Motion planning method of radio telescope feed source support system

Abstract

The invention relates to a motion planning method of a radio telescope feed source support system. The method is characterized by comprising the following steps of calculating the time parameters requiring motion plan according to the astronomical track types to be observed; sending the time parameters to an astronomical track plan unit; converting a rectangular coordinates including the time information by the astronomical track unit; sending data to a motion plan unit; performing motion plan according to the current position of the feed source support system by the motion plan unit, whereinthe motion plan comprises a starting plan, an observation track plan and a completion plan; obtaining the complete motion track. The motion plan method of the feed source support system is used; the starting plan and the termination plan are added; the turning point position acceleration and deceleration plan are added in the observation track motion plan scheme to ensure the stable motion of thefeed source support system; the efficient utilization of the observation data is facilitated; the positioning precision of a feed source is ensured, so that the total usability of the observation track data is further ensured.

Description

technical field [0001] The invention relates to the field of motion control of a radio telescope, in particular to a motion planning method for a feed support system of a radio telescope. Background technique [0002] The Five-hundred-meter Aperture Spherical radio Telescope (FAST) project, known as "China's Sky Eye", is a national "Eleventh Five-Year" major scientific and technological infrastructure construction project, and its main components include reflectors and feed receivers The basic idea of ​​the device is to reflect and converge the radio wave through the reflective surface, and then the feed source receiving device completes the reception of the radio wave. The feed receiving device moves through the feed support system, and the feed support system adopts three active control mechanisms: cable-driven parallel mechanism, AB axis rotation mechanism and Stewart parallel mechanism. The cable-driven parallel mechanism can control the feed receiver to the correct pos...

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Problems solved by technology

[0003] In the existing motion planning, the feed support system starts to move when the observation is started, and since the speed of the phase center position of the feed is 0 at the beginning of the observation, it needs to be accelerated to the observation speed, which will cause the data on the observation trajectory of this acceleration section It does not match the time plan of astronomical trajectory planning, and requires special data processing at the data processing back end; in addition, in some observation modes (such as observation along right ascension or along declination), the phase center of the feed source on the observation trajectory The acceleration and deceleration planning of the position will also cause the data on the observation trajectory to not match the time planning of the astronomical trajectory planning, requiring special data processing at the data processing backend

In addition, the motion planning method used in the prior art is to use the astronomical coordinate system for planning. When the speed in the astronomical coordinate system is uniform, the Cartesian coordinates may not be uniform. Therefore, when converted to the movement of the mechanism in the Cartesian coordinate system, Acceleration and deceleration planning is prone to unreasonable situations, causing the acceleration of the mechanism to change too much, and the motion mechanism of the feed source support system cannot meet its fast response requirements, resulting in excessive control errors, which exceed the requirements of the positioning accuracy of the feed source, making this part Observation data unavailable, lost observation time and data

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