state.
Fast backward button is pressed, and control device enters fast-rewinding state, controls telescope to be quickly earth rotation in the opposite direction
Direction advance, allow telescope fast search star；Fast backward button is upspring, and control device returns perpetual motion state.
Slowly move back button to press, control device enters state of moving back slowly, control telescope to be at a slow speed earth rotation in the opposite direction
Advancing in direction, allows telescope at a slow speed close to search star；Slowly move back button to upspring, control device returns perpetual motion state.
Fine motion subtracts button and presses, and control device enters fine motion and subtracts state, and control telescope with fine motion speed is in the opposite direction
Advancing in the direction of earth rotation, allows telescope fine motion speed close to search star；Fine motion subtracts button and upsprings, and control device returns permanent
Dynamic state.
Stop button is pressed, and telescope is by stop motion.
The operation interface that SR is used for button is located resets.
When in figure alarm lamp is bright, it is designated as malfunction.
Communication display lamp, for indicating Current Communications Status, when being in normal communication state, the bright length of display lamp length is gone out friendship
Replace；When being in erroneous communications states, quick flashing length is gone out prompting error condition.
When perpetual motion display lamp is bright, it is designated as perpetual motion state.
When F.F. display lamp is bright, it is designated as F.F. state.
Slowly move back display lamp bright when, be designated as moving back slowly state.
Fine motion add display lamp bright when, be designated as fine motion and add state.
When rewind display lamp is bright, it is designated as fast-rewinding state.
When slow-motion display lamp is bright, it is designated as slow-motion state.
Fine motion subtract display lamp bright when, be designated as fine motion and subtract state.
When power lights are bright, instruction system is already powered on.
When stopping display lamp is bright, it is expressed as halted state.
Charactron, according to the different velocity amplitude of different status displays, when perpetual motion state, shows perpetual motion velocity amplitude；When fast
When entering state, show fast forward speed value, etc..
3rd, main operation panel control software flow process
Fig. 3 is main control software flow pattern of the present invention, operates on the main operation panel of field control box.
Enter init state after system reset, carry out peripheral hardware and built-in variable initial work first, and allow LED, number
Code pipe, button are in original state, and wait driver to complete initialization and self-inspection work.In init state, button is not
Work.
After initialization finishes, system enters self-inspection state.In self-inspection state：Communicated with driver it is ensured that being communicated and being
Normally.Read internal drive state, if driver is working properly, disconnected forceful electric power state can be in, main operation panel is write and worked as
Front code-disc number；If driver is abnormal, main operation panel is reported to the police according to the error condition of driver, points out mistake,
Wait technical staff's investigation mistake, just complete self-inspection work.In self-inspection state, button is inoperative.
F.F. when System self-test is normal or presses perpetual motion key or search condition in halted state, rewind, slow-motion, slow
Move back, fine motion adds, fine motion subtracts button and upsprings, system can send reinforcement electricity instruction, enters perpetual motion state.In 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 plus key or subtracts
Key, then can be with fine adjustment speed, and finely tuning has upper and lower bound, and at this time main operation panel can issue new speed command.In perseverance
Dynamic state main operation panel can cyclic polling driver state, in the event of mistake, then main operation panel can enter mistake
State is reported to the police.
In perpetual motion state or halted state, if press F.F., slow-motion, rewind, move back slowly, the button such as fine motion adds, fine motion subtracts,
Then enter search condition.In search condition, will with F.F., slow-motion, rewind, move back slowly, fine motion adds, fine motion subtract uniform velocity run.When
Respective keys are upspring, then will re-enter into perpetual motion state.Shape in search condition main operation panel meeting cyclic polling driver
State, in the event of mistake, then main operation panel can enter error condition and be reported to the police.
If pressing stop key, enter halted state.In halted state, can send order makes driver stop motion, breaks
Forceful electric power.In the state of search condition main operation panel meeting cyclic polling driver, in the event of mistake, then main operation panel meeting
Enter error condition to be reported to the police.
When system is in states such as self-inspection, perpetual motion, search, stoppings, during in the event of run-time error, wrong shape can be entered
State, can make instruction.User is waited to fix a breakdown.After failture evacuation finishes, main operation panel can send clearance order.When clear
After success, system can jump to halted state.
4th, remote control box and PC control station software flow
Fig. 4 is the software module flow chart operating on remote operation box and PC control station, executes identical function.They
Flow process as follows：
It is system reset first, is then initialized, provide the original state of each button, charactron and display lamp.
After initialization finishes, enter main scanning cycles.
In main scanning cycles, constantly inquire about first, whether main scanning cycles flag puts 1.If it is, will be read in all working as
The state of front key value, and compare with the key assignments of upper one circulation, concrete key information is drawn according to the change of button value.If
There is no the change of any button, be then left intact；It is pressed if there are key or upsprings, key information will be sent to host computer
I.e. main operation panel.When having inquired about key information, or main scanning cycles flag is zero, and whether inquiry is had host computer to issue
Serial port message；If it has, then parsing corresponding communication protocol, obtain the current running status of system, according to up-to-date speed letter
Breath updates numeral method, and the state of update instruction lamp.
5th, driver software flow chart
Refer to Fig. 5, Fig. 5 is driver software flow chart of the present invention.
After system electrification, driver carries out initial work, initializes peripheral hardware first, then to system initialization.
Initialization carries out self-inspection work after being over, and detects whether each interface and metal-oxide-semiconductor are working properly, and self-inspection finishes, when one
When cutting normal, enter idle condition.When a failure occurs, enter error condition.
After entering idle condition, power tube is still closed, and can be reached running status and can be forced again by idle condition
Self-inspection.
Enter running status, automatically into position ring status, the rational fraction Speed interpolation based on position traction will for system
Run on inside position ring.When end of run, idle condition can be returned to or enter stopped status.
After entering stopped status, all peripheral hardwares are closed, and system can not return to running status, can only re-power.
After entering error condition, first corresponding prompting is made according to error number.When will be returned to idle condition after failture evacuation.
6th, the rational fraction speed operation of linear interpolation is drawn in position
The rational fraction velocity linear interpolating method that Fig. 6 draws for position is in the flow chart of internal drive.Work as driver
Enter running status, automatically into linear interpolation position ring mode.Under the ring mode of linear interpolation position, the holding fix ring cycle
Home position 1, represents that the position ring cycle arrives.When the position ring cycle to after, will execute straight-line interpolation compensating method, generate position ring institute
The position command of need simultaneously gives position ring.Position ring carries out closed loop control according to position command and physical location feedback, realizes position
Put servo.Straight-line interpolation is mended and position ring combines, and realizes the rational fraction speed servo of low-speed highly precise.
The initialization flow process that Fig. 7 mends for straight-line interpolation.This process flow operation " straight-line interpolation of execution is mended " ring in Fig. 6
Section.
When new speed command to or first time in-position inscription of loop, will enter straight-line interpolation mend initialization flow process.
We are according to the speed command assigned, the speed molecule of initialization directive and speed denominator first.Speed molecule can just can be born,
Speed denominator is always positive number.And position feedback is assigned to position command.And judge the size of speed molecule and speed denominator.
When speed molecule is more than speed denominator, enter normal interpolation pattern.Under normal interpolation pattern, initialize interpolation
Parameter C deducts the speed denominator of twice for speed molecule absolute value, interpolation parameters C1 is the speed denominator of negative twice, interpolation ginseng
The difference that number C2 deducts speed denominator for speed molecule absolute value is multiplied by 2.
When speed denominator is more than speed molecule, enter special interpolation pattern.Under special interpolation pattern, initialize interpolation
Parameter C deducts the speed molecule absolute value of twice for speed denominator, interpolation parameters C1 is negative twice speed molecule absolute value,
Interpolation parameters C2 deducts the twice of the difference of speed molecule absolute value for speed denominator.
Initialization C, after C1 and C2, numerator counts device, denominator counter O reset.Linear interpolation initialization terminates.
Fig. 8 is the once execution of normal interpolation pattern.After driver enters normal interpolation pattern, first determine whether molecule meter
Whether number device is more than or equal to speed molecule.If it is, showing that a last round of rational fraction speed has been finished, execution
Distance be speed molecule absolute value, the time of execution is speed denominator, and will carry out a new round rational fraction speed execution,
At this moment numerator counts device reset, initiation parameter C be speed molecule absolute value deduct twice speed denominator difference, open
The interpolation of a beginning new round.
If numerator counts device is less than speed molecule, or have been completed the initialization of new round interpolation, cycle criterion C
Whether it is more than zero.If C is more than zero, judge whether numerator counts device is more than or equal to speed molecule, if greater than being equal to, then terminate
Interpolation in this time, if it is less, numerator counts device adds 1, if speed molecule is more than zero, position command increases by 1 pulse, if
Speed molecule is less than zero,Position command reduces 1 pulse, and undated parameter C, and C is equal to C and adds C1, and continues cycling through whether judge C
More than zero, till C is less than or equal to zero.
If C is less than or equal to zero, judge whether numerator counts device is more than speed molecule, if greater than being equal to, then terminate this
Secondary interior interpolation；If it is less, numerator counts device adds 1, denominator enumerator adds 1, if speed molecule is more than zero, position command increases
Plus 1 pulse, if speed molecule is less than zero,Position command reduces 1 pulse, and undated parameter C, and C is equal to C and adds C2, terminates this
Secondary interior interpolation.
Fig. 9 is the once execution of special interpolation pattern.First determine whether whether denominator enumerator is less than speed denominator.
If it is, continuing to judge whether C is less than or equal to zero, if less than equal to zero, then denominator enumerator increases by 1, if
Speed molecule is more than zero, and position command increases by 1, if speed molecule is less than zero, position command reduces 1, C and is entered as C plus C2,
Terminate interpolation in this time；If C is more than zero, denominator enumerator increases by 1, C and is entered as C plus C1, terminates interpolation in this time.
If not, molecule denominator counter O reset, C is initialized as the speed molecule absolute value that speed denominator deducts 2 times
Difference, and terminate interpolation in this time.
All or part of content in the technical scheme that above example provides can be realized by software programming, its software
, in the storage medium that can read, storage medium is for example for program storage：Hard disk in computer, CD or floppy disk.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (5)
1. a kind of distributed low-speed highly precise astronomical telescope control device, telescope can with the speed of 15 rads/second with
With with the star of the speed motion of 15 rads/second, the velocity error between telescope and star is less than 0.01 rad
/ the second, described device includes field control box, remote control box and PC control station,
Described field control box includes driver, main operation panel；
Described remote control box includes remote operator panel；
Described PC control station includes the industrial computer with guidance panel and COM1；The main operation of field control box in this device
Panel is main equipment, and other are from equipment；Described main operation panel is passed through with described remote control box, described PC control station
RS485 universal serial bus is in communication with each other, and is in communication with each other by CAN2.0 universal serial bus with described driver；
Described main operation panel receives the key command from described remote control box and described PC control station incessantly, and comprehensive
Share family the button operation of main operation panel itself is instructed, translate into described driver accessible to described astronomical telescope
Implement the operational order controlling, and be handed down to described driver；Described main operation panel cycle collects described driver simultaneously
Present mode of operation, monitor the status information of described driver, in described main operation Display panel and be published to described long-range
Control box and described PC control station show；
It is characterized in that, the button of the operation interface on described field control box, remote control box, PC control station includes：
Dial a yard button, subtract dial-up button, perpetual motion button, fast forward button, slow-motion button, fine motion add button, fast backward button, move back slowly
Button, fine motion subtract button, hold bottom button, stop button, SR；
The display lamp of described operation interface includes：
Alarm lamp, communication light, perpetual motion lamp, F.F. lamp, slow-motion lamp, fine motion add lamp, rewind lamp, move back lamp slowly, fine motion subtracts lamp, power supply
Lamp, stopping light；
The digital-scroll technique of described operation interface includes four seven segment digital tubes.
2. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 1 it is characterised in that：
In perpetual motion state, press and dial a yard button, perpetual motion speed will increase, and be automatically saved in internal flash, this speed will
Keep, restart after power down and also do not lose, unless press again and dialed yard button or subtracted dial-up button；Press and subtract dial-up button, permanent
Dynamic speed will reduce, and be automatically saved in internal flash, and this speed will keep, and restart and also do not lose after power down, unless again
Press and dial yard button or subtract dial-up button；
Perpetual motion button is pressed, and control device enters perpetual motion state, controls telescope with earth rotation speed constant-speed operation, star exists
Remains stationary in the visual field of telescope；
Fast forward button is pressed, and control device enters F.F. state, control telescope with quick towards positive direction be the anti-of earth rotation
Advancing in direction, allows telescope fast search star；Fast forward button is upspring, and control device returns perpetual motion state；
Slow-motion button is pressed, control device enter slow-motion state, control telescope with a slow speed towards positive direction be the anti-of earth rotation
Advancing in direction, allows telescope at a slow speed close to search star；Slow-motion button is upspring, and control device returns perpetual motion state；
Fine motion adds button and presses, and control device enters fine motion and adds state, controls telescope to be the earth with fine motion speed towards positive direction
The negative side of rotation marches forward, and allows telescope fine motion close to search star；Fine motion adds button and upsprings, and control device returns perpetual motion shape
State；
Fast backward button is pressed, and control device enters fast-rewinding state, controls telescope to be quickly the side of earth rotation towards negative direction
March forward, allow telescope fast search star；Fast backward button is upspring, and control device returns perpetual motion state；
Slowly move back button to press, control device enters and moves back state slowly, control telescope with a slow speed towards negative direction be earth rotation direction
Advance, allow telescope at a slow speed close to search star；Slowly move back button to upspring, control device returns perpetual motion state；
Fine motion subtracts button and presses, and control device enters fine motion and subtracts state, controls telescope to be the earth with fine motion speed towards negative direction
Advancing in the direction of rotation, allows telescope fine motion close to search star；Fine motion subtracts button and upsprings, and control device returns perpetual motion state；
Stop button is pressed, and telescope is by stop motion；
The operation interface that SR is used for button is located resets；
When alarm lamp is bright, it is designated as malfunction；
Communication display lamp, for indicating Current Communications Status, when being in normal condition, the bright length of display lamp length is gone out alternately；Work as place
When error condition, quick flashing length is gone out prompting erroneous communications states；
When perpetual motion display lamp is bright, it is designated as perpetual motion state；
When F.F. display lamp is bright, it is designated as F.F. state；
When slow-motion display lamp is bright, it is designated as slow-motion state；
Fine motion add display lamp bright when, be designated as fine motion and add state；
When rewind display lamp is bright, it is designated as fast-rewinding state；
Slowly move back display lamp bright when, be designated as moving back slowly state；
Fine motion subtract display lamp bright when, be designated as fine motion and subtract state；
Power supply indicator is used for indicating operating status, upon power-up, power supply indicator Chang Liang；
When stopping display lamp is bright, it is designated as halted state；
Charactron, according to the different velocity amplitude of different status displays, when perpetual motion state, shows perpetual motion velocity amplitude；When F.F. shape
During state, show fast forward speed value.
3. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 2 is it is characterised in that institute
State the driver in field control box and be able to carry out following internal operation pattern：
It is first powered up initializing, after initialization, carries out hardware check, self-inspection has no problem and then enters idle condition, in the event of wrong
Then enter error condition by mistake；
After main operation panel sends command adapted thereto, driver will be switched to running status from idle condition；Drive under running status
Device will be worked with position ring；Main operation panel can also send order and allow driver self-inspection again；
When running status runs into mistake, error condition will be entered；After error reason is investigated, can by wrong clearance order
System is allowed to return to idle condition；
When hope is shut down, main operation panel sends halt instruction, and driver enters stopped status；
If receiving startup order during stopped status can return to idle condition.
4. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 3 is it is characterised in that institute
State driver and can carry out linear interpolation within the cycle of each position ring, produce desired position instruction, give position ring,
Realize closed loop location SERVO CONTROL.
5. a kind of distributed low-speed highly precise astronomical telescope control device according to claim 4 is it is characterised in that institute
State driver and there is normal interpolation pattern and special interpolation pattern；
Under normal interpolation pattern, initialization interpolation parameters C deducts the speed denominator of twice, inserts for speed molecule absolute value
Mend parameter C1 be the speed denominator of negative twice, interpolation parameters C2 deduct the difference of speed denominator for speed molecule absolute value
It is multiplied by 2；Under special interpolation pattern, initialization interpolation parameters C for speed denominator deduct twice speed molecule absolute value,
Interpolation parameters C1 is the speed molecule absolute value of negative twice, that interpolation parameters C2 deducts speed molecule for speed denominator is absolute
The twice of the difference of value；
In described normal interpolation pattern, described driver is able to carry out following steps：
First determine whether whether numerator counts device is more than or equal to speed molecule；If it is, showing a last round of rational fraction speed
Degree has been finished, and the distance of execution is speed molecule absolute value, and the time of execution is speed denominator, and will carry out a new round
Rational fraction speed execution, at this moment numerator counts device reset, initiation parameter C be speed molecule absolute value deduct twice
The difference of speed denominator, starts the interpolation of a new round；
If numerator counts device is less than speed molecule, or have been completed the initialization of new round interpolation, cycle criterion C whether
More than zero；If C is more than zero, judge whether numerator counts device is more than or equal to speed molecule, if greater than being equal to, then terminate this
Interior interpolation, if it is less, numerator counts device adds 1, if speed molecule is more than zero, position command increases by 1 pulse, if speed
Molecule is less than zero,Position command reduces 1 pulse, and undated parameter C, and C is equal to C and adds C1, and continues cycling through and judge whether C is more than
Zero, till C is less than or equal to zero；
If C is less than or equal to zero, judge whether numerator counts device is more than speed molecule, if greater than being equal to, then terminate in this time
Interpolation；If it is less, numerator counts device adds 1, denominator enumerator adds 1, if speed molecule is more than zero, position command increases by 1
Pulse, if speed molecule is less than zero,Position command reduces 1 pulse, and undated parameter C, and C is equal to C and adds C2, terminates in this time
Interpolation；
In described special interpolation pattern, described driver is able to carry out following steps：
First determine whether whether denominator enumerator is less than speed denominator；
If it is, continuing to judge whether C is less than or equal to zero, if less than equal to zero, then denominator enumerator increases by 1, if speed
Molecule is more than zero, and position command increases by 1, if speed molecule is less than zero, position command reduces 1, C and is entered as C plus C2, terminates
Interpolation in this time；If C is more than zero, denominator enumerator increases by 1, C and is entered as C plus C1, terminates interpolation in this time；
If not, molecule denominator counter O reset, C is initialized as the difference that speed denominator deducts 2 times of speed molecule absolute value,
And terminate interpolation in this time.
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| WO2018035690A1 (en) * | 2016-08-22 | 2018-03-01 | 深圳市大疆灵眸科技有限公司 | Method, system, and device for controlling imaging apparatus |
| 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 |
| CN108549343B (en) * | 2018-04-27 | 2020-11-27 | 湖南文理学院 | Motion control system and control method based on big data |
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