CN109254597A - A kind of control system and its method of ground large aperture telescope - Google Patents
A kind of control system and its method of ground large aperture telescope Download PDFInfo
- Publication number
- CN109254597A CN109254597A CN201811137046.2A CN201811137046A CN109254597A CN 109254597 A CN109254597 A CN 109254597A CN 201811137046 A CN201811137046 A CN 201811137046A CN 109254597 A CN109254597 A CN 109254597A
- Authority
- CN
- China
- Prior art keywords
- motor
- ehtercat
- telescope
- pitching
- orientation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention relates to technical field of servo control, in particular to a kind of the control system and its method of ground large aperture telescope；The present invention includes: EhterCAT main website, for sending instruction and processing information；EhterCAT slave station, in the instruction and feedback information to EhterCAT main website for receiving EhterCAT main website；Host computer, for sending the control instruction of telescope to EtherCAT main website and receiving the status information of EtherCAT main website loopback；The present invention realizes position ring and the speed ring operation correction of azimuth axis and pitch axis by EhterCAT master controller, azimuth-drive motor driver and pitching motor driver realize the current correction and power drive of orientation arcuate segments motor and pitching motor respectively, orientation arcuate segments motor and pitching motor is set to carry out real-time synchronization driving, to realize that the high-precision of telescope is directed toward.
Description
Technical field
The present invention relates to technical field of servo control, in particular to the control system of a kind of ground large aperture telescope and its
Method.
Background technique
With the raising of the requirements such as detectivity, spatial resolution, the bore of ground telescope is increasing, to tracking and
The required precision of direction is also higher and higher.To meet the requirement of ground large aperture telescope high-precision drive control, electric-machine directly-driven skill
Art is gradually applied, especially at the end of the 20th century, with the development of motor and power electronic technique, European Southern Observatory
(ESO) it is directly driven using a kind of novel arcuate segments motor, instead of traditional integrated motor, this arc point
Section motor is made of muti-piece stator and the splicing of muti-piece rotor, wherein block stator is coil windings, and piecemeal rotor is magnet steel, should
Motor belongs to the AC permanent magnet synchronous motor with sinusoidal counter electromotive force, and with fabricating, difficulty is low, control precision is high, installation
The advantages that easy to maintain, so that the motor of this structure has obtained more and more applications on heavy caliber astronomical telescope, such as
The 8.2m VLT telescope of European Southern Observatory, Japanese national observatory 8.2m SUBARU telescope, Hispanic
10.4m GTC telescope and the ALMA radio telescope arrays in the U.S..In the very big optical telescope that foreign countries are developing now
Much also all use this driving method, such as TMT (30m), Euro50 (50m).
Ground large aperture telescope generally uses altitude azimuth form structure, by control azimuth axis and pitch axis, realizes to specific
The point and track towards of target.According to telescope configuration size and driving moment requirement, generally, azimuth axis is all made of arcuate segments electricity
Machine driving, and arcuate segments motor both can be used according to structure and torque requirement in pitch axis, and integrated exchange also can be used
Permanent magnet synchronous motor is generally respectively installed one in telescope pitching left and right pillar, is symmetrically driven using bi-motor, driving principle and
Arcuate segments motor is identical；For arcuate segments motor, after stator and rotor are installed, each piece of stator relative rotor tool
There is oneself independent electrical angle zero point, can regard that an independent motor carries out drive control as.
For ground large aperture telescope, a shafting is few then by more than ten motor section drive controls, more then by tens of
Motor section drive control, it is desirable that real-time synchronization driving is carried out to multiple motor sections on same axis, is just able to achieve the height of telescope
Precision is directed toward and low speed steady tracking；In addition, telescope configuration bulky complex, proposes requirements at the higher level to automatically controlled wiring, if
There is no a set of high performance control system, it is impossible to safe and reliable, real-time synchronization is carried out to multiple motor sections well and is driven, nothing
Method reaches the high-precision requirement of telescope.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of control systems of ground large aperture telescope, pass through
EhterCAT master controller realizes the position and speed operation correction of azimuth axis and pitch axis, azimuth-drive motor driver and pitching electricity
Machine driver realizes the current correction and power drive of orientation arcuate segments motor and pitching motor respectively, makes orientation arcuate segments
Motor and pitching motor carry out real-time synchronization driving, to realize that the high-precision of telescope is directed toward；It is big to additionally provide a kind of ground
The control method of Aperture Telescope.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of ground heavy caliber is provided and is looked in the distance
The control system of mirror, wherein include:
EhterCAT main website, for sending instruction and processing information；
EhterCAT slave station, in the instruction and feedback information to EhterCAT main website for receiving EhterCAT main website；
Host computer, for sending the control instruction of telescope to EtherCAT main website and receiving the loopback of EtherCAT main website
Status information；
Wherein, EhterCAT main website is connect by EhterCAT bus with EhterCAT slave station and collectively constitutes a linear net
Network topological structure；
EhterCAT main website uses EhterCAT master controller；
EhterCAT slave station includes azimuth-drive motor driver for driving the orientation arcuate segments motor of telescope, is used for
Drive the pitching motor driver of the pitching motor of telescope, for the pitch axis to EhterCAT master controller transmitting telescope
Limit information pitching limit switch, for the limit information of the azimuth axis to EhterCAT master controller transmitting telescope
The volume of orientation limit switch and the location information for the azimuth axis and pitch axis to EhterCAT master controller transmitting telescope
Code device decoding deck.
As an improvement of the present invention, it is connected on the encoder decoding deck for measuring telescope orientation shaft position
Azimuth encoder and pitching encoder for measuring telescope pitching shaft position.
As a further improvement of the present invention, the orientation arcuate segments motor is turned by six block stators and a piecemeal
Son composition, six block stators are coil windings, and piecemeal rotor is magnet steel annular in shape.
As a further improvement of the present invention, the pitching motor is set as identical as the orientation arcuate segments motor
Structure or two self-contained motors.
As a further improvement of the present invention, the EhterCAT master controller by non-EtherCAT interface with it is described
Host computer is connected.
As a further improvement of the present invention, the orientation limit switch and pitching limit switch are provided with
EtherCAT interface, the orientation limit switch and pitching limit switch pass through EtherCAT interface to EhterCAT master control respectively
The limit information of device transmitting azimuth axis and pitch axis processed.
As a further improvement of the present invention, in the azimuth-drive motor driver and the orientation arcuate segments motor
Block stator connection；The pitching motor driver is connect with the stator of the pitching motor.
A kind of control method of ground large aperture telescope, wherein include the following steps:
Step S1, EtherCAT main website receives the control instruction for the telescope that host computer is sent, and receives simultaneously
The azimuth axis of the telescope of EhterCAT slave station feedback and the location information of pitch axis；
Step S2, EtherCAT master controller calculates the azimuth axis of telescope and the revolving speed of pitch axis, calculates simultaneously
The orientation arcuate segments motor of telescope and the magnetic pole commutating angle information of pitching motor；
Step S3, EtherCAT master controller carries out position closed loop correction and speed closed loop school to azimuth axis and pitch axis
Just, the average torque current-order of orientation arcuate segments motor and pitching motor is obtained；
Step S4, average torque current-order and magnetic pole commutating angle information are sent to orientation by EtherCAT master controller
Motor driver and pitching motor driver, azimuth-drive motor driver and pitching motor driver distinguish control azimuth arcuate segments
Motor and pitching motor work；
Step S5, EtherCAT master controller reads the limit information of the azimuth axis of telescope by EhtherCAT bus
With the limit information of pitch axis, the state of telescope is monitored in real time；
Step S6, it circuits sequentially and repeats step S1 to step S5.
As an improvement of the present invention, in step S1, EtherCAT master controller is obtained by EhtherCAT bus
The location information of azimuth encoder and pitching encoder that encoder decoding deck calculates.
As a further improvement of the present invention, in step S2, need to carry out orientation arcuate segments motor and pitching motor
Electrical angle Zero calibration, and record the electrical angle zero point information of each orientation arcuate segments motor and pitching motor.
The beneficial effects of the present invention are: compared with prior art, the present invention realizes orientation by EhterCAT master controller
The position and speed operation of axis and pitch axis corrects, and azimuth-drive motor driver and pitching motor driver realize orientation arc respectively
It is segmented the current correction and power drive of motor and pitching motor, carries out orientation arcuate segments motor and pitching motor same in real time
Step driving, to realize that the high-precision of telescope is directed toward.
Detailed description of the invention
Fig. 1 is the connection block diagram of control system of the invention；
Fig. 2 is the structural schematic diagram of orientation arcuate segments motor of the invention；
Fig. 3 is the step block diagram of control method of the invention；
Appended drawing reference: 1- block stator, 2- piecemeal rotor, S1- step S1, S2- step S2, S3- step S3, S4- step
S4, S5- step S5.
Specific embodiment
Please refer to Fig. 1 to Fig. 3, a kind of control system of ground large aperture telescope of the invention, comprising:
EhterCAT main website, for sending instruction and processing information；
EhterCAT slave station, in the instruction and feedback information to EhterCAT main website for receiving EhterCAT main website；
Host computer, for sending the control instruction of telescope to EtherCAT main website and receiving the loopback of EtherCAT main website
Status information；
Wherein, EhterCAT main website is connect by EhterCAT bus with EhterCAT slave station and collectively constitutes a linear net
Network topological structure；
EhterCAT main website uses EhterCAT master controller；
EhterCAT slave station includes azimuth-drive motor driver for driving the orientation arcuate segments motor of telescope, is used for
Drive the pitching motor driver of the pitching motor of telescope, for the pitch axis to EhterCAT master controller transmitting telescope
Limit information pitching limit switch, for the limit information of the azimuth axis to EhterCAT master controller transmitting telescope
The volume of orientation limit switch and the location information for the azimuth axis and pitch axis to EhterCAT master controller transmitting telescope
Code device decoding deck.
As shown in Figure 1, in the present invention, by EhterCAT master controller realize azimuth axis and pitch axis position ring and
Speed ring operation correction, azimuth-drive motor driver and pitching motor driver realize orientation arcuate segments motor and pitching electricity respectively
The current correction and power drive of machine make orientation arcuate segments motor and pitching motor carry out real-time synchronization driving, to realize
The high-precision of telescope is directed toward.
In the prior art, large telescope huge structure is complicated, and entire rack is up to tens of rice, numerous electronic control unit point
Cloth is on machine and under machine, and for equipment spacing from farther out, this just proposes requirements at the higher level to automatically controlled wiring.
In the present invention, the azimuth coding of the position of the azimuth axis for measuring telescope is connected on encoder decoding deck
The pitching encoder of the position of device and the pitch axis for measuring telescope；Directly pass through EhterCAT master controller to more electricity
Machine driver (including azimuth-drive motor driver and pitching motor driver) transmits magnetic pole commutating angle information, avoids orientation volume
Code device and Duo Tai azimuth-drive motor driver are directly connected to, and avoid the direct of pitching encoder and Duo Tai pitching motor driver
Connection, enormously simplifies wiring quantity.
In the present invention, the quantity of azimuth-drive motor driver and orientation arcuate segments motor can six or six with
On, the quantity of pitching motor driver and pitching motor can also be at two or more.
As shown in Fig. 2, orientation arcuate segments motor is made of six block stators 1 and a piecemeal rotor 2, six piecemeals
Stator 1 is coil windings, and piecemeal rotor 2 is magnet steel annular in shape.
Further, the thermistor for carrying out monitoring temperature to orientation arcuate segments motor is provided in block stator 1
(including PTC and KTY resistance)；Azimuth-drive motor driver is connect with the block stator in orientation arcuate segments motor；Pitching motor
Driver is connect with the stator of the pitching motor.
In the present invention, pitching motor is set as structure identical as orientation arcuate segments motor or by two self-contained motor
It constitutes.Arcuate segments motor in orientation is above-mentioned orientation arcuate segments motor herein, and the two structure is identical；Self-contained motor can herein
Think self-contained torque motor common in the market.
Further, EhterCAT master controller is connected by non-EtherCAT interface with host computer；In particular,
EhterCAT master controller is connected by non-EtherCAT interface with host computer, and the telescope control that host computer is sent is received
Instruction, while to the status information of host computer feedback control system, non-EtherCAT interface can be RS232 interface, RS422 connects
Mouthful, it is also possible to common Ethernet interface.
Further, orientation limit switch and pitching limit switch are provided with EtherCAT interface, orientation limit switch
Pass through limit of the EtherCAT interface to EhterCAT master controller transmitting azimuth axis and pitch axis respectively with pitching limit switch
Information.
In the present invention, the feature that the refresh rate of EtherCAT bus is high, synchronism is good is made full use of, can be easy to
The refresh rate for realizing current-order and magnetic pole commutating angle information 1000Hz, meets telescope high-precision control requirement, sufficiently
Using the superiority bandwidth of EtherCAT bus, the status information of motor driver, motor is read and monitored in real time, safeguards system
Reliability service, meanwhile, installation work amount is greatly simplified, the Ethernet cable that 100Base-TX standard can be used carries out linear junction
Structure interconnection realizes the reliable data transmission of equipment under telescope airborne equipment and machine, wherein networking equipment distance between sites can reach
It to 100m, at most can connect 65535 equipment, be particularly suitable for large telescope control system.
As shown in figure 3, a kind of control method of ground large aperture telescope, wherein include the following steps:
Step S1, EtherCAT main website receives the control instruction for the telescope that host computer is sent, and receives simultaneously
The azimuth axis of the telescope of EhterCAT slave station feedback and the location information of pitch axis；
Step S2, EtherCAT master controller calculates the azimuth axis of telescope and the revolving speed of pitch axis, calculates simultaneously
The orientation arcuate segments motor of telescope and the magnetic pole commutating angle information of pitching motor；
Step S3, EtherCAT master controller carries out position closed loop correction and speed closed loop school to azimuth axis and pitch axis
Just, the average torque current-order of orientation arcuate segments motor and pitching motor is obtained；
Step S4, average torque current-order and magnetic pole commutating angle information are sent to orientation by EtherCAT master controller
Motor driver and pitching motor driver, azimuth-drive motor driver and pitching motor driver distinguish control azimuth arcuate segments
Motor and pitching motor work；
Step S5, EtherCAT master controller reads the limit information of the azimuth axis of telescope by EhtherCAT bus
With the limit information of pitch axis, the state of telescope is monitored in real time；
Step S6, it circuits sequentially and repeats step S1 to step S5.
Wherein, in step S1, EtherCAT master controller obtains encoder decoding deck by EhtherCAT bus and resolves
The location information of azimuth encoder and pitching encoder out.
Moreover, need to carry out the electrical angle Zero calibration of orientation arcuate segments motor and pitching motor in step S2, and
Record the electrical angle zero point information of each orientation arcuate segments motor and pitching motor.
In step S5, EtherCAT master controller reads the limit information of azimuth axis, pitching by EhtherCAT bus
Limit information, motor stator temperature information, driver temperature information, driver busbar voltage information, the current of electric information of axis
Deng, the state of telescope is monitored in real time, it is timely to handle in case of exception.
In the present invention, arcuate segments motor in orientation is made of block stator 1 and piecemeal rotor 2, wherein block stator 1
For coil windings, piecemeal rotor 2 is magnet steel, and wherein block stator 1 is provided with PTC and KTY resistance, realize motor temperature monitoring and
Overheat protector；Orientation arcuate segments motor belongs to the AC permanent magnet synchronous motor with sinusoidal counter electromotive force, orientation arcuate segments
After the stator and rotor of motor are installed, each piece of stator relative rotor has oneself independent electrical angle zero point；In this hair
Pitching motor in bright can be arcuate segments motor, be also possible to integrated AC permanent magnet synchronous motor, the two control principle
It is identical.
In the present invention, EhterCAT master controller is as EhterCAT main website, more azimuth-drive motor drivers, orientation limit
Bit switch, encoder decoding deck, pitching limit switch and Duo Tai pitching motor driver pass through as EhterCAT slave station
EhterCAT bus collectively constitutes a Linear Network topological structure, and above-mentioned networking equipment passes through the transmitting of EtherCAT interface and hands over
Mutual information；EhterCAT master controller is connected by non-EtherCAT interface with host computer, and the prestige that host computer is sent is received
Remote mirror control instruction, while to the status information of host computer feedback control system, the non-EtherCAT interface can be
RS232 interface, RS422 interface, are also possible to common Ethernet interface；Azimuth-drive motor driver and orientation arcuate segments motor
In stator be connected, realize drive and control of electric machine, and acquisition PTC and KTY resistance information, azimuth-drive motor driver has simultaneously
There is EtherCAT communication interface, and by EtherCAT interface with EhterCAT master controller interactive information；Pitching motor driving
Device is connected with the stator of pitching motor, realizes that drive and control of electric machine, and acquisition PTC and KTY resistance information, pitching motor drive
Dynamic device has EtherCAT communication interface simultaneously, and by EtherCAT interface with EhterCAT master controller interactive information；Side
Position limit switch and pitching limit switch all have EtherCAT communication interface, and pass through EtherCAT interface to EhterCAT master
The limit information of controller transmitting azimuth axis and pitch axis；Azimuth encoder and pitching encoder are connected with encoder decoding deck
It connects, encoder decoding deck has EtherCAT communication interface, and is transmitted by EtherCAT interface to EhterCAT master controller
The location information of azimuth axis and pitch axis；That is, control system of the invention is controlled by electric current loop, speed ring and position ring
Composition, wherein EhterCAT master controller mainly realizes that position ring and speed ring operation correct, motor driver (including orientation
Motor driver and pitching motor driver) mainly realize electric current loop correction and power drive, it is installed in motor and encoder
Cheng Hou carries out the electrical angle Zero calibration (method of electrical angle Zero calibration of orientation arcuate segments motor and pitching motor first
For by the phase back-emf zero crossing position U of motor along with a quarter electrical angle period is demarcated as the electrical angle zero of motor
Point), and the electrical angle zero point information of each motor is recorded, which participates in the closed loop control process of system, specific to transport
Calculation process is as follows: EhterCAT master controller has calculating and processing function in real time, works in fixed cycle scan pattern, at one
In scan period, firstly, reading the telescope control instruction that host computer is sent by non-EtherCAT interface, pass through
EtherCAT interface reads azimuth axis encoder position information and pitch axis encoder position information, according to above- mentioned information, a side
Revolving speed of the face based on consequent difference algorithm and low-pass filter computer azimuth axis and pitch axis, on the other hand, according to present encoding
Device location information and the motor electrical angle zero point information demarcated in advance, calculate the magnetic of each motor on azimuth axis and pitch axis
Commutate angle information for pole；Then, position closed loop correction and speed closed loop correction are carried out, to obtain azimuth axis segmentation motor and pitching
The average torque current-order of spindle motor, finally by EtherCAT interface by control command, average torque current-order and magnetic
Pole commutation angle information is sent to corresponding azimuth-drive motor driver and pitching motor driver；Motor driver works in torque
Mode, using the control strategy of id=0, motor driver is sent by EtherCAT interface EhterCAT master controller
Control command, average torque current-order and magnetic pole commutating angle information, realize AC permanent magnet synchronous motor excitation current id
With the current loop control of torque current iq, and be based on SVPWM space vector pulse width modulation, realize the direct torque of motor.
In the present invention, EhterCAT master controller simultaneously pass through EtherCAT interface read in real time orientation limit information,
Pitching limits information, motor stator temperature information, driver temperature information, driver busbar voltage information, current of electric information
Deng realizing the condition monitoring of entire telescope control system, guarantee the reliability service of whole system.
Control method of the invention directly passes through EhterCAT master controller and transmits magnetic pole commutating to multiple electric motors driver
Angle information avoids being directly connected to for azimuth encoder and Duo Tai azimuth-drive motor driver, avoids pitching encoder and more
Being directly connected to for platform pitching motor driver, enormously simplifies wiring quantity.
The present invention provides one embodiment, and a kind of control system of ground large aperture telescope of the embodiment is by upper
Machine, EhterCAT master controller, six azimuth-drive motor drivers, six orientation arcuate segments motors, orientation limit switches, orientation
Encoder, pitching encoder, encoder decoding deck, pitching limit switch, two pitching motor drivers, two pitching motors and
EhterCAT bus composition；As shown in Figure 1, EhterCAT master controller is as EhterCAT main website, six azimuth-drive motor drivings
Device, orientation limit switch, encoder decoding deck, pitching limit switch and two pitching motor drivers as EhterCAT from
It stands, EhterCAT main website and EhterCAT slave station collectively constitute a Linear Network topological structure by EhterCAT bus, on
State the Ethernet cable progress networking interconnection that equipment passes through 100Base-TX standard；Telescope azimuth axis is by orientation arcuate segments
Drive and control of electric machine, as shown in Figure 2, wherein the electrical-coil winding of orientation arcuate segments motor is made of six pieces of block stators,
Therefore drive control is carried out by six azimuth-drive motor drivers, telescope pitch axis is limited to dimensional structure, and there is no use arc
It is segmented motor, but is made of two self-contained motors, therefore carries out drive control by two pitching motor drivers；Orientation arc
It is segmented motor and pitching self-contained motor, belongs to the AC permanent magnet synchronous motor with sinusoidal counter electromotive force, the two control principle
It is identical.In order to realize the high precision angle-measuring of telescope azimuth axis and pitch axis and requirement of testing the speed, azimuth axis and pitch axis are respectively installed
A set of high-resolution absolute type encoder, azimuth encoder and pitching encoder are connected with encoder decoding deck, encoder decoding
Plate is as EhterCAT slave station, by EhterCAT interface, transmits azimuth axis and pitch axis coding to EhterCAT master controller
Device location information；In order to realize that telescope azimuth axis and pitch axis are safely operated within the scope of special angle, azimuth axis and pitching
Axis respectively installs a set of limit switch, and orientation limit switch and pitching limit switch pass through EhterCAT as EhterCAT slave station
Interface transmits azimuth axis and pitch axis limit switch information to EhterCAT master controller；Azimuth-drive motor driver and pitching electricity
Machine driver passes through EhterCAT in torque mode, the main drive control for realizing motor as EhterCAT slave station, work
Interface receives control command, torque current command and magnetic pole commutating angle information that EhterCAT master controller is sent, and
To EtherCAT master controller loopback driver and motor status information；Host computer is industrial personal computer, same by RS422 interface
EtherCAT master controller is connected, and sends telescope control instruction to EtherCAT master controller, and receive EtherCAT master
The control system status information of controller loopback；EtherCAT master controller has calculating and processing function in real time, and work is fixed
Intermittent scanning mode, using Bei Fu company embeded processor CX2030-0120 as control core, configuration RS422 serial port module and
EtherCAT communication interface is connected by RS422 serial ports with host computer, by EtherCAT communication interface with networking other
The communication of EhterCAT slave station equipment；Entire control system can be described as being controlled by electric current loop, speed ring and position ring and form,
In, EhterCAT master controller mainly realizes that position ring and speed ring operation correction, motor driver mainly realize electric current loop school
Just and direct torque；It is first after orientation arcuate segments motor, pitching motor, azimuth encoder and pitching encoder are installed
The rotating square for first carrying out six orientation arcuate segments motors and two pitching motors (demarcates motor to electrical angle Zero calibration
Electrical angle rotating square is to and with encoder rotating square to consistent: rotating clockwise direction with the turntable of telescope as pros
To, the positive direction be encoder rotating square to, while also for motor electrical angle rotating square to；When motor is with motor electrical angle
Rotating square to rotation when, 120 ° of V phase back-emf of the leading motor of U phase back-emf of motor, the V phase back-emf of motor
120 ° of the W phase back-emf of leading motor；The calibration of motor electrical angle: the U phase back-emf zero crossing position of motor is added
The a quarter electrical angle period is demarcated as the electrical angle zero point of motor), to guarantee the power output size and Orientation of the motor on same axis
Unanimously, and the electrical angle zero point information of every motor is recorded, which participates in the closed loop control process of system, concrete operation
Process is as follows: EhterCAT master controller works under 1ms fixed cycle scan pattern, firstly, upper by RS422 interface
The telescope control instruction that machine is sent, while azimuth encoder location information and pitching coding are read by EtherCAT interface
Device location information, then, according to above- mentioned information, the revolving speed on the one hand carrying out azimuth axis and pitch axis is calculated, on the other hand, according to
Current encoder location information and the motor electrical angle zero point information demarcated in advance, calculate azimuth axis and each electricity of pitch axis
Then the magnetic pole commutating angle information of machine carries out the position closed loop correction and speed closed loop correction of azimuth axis and pitch axis, to obtain
The total torque current instruction IA of azimuth axis segmentation motor and the total torque current of pitch axis instruct IE, finally by EtherCAT
Interface by control command, average torque current-order and magnetic pole commutating angle information be sent to corresponding azimuth-drive motor driver and
Pitching motor driver, wherein the torque current value that each azimuth-drive motor driver receives is IA/6, and each pitching motor drives
The torque current value that dynamic device receives is IE/2；Azimuth-drive motor driver and pitching motor driver work in torque mode
Under, using the control strategy of id=0, the control command sent by EtherCAT interface EhterCAT master controller,
Average torque current-order and magnetic pole commutating angle information carry out motor excitation current id and torque current according to above- mentioned information
The current loop control of iq, and it is based on SVPWM space vector pulse width modulation, realize the direct torque of motor.
In the present invention, EhterCAT master controller simultaneously pass through EtherCAT interface read in real time orientation limit information,
Pitching limits information, motor stator temperature information, driver temperature information, driver busbar voltage information, current of electric information
Deng realizing the condition monitoring of entire telescope control system, guarantee the reliability service of whole system.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of control system of ground large aperture telescope characterized by comprising
EhterCAT main website, for sending instruction and processing information；
EhterCAT slave station, in the instruction and feedback information to EhterCAT main website for receiving EhterCAT main website；
Host computer, for sending the control instruction of telescope to EtherCAT main website and receiving the state of EtherCAT main website loopback
Information；
Wherein, EhterCAT main website, which is connect with EhterCAT slave station by EhterCAT bus, collectively constitutes a Linear Network and opens up
Flutter structure；
EhterCAT main website uses EhterCAT master controller；
EhterCAT slave station includes azimuth-drive motor driver for driving the orientation arcuate segments motor of telescope, for driving
The pitching motor driver of the pitching motor of telescope, for EhterCAT master controller transmitting telescope pitch axis limit
Position information pitching limit switch, for EhterCAT master controller transmitting telescope azimuth axis limit information orientation
The encoder of limit switch and the location information for the azimuth axis and pitch axis to EhterCAT master controller transmitting telescope
Decoding deck.
2. a kind of control system of ground large aperture telescope according to claim 1, which is characterized in that the encoder
It is connected on decoding deck for the azimuth encoder of measuring telescope orientation shaft position and for measuring telescope pitching shaft position
Pitching encoder.
3. a kind of control system of ground large aperture telescope according to claim 2, which is characterized in that the orientation arc
Shape segmentation motor is made of six block stators and a piecemeal rotor, and six block stators are coil windings, piecemeal rotor
For magnet steel annular in shape.
4. a kind of control system of ground large aperture telescope according to claim 3, which is characterized in that the pitching electricity
Machine is set as structure identical as the orientation arcuate segments motor or two self-contained motors.
5. a kind of control system of ground large aperture telescope according to claim 4, which is characterized in that described
EhterCAT master controller is connected by non-EtherCAT interface with the host computer.
6. a kind of control system of ground large aperture telescope according to claim 5, which is characterized in that the orientation limit
Bit switch and pitching limit switch are provided with EtherCAT interface, and the orientation limit switch and pitching limit switch lead to respectively
Cross limit information of the EtherCAT interface to EhterCAT master controller transmitting azimuth axis and pitch axis.
7. a kind of control system of ground large aperture telescope according to claim 6, which is characterized in that the orientation electricity
Machine driver is connect with the block stator in the orientation arcuate segments motor；The pitching motor driver and pitching electricity
The stator of machine connects.
8. a kind of control method of ground large aperture telescope, which comprises the steps of:
Step S1, EtherCAT main website receives the control instruction of telescope that host computer is sent, at the same receive EhterCAT from
The azimuth axis of the telescope for feedback of standing and the location information of pitch axis；
Step S2, EtherCAT master controller calculates the azimuth axis of telescope and the revolving speed of pitch axis, while calculating and looking in the distance
The orientation arcuate segments motor of mirror and the magnetic pole commutating angle information of pitching motor；
Step S3, EtherCAT master controller carries out position closed loop correction to azimuth axis and pitch axis and speed closed loop corrects, and obtains
Obtain the average torque current-order of orientation arcuate segments motor and pitching motor；
Step S4, average torque current-order and magnetic pole commutating angle information are sent to azimuth-drive motor by EtherCAT master controller
Driver and pitching motor driver, azimuth-drive motor driver and pitching motor driver distinguish control azimuth arcuate segments motor
It works with pitching motor；
Step S5, EtherCAT master controller passes through the limit information of the azimuth axis of EhtherCAT bus reading telescope and bows
The limit information for facing upward axis, is in real time monitored the state of telescope；
Step S6, it circuits sequentially and repeats step S1 to step S5.
9. a kind of control method of ground large aperture telescope according to claim 8, which is characterized in that in step S1
Interior, EtherCAT master controller obtains the azimuth encoder and pitching that encoder decoding deck calculates by EhtherCAT bus
The location information of encoder.
10. a kind of control method of ground large aperture telescope according to claim 9, which is characterized in that in step S2
It is interior, need to carry out the electrical angle Zero calibration of orientation arcuate segments motor and pitching motor, and record each orientation arc
It is segmented the electrical angle zero point information of motor and pitching motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811137046.2A CN109254597B (en) | 2018-09-28 | 2018-09-28 | Control system and method for foundation large-caliber telescope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811137046.2A CN109254597B (en) | 2018-09-28 | 2018-09-28 | Control system and method for foundation large-caliber telescope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109254597A true CN109254597A (en) | 2019-01-22 |
| CN109254597B CN109254597B (en) | 2021-03-19 |
Family
ID=65047710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811137046.2A Active CN109254597B (en) | 2018-09-28 | 2018-09-28 | Control system and method for foundation large-caliber telescope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109254597B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113945210A (en) * | 2021-10-15 | 2022-01-18 | 中国科学院长春光学精密机械与物理研究所 | Method and device for quickly positioning foundation large-caliber optical telescope and telescope |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101789734A (en) * | 2010-01-08 | 2010-07-28 | 中国科学院国家天文台南京天文光学技术研究所 | Arc line driving control system of large astronomical telescope |
| CN102183916A (en) * | 2010-12-09 | 2011-09-14 | 中国兵器工业第二〇五研究所 | Zero position-searching method for limited angle servo turntable |
| CN103873848A (en) * | 2014-04-03 | 2014-06-18 | 北京中视节点文化发展有限公司 | Three-dimension cable shooting platform and three-dimension cable shooting system using the platform |
| CN104579045A (en) * | 2014-12-26 | 2015-04-29 | 北京航天控制仪器研究所 | Angle sensor based phase change method of brushless DC (direct current) motor |
| CN104589367A (en) * | 2014-11-26 | 2015-05-06 | 中国科学院沈阳自动化研究所 | Modular robot driver based on EtherCAT and control method |
| CN104753425A (en) * | 2015-03-12 | 2015-07-01 | 中国科学院光电研究院 | Method for achieving online seeking and compensation of mechanical zero point of permanent magnet synchronous motor |
| CN104852537A (en) * | 2015-05-28 | 2015-08-19 | 东南大学 | Three-dimensional air gap Halbach permanent magnet arc-shaped motor for astronomical telescope and control method of three-dimensional air gap Halbach permanent magnet arc-shaped motor |
| CN106647511A (en) * | 2016-12-28 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Telescope control system based on segment arc permanent magnetism synchronous torque motor |
| 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 |
-
2018
- 2018-09-28 CN CN201811137046.2A patent/CN109254597B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101789734A (en) * | 2010-01-08 | 2010-07-28 | 中国科学院国家天文台南京天文光学技术研究所 | Arc line driving control system of large astronomical telescope |
| CN102183916A (en) * | 2010-12-09 | 2011-09-14 | 中国兵器工业第二〇五研究所 | Zero position-searching method for limited angle servo turntable |
| CN103873848A (en) * | 2014-04-03 | 2014-06-18 | 北京中视节点文化发展有限公司 | Three-dimension cable shooting platform and three-dimension cable shooting system using the platform |
| CN104589367A (en) * | 2014-11-26 | 2015-05-06 | 中国科学院沈阳自动化研究所 | Modular robot driver based on EtherCAT and control method |
| CN104579045A (en) * | 2014-12-26 | 2015-04-29 | 北京航天控制仪器研究所 | Angle sensor based phase change method of brushless DC (direct current) motor |
| CN104753425A (en) * | 2015-03-12 | 2015-07-01 | 中国科学院光电研究院 | Method for achieving online seeking and compensation of mechanical zero point of permanent magnet synchronous motor |
| CN104852537A (en) * | 2015-05-28 | 2015-08-19 | 东南大学 | Three-dimensional air gap Halbach permanent magnet arc-shaped motor for astronomical telescope and control method of three-dimensional air gap Halbach permanent magnet arc-shaped motor |
| CN106647511A (en) * | 2016-12-28 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Telescope control system based on segment arc permanent magnetism synchronous torque motor |
| 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 |
Non-Patent Citations (4)
| Title |
|---|
| GANG ZHAO: "System identification of the nonlinear residual errors of an industrial robot using massive measurements", 《ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING》 * |
| YONGTING DENG 等: "Speed control for K-mirror of 2-m telescope using improved active disturbance rejection controller", 《MEASUREMENT》 * |
| 史运涛 等: "实时工业以太网EtherCAT***从站设计", 《工业控制计算机》 * |
| 张健 等: "一种室外远距离天线测试转台***的控制方法", 《宇航计测技术》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113945210A (en) * | 2021-10-15 | 2022-01-18 | 中国科学院长春光学精密机械与物理研究所 | Method and device for quickly positioning foundation large-caliber optical telescope and telescope |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109254597B (en) | 2021-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101174783B (en) | Arc driving heavy caliber astronomical telescope | |
| CN100549752C (en) | The movement in a curve control system of heavy caliber astronomical telescope azimuth axis | |
| CN104079215B (en) | The accurate Detection and adjustment method of automobile permanent magnet synchronous motor initial position of rotor | |
| CN102497157B (en) | Sensor-less control device and control method of sectional-winding linear motor | |
| CN110212819B (en) | Commutation error compensation method for high-speed brushless direct current motor | |
| CN203720327U (en) | Test system for servo motor | |
| CN206432854U (en) | A kind of wheel hub motor | |
| CN104158378A (en) | Motor module and stabilizer with same | |
| CN203251267U (en) | Control device and vehicle driving system | |
| CN106647511A (en) | Telescope control system based on segment arc permanent magnetism synchronous torque motor | |
| WO2011109984A1 (en) | Coaxial driving system for two permanent magnet synchronous motors | |
| CN102820840A (en) | Method for sampling current of brushless direct current motor | |
| CN104579045A (en) | Angle sensor based phase change method of brushless DC (direct current) motor | |
| CN109254597A (en) | A kind of control system and its method of ground large aperture telescope | |
| CN109617479A (en) | A kind of low-voltage, high-current servo-driver | |
| CN103885458A (en) | Fast reflection mirror scanning tracking system for aerospace imaging field and method thereof | |
| CN204425121U (en) | Motor module and tripod head equipment | |
| CN113848863B (en) | Universal servo system test switching device | |
| CN106130415B (en) | Method for demarcating motor and control device | |
| CN101174784B (en) | Ultra-low speed accurate arc electric motor for macrotype astronomical telescope | |
| CN112034484B (en) | Modeling system and method based on hemispherical laser radar | |
| JP2002272175A (en) | Initial phase detection system and method of motor, and controller thereof | |
| CN107112933B (en) | Electric machine control system and unmanned vehicle | |
| CN103823182A (en) | Test system for servo motor | |
| CN107294436A (en) | Method and control device for demarcating motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |