CN111309059B - Large-scale movable rotary table integral horizontal flatness leveling control system and working method thereof - Google Patents
Large-scale movable rotary table integral horizontal flatness leveling control system and working method thereof Download PDFInfo
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- CN111309059B CN111309059B CN202010180328.1A CN202010180328A CN111309059B CN 111309059 B CN111309059 B CN 111309059B CN 202010180328 A CN202010180328 A CN 202010180328A CN 111309059 B CN111309059 B CN 111309059B
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- 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
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/16—Housings; Caps; Mountings; Supports, e.g. with counterweight
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Abstract
The system consists of a signal control part and a hydraulic power part and is characterized in that a linear encoder in the signal control part is connected to a controller through a sensor cable and an electric box; the hydraulic power part is characterized in that a controller is connected with a control valve assembly through an electric box; and then the control valve assembly is connected with various hydraulic valves on the hydraulic cylinder of the actuating element to complete a direction control loop. The hydraulic cylinder is a double-acting hydraulic device, is arranged at the position of the positioning oil pad to be used as the auxiliary support and positioning of the azimuth axis, and has the function of locking a disc spring. The invention can reduce the inclination change of the azimuth axis caused by the structural gravity mismatch of the large astronomical telescope; and the horizontal balance of the whole azimuth shafting is realized. The system consists of communicated hydraulic cylinders, the displacement of which is monitored by linear encoders. The hydraulic whiffletree system can be locked during the observation process to achieve higher dynamic performance.
Description
Technical Field
The invention relates to an azimuth axis system control system of a foundation large-caliber astronomical telescope, in particular to an integral horizontal flatness leveling control system of a large movable rotary table of the foundation large-caliber astronomical telescope and a working method thereof.
The invention is the research result of the key technology research of the active surface of a large radio telescope of the national science foundation (A11).
Background
The telescope with the extremely large caliber is the mainstream of modern astronomical observation, and modern large telescopes all adopt an advanced horizontal structure and comprise a pitching axis system rotating around a horizontal axis and an azimuth axis system rotating around a vertical axis. The azimuth axis system positioned at the lower part of the telescope supports the whole system and is connected with the foundation, and meanwhile, an azimuth rotation axis is provided for the telescope, so that the functions of azimuth angle measurement, tracking drive, angular velocity and angular acceleration measurement and feedback and the like are realized. The telescopic telescope can bear hundreds of tons and even thousands of tons of rotary parts, and has extremely high motion precision and good stability, thereby ensuring the working characteristics of stability, accuracy, high repeatability, ultralow speed operation and the like of the telescope. Therefore, developing an azimuth axis system with high-precision support is one of the key technologies for ensuring the successful development of large telescopes.
Currently, large telescopes use a hydrostatic oil pad support system, which is supported on the sliding surface of the guide rail and maintains an oil film between the two to keep the support structure rigid and stable so as to be able to operate with little driving force and without wear. The large telescope is complex and large, wherein various optical instruments are arranged on the focus-resistant platforms on two sides of the azimuth axis structure, and the weight sizes of the various optical instruments at the left end and the right end of the focus-resistant platform are different. Meanwhile, the telescope structure has the reasons of manufacturing, installation error, preloading action and the like, and the structural mismatching of the telescope azimuth axis is easily caused. The structural body mismatch can cause the inclination of the whole shafting, the normal observation of the telescope can be influenced, even the grounding failure of a static pressure oil pad can be caused in serious cases, the telescope can not normally operate, and the problems of the current domestic and foreign telescopes are generally solved by adding an auxiliary mass block to perform precise shafting balancing. This solution is very difficult in the case of new very large telescopes with a diameter of 20 to 50 meters, so it is necessary to find a way to adjust the effect of the overall horizontal flatness of the azimuth axis of the very large caliber telescope.
Disclosure of Invention
The invention aims to provide an integral horizontal flatness leveling control system for a large-scale movable rotary table of an astronomical telescope, which is used for reducing the inclination change of an azimuth axis system of the telescope caused by structural gravity mismatch. In order to realize that each positioning oil pad of the azimuth axis system obtains uniform reaction force on a support rail so as to achieve horizontal balance of the whole azimuth axis system, a set of hydraulic whiffletree system is designed, the system consists of communicated hydraulic cylinders, and the displacement of the hydraulic whiffletree system is monitored by a linear encoder. The hydraulic whiffletree system can be locked during observation to achieve higher dynamic performance. The invention also provides a working method of the astronomical telescope azimuth axis hydraulic whiffletree auxiliary horizontal leveling control system.
The technical scheme for completing the task of the invention is that the whole horizontal flatness leveling control system of the large-scale movable turntable of the astronomical telescope consists of a signal control part and a hydraulic power part, and is characterized in that a linear encoder (also called as a measuring element) in the signal control part is connected to a controller through a sensor cable and an electric box; the hydraulic power part is that a controller is connected with a control valve assembly through an electric box; and then the control valve assembly is connected with various hydraulic valves on the hydraulic cylinder of the actuating element to complete a direction control loop.
The azimuth axis of the telescope generally adopts a mode that a positioning static pressure oil pad (Master pad) and a floating static pressure oil pad (Slave pad) are matched with each other for use to position the telescope. The sliding ball head arranged inside the positioning oil pad can adjust the small deformation error of the structure through inclination, the rigidity of the sliding ball head acts on the supporting track and is distributed at four corner ends of the azimuth axis structure, and the positioning oil pad can keep a constant position and does not change along with the change of the loading force. The floating oil pad is internally provided with a set of hydraulic column structure which can float up and down to adjust the large deformation of the telescope structure, and the floating oil pad can keep constant load force, so that the position can be changed. The positioning oil pad is used for positioning the shafting, and the floating oil pad is used for auxiliary support. The actuating element hydraulic cylinder is arranged between the positioning oil pad and the azimuth axis chassis to play a role in auxiliary connection. See fig. 1.
The actuator cylinder contains a locking mechanism therein.
In other words, the hydraulic system consists of a signal control part and a hydraulic power part, and the signal control part is used for driving a control valve in the hydraulic power part to act. The hydraulic source comprises a hydraulic pump, a motor and a hydraulic auxiliary element; the hydraulic control part comprises various control valves for controlling the flow, pressure and direction of the working oil; the execution part comprises a hydraulic cylinder. The operating principle of the hydraulic system is represented in the form of a circuit diagram to illustrate the interrelationship between the different functional elements, see fig. 2.
The main function of the azimuth axis hydraulic whiffletree control is to balance the load of the positioning oil pad on the azimuth axis system. The hardware description of the key components is as follows:
1. and a hydraulic cylinder.
The hydraulic cylinder is arranged at the positioning oil pads at the four corner ends of the bottom of the azimuth axis and is used for assisting the support and positioning of the whole azimuth axis.
The stroke of the auxiliary hydraulic cylinder is controlled by a linear encoder. The hydraulic cylinder is a double acting hydraulic device. However, it is also possible for the positioning pad to have a single-acting load return cylinder, similar to a "belleville lock cylinder". The final configuration will be defined after the test plate test.
2. A needle valve.
The needle valve is arranged between the hydraulic cylinders.
To compensate for the low frequency flatness tolerance of the azimuth shafting axial tracks, all hydraulic cylinders are connected together. The needle valve can reduce the hydraulic oil exchange between the hydraulic cylinders to the maximum extent. Thus, the high frequency dynamic properties of the telescope are maintained. The needle valve has a low-pass filter function.
3. A leveling system.
The overall horizontal flatness of the telescope is measured using a system that can perform continuous measurements in real time and is based on the communication container principle.
The technical scheme for completing the task of the second invention of the present application is as follows: the working method of the control system for the horizontal leveling assisted by the astronomical telescope azimuth shafting hydraulic whiffletree is characterized by comprising the following self-adjusting steps of:
when the great-caliber astronomical telescope generates structural mismatch due to the action of gravity vectors and causes the azimuth axis to incline, the linear encoder measures specific change numerical value, and then the change information is transmitted to the controller through the electric box through the sensor cable;
the controller sends an adjusting instruction to the control valve assembly to complete a direction control loop, and various hydraulic valves are utilized to control the on-off and the direction change of liquid flow so as to start, stop (including locking) or change the direction of the hydraulic cylinder;
the whole horizontal flatness of the telescope is detected by a real-time continuous measuring system, after the whole azimuth axis reaches the level, the information is fed back to the controller, and finally the locking loop prevents the hydraulic cylinder from drifting or shifting due to external influences when the hydraulic cylinder stops moving.
The system and the method for controlling the horizontal leveling assisted by the astronomical telescope azimuth axis hydraulic whiffletree can reduce the inclination change of the azimuth axis caused by the structural gravity mismatch of a large astronomical telescope. The uniform reaction force of each positioning oil pad of the azimuth axis on the supporting rail is realized, so that the horizontal balance of the whole azimuth axis is achieved. The system consists of connected hydraulic cylinders, the displacement of which is monitored by linear encoders. The hydraulic whiffletree system can be locked during observation to achieve higher dynamic performance.
Drawings
FIG. 1 is a diagram of the distribution of the positioning oil pad and the floating oil pad of the telescope azimuth axis.
M, positioning an oil pad, S: a floating oil cushion R is a central bearing.
Fig. 2 is a schematic diagram of an auxiliary horizontal leveling control system of telescope azimuth axis hydraulic whiffletree.
A: controller, B: an encoder, C: sensor cable, D: hydraulic control valves (needle valves, stop valves, check valves, etc.) and pressure sensors, E: electric box, F: hydraulic pump, G: hydraulic cylinder, H: a control valve assembly.
Detailed Description
In embodiment 1, as shown in fig. 1, a leveling control system for the overall horizontal flatness of a large-scale movable turntable of an astronomical telescope (a telescope azimuth axis hydraulic whiffletree auxiliary horizontal leveling control system) can realize the control of the horizontal flatness of an azimuth axis. The method is realized by the following parts:
(1) Controller A
The main functions of the controller a are to exchange, detect and provide signals, and control the various components to work in unison. The controller is provided with a data exchange function, which means that data exchange between the CPU and the controller and between the controller and the equipment is realized.
(2) Power element F
The power element F is used for converting the mechanical energy of the prime mover into the pressure energy of the fluid, and refers to an oil pump in the hydraulic system, which supplies power to the whole hydraulic system.
(3) Actuator G
The actuator hydraulic cylinder G is used for converting pressure energy of liquid into mechanical energy and driving a load to do linear reciprocating motion. The hydraulic cylinder is a bidirectional hydraulic device, is arranged at the position of a positioning oil pad to be used as auxiliary support and positioning of an azimuth axis system, and has a disc spring locking function.
(4) Control element H & D
The control elements include a control valve assembly H and various hydraulic valves D. In this control system, not only the controller a but also the controlled object D, the measuring element B, the transmitter F, and the actuator G have their respective directions of action. If the combination of the two is improper, the total action direction forms positive feedback, and the control system cannot play a control role but destroys the stability of the system. Therefore, before the system operates, attention must be paid to check the action direction of each link, and the aim is to control and adjust the pressure, flow and direction of liquid in the hydraulic system by changing the positive and negative actions of the control valve assembly H so as to ensure that the whole control system is a closed-loop system with negative feedback.
(5) Measuring element B
The linear encoder B is mainly used for measuring linear displacement, and generally comprises a reader (reader) and a measuring scale (measuring ruler), and calculates the mechanical position of the hydraulic cylinder G and the change thereof by detecting the relative position between the reader and the measuring scale.
(6) Electric box E
The electric box E is formed by assembling switch equipment, measuring instruments, protective electric appliances and auxiliary equipment in a closed or semi-closed metal cabinet or on a screen according to the electric wiring requirement. In normal operation, the circuit can be switched on or off by means of a manual or automatic switch. When the fault or abnormal operation occurs, the circuit is cut off or an alarm is given by the aid of the protective electric appliance. The measuring instrument can display various parameters in operation, and can also adjust some electrical parameters to prompt or send out signals for deviation from normal working state.
(7) Auxiliary element
The auxiliary device comprises an oil tank, an oil filter, a cooler, a heater, an energy accumulator, an oil pipe, a pipe joint, a sealing ring, a quick-change joint, a high-pressure ball valve, a rubber pipe assembly, a pressure measuring joint, a pressure gauge, an oil level gauge, an oil temperature gauge and the like.
(8) Hydraulic oil
Hydraulic oil is a working medium for transferring energy in a hydraulic system, and includes various mineral oils, emulsion, synthetic hydraulic oil and the like.
Claims (8)
1. The leveling control system for the integral horizontal flatness of the large-scale movable turntable of the astronomical telescope is composed of a signal control part and a hydraulic power part and is characterized in that a linear encoder in the signal control part is connected to a controller through a sensor cable and an electric box; the hydraulic power part is that a controller is connected with a control valve assembly through an electric box; then, the control valve assembly is connected with various hydraulic valves on the hydraulic cylinder of the actuating element to complete a direction control loop;
the azimuth axis of the telescope is used for positioning the telescope in a way that a positioning static pressure oil pad and a floating static pressure oil pad are matched with each other; the positioning oil pad is internally provided with sliding ball heads, small deformation errors of the structure are adjusted through inclination, the sliding ball heads are rigidly acted on the support rail and distributed at four corner ends of the azimuth axis structure, and the positioning oil pad keeps a constant position and does not change along with the change of the load force; a set of hydraulic column structure is added in the floating oil pad, the telescope structure is adjusted to deform greatly by floating up and down, the floating oil pad keeps constant load force, and the position can be changed; the positioning oil pad is used for positioning the shafting, and the floating oil pad is supported in an auxiliary manner; the actuating element hydraulic cylinder is arranged between the positioning oil pad and the azimuth shaft chassis to play a role in auxiliary connection;
the controller is provided with a data exchange function, which means that data exchange between the CPU and the controller and between the controller and the equipment is realized.
2. The system for leveling and controlling the integral horizontal flatness of the large-scale movable turntable of the astronomical telescope according to claim 1, wherein the stroke of the auxiliary hydraulic cylinder is controlled by a linear encoder; the hydraulic cylinder is a double acting hydraulic device.
3. The system for leveling and controlling the integral horizontal flatness of the large-scale moving turntable of the astronomical telescope as claimed in claim 1, wherein the positioning oil pad is provided with a single-acting load return hydraulic cylinder.
4. The system for leveling and controlling the integral horizontal flatness of the large-scale movable turntable of the astronomical telescope according to claim 1, wherein all hydraulic cylinders are connected together, and the needle valve is arranged between each hydraulic cylinder; and a locking mechanism is arranged in the control loop.
5. The leveling control system for the integral horizontal flatness of the large-scale movable turntable of the astronomical telescope as claimed in claim 1, wherein the electric box is a low-voltage distribution box formed by assembling switch equipment, measuring instruments, protective electric appliances and auxiliary equipment in a closed or semi-closed metal cabinet or on a screen according to the electrical wiring requirement; when the circuit is normally operated, the circuit is switched on or off by a manual or automatic switch; when the fault or abnormal operation occurs, the circuit is cut off or the alarm is given out by means of the protective electric appliance; the measuring instrument is used for displaying various parameters in operation, and adjusting electrical parameters to prompt or send signals for deviation from a normal working state.
6. The leveling control system for the integral horizontal flatness of the large moving turntable according to any one of claims 1 to 5, wherein auxiliary components are further provided in the system, and the auxiliary components comprise an oil tank, an oil filter, a cooler, a heater, an energy accumulator, an oil pipe and a pipe joint, a sealing ring, a quick-change joint, a high-pressure ball valve, a rubber pipe assembly, a pressure measuring joint, a pressure gauge, an oil level gauge and an oil temperature gauge.
7. The method for operating the system for leveling and controlling the integral horizontal flatness of the large-scale movable turntable of an astronomical telescope as claimed in claim 1, wherein the self-adjusting step comprises the following steps:
when the great-caliber astronomical telescope generates structural mismatch due to the action of gravity vectors and causes the azimuth axis to incline, the linear encoder measures specific change numerical value, and then the change numerical value is transmitted to the controller through the electric box through the sensor cable;
the controller sends an adjusting instruction to the control valve assembly to complete a direction control loop, and various hydraulic valves are used for controlling the on-off and the direction change of liquid flow so as to start, stop or change the direction of the hydraulic cylinder;
the whole horizontal flatness of the telescope is detected by a real-time continuous measuring system, after the whole azimuth axis reaches the level, information is fed back to the controller, and finally the locking loop prevents the hydraulic cylinder from drifting or shifting due to external influences when the hydraulic cylinder stops moving.
8. The method of claim 7, wherein the stopping step comprises locking.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911327222 | 2019-12-20 | ||
| CN2019113272223 | 2019-12-20 |
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| CN111309059A CN111309059A (en) | 2020-06-19 |
| CN111309059B true CN111309059B (en) | 2023-01-03 |
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| CN113719542A (en) * | 2021-09-16 | 2021-11-30 | 中国科学院国家天文台南京天文光学技术研究所 | Hydraulic damping vertical shock isolation device for large-scale foundation optical infrared telescope |
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| CN106950690A (en) * | 2017-05-16 | 2017-07-14 | 谢秀娟 | A kind of primary mirror of astronomical telescope hydraulic support device |
| CN107942503A (en) * | 2017-09-13 | 2018-04-20 | 中国科学院国家天文台南京天文光学技术研究所 | Extremely large telescope height shafting supports and driving hydraulic pressure whiffletree control mobile systems |
| CN108591258A (en) * | 2018-05-10 | 2018-09-28 | 中国科学院国家天文台南京天文光学技术研究所 | Horizon open frame for Large-Scale Precision Instrument and Equipment |
| CN108594423A (en) * | 2017-09-06 | 2018-09-28 | 中国科学院国家天文台南京天文光学技术研究所 | Extremely large telescope azimuth axle supports and the flexible mobile system of precision actuation |
| CN110109242A (en) * | 2019-05-08 | 2019-08-09 | 中国科学院国家天文台南京天文光学技术研究所 | Hydraulic trussing for primary mirror of astronomical telescope |
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2020
- 2020-03-16 CN CN202010180328.1A patent/CN111309059B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950690A (en) * | 2017-05-16 | 2017-07-14 | 谢秀娟 | A kind of primary mirror of astronomical telescope hydraulic support device |
| CN108594423A (en) * | 2017-09-06 | 2018-09-28 | 中国科学院国家天文台南京天文光学技术研究所 | Extremely large telescope azimuth axle supports and the flexible mobile system of precision actuation |
| CN107942503A (en) * | 2017-09-13 | 2018-04-20 | 中国科学院国家天文台南京天文光学技术研究所 | Extremely large telescope height shafting supports and driving hydraulic pressure whiffletree control mobile systems |
| CN108591258A (en) * | 2018-05-10 | 2018-09-28 | 中国科学院国家天文台南京天文光学技术研究所 | Horizon open frame for Large-Scale Precision Instrument and Equipment |
| CN110109242A (en) * | 2019-05-08 | 2019-08-09 | 中国科学院国家天文台南京天文光学技术研究所 | Hydraulic trussing for primary mirror of astronomical telescope |
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