Cascade vibration-absorbing planning method and system used for source change of large-calibre radio telescope

Abstract

The invention relates to the field of motion control of a large-calibre radio telescopes, specifically to a cascade vibration-absorbing planning method and system used for source change of a large-calibre radio telescope, and aims to reduce system vibration caused by acceleration / deceleration motion in a source change process, and cost can be prevented from being increased due to use of a physical damper. In the planning system, a task parameter instruction issuing module sends specified source change parameters to a cascade vibration-absorbing planning module, and the module has two sub processing processes: preliminary motion curve planning and ZVD input shaping, an output final motion planning curve solves a control instruction of each execution mechanism through an instruction resolver, and a source change task of the large-calibre radio telescope is completed through control of a driving mechanism. In addition, the cascade vibration-absorbing planning module needs to use system parameters generated by a system parameter estimator. According to the cascade vibration-absorbing planning system provided by the invention, the system vibration caused by acceleration / deceleration motion is remarkably reduced, the positioning accuracy of a feed source receiver is improved, and the rapidity of the system is guaranteed.

Description

technical field [0001] The invention relates to the field of motion control of large-diameter radio telescopes, in particular to a cascaded vibration-avoidance planning method and system for source replacement of large-diameter radio telescopes. Background technique [0002] In order to achieve high-precision positioning in a large-scale working space, the 500m-aperture radio telescope FAST independently built in my country adopts a design scheme of a two-stage adjustment mechanism. The first-level adjustment mechanism is a 6-cable parallel drive mechanism and an AB-axis steering mechanism, which is used to achieve rough positioning of the feed cabin pose; the second-level adjustment mechanism is a Stewart parallel robot, which is used to achieve rough positioning of the feed cabin Error compensation, so as to meet the requirements of high-precision technical indicators for poses. FAST uses a 6-cable parallel mechanism to greatly reduce the construction cost. However, due t...

AI Technical Summary

Problems solved by technology

Adding a damper can suppress vibrations generated under various operating conditions, but the disadvantages of configuring a physical damper are: on the one hand, the cost of hardware is increased; on the other hand, a large-aperture radio telescope is a very large system, redundant The physical equipment increases the load-bearing burden for the system operation, and also brings difficulty to the maintenance work; third, the damper operation is always in a state of constant wear and tear, which will inevitably change some specific parameters of the system and the positioning measurement accuracy

However, the residual vibration concentrated near the natural frequency cannot be completely eliminated, and the robustness to frequency changes is slightly poor

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