Telescope deflection mirror control method and control device

Abstract

The application provides a telescope deflection mirror control method, adopts a clutch motor to control the switching of the deflection mirror, a deflection mirror clutch enable command transmitter sends a deflection mirror clutch enable command, and a deflection mirror in-place controller cooperates to control the suction of the clutch piece, and further controls the locking of the deflection mirror to a fixed position. In the control method provided by the application, the clutch motor is adopted to control the switching of the deflection mirror, the clutch motor rotor drives the deflection mirror to deflect, and the switching of the light path is realized; when the clutch piece is powered off to a certain voltage, the magnetic force of the two clutch pieces is restored, the two clutch pieces are suctioned together, the rotor is fixed together with the stator at this time because the stator is stationary, the rotor can be locked to a fixed position when the clutch motor is not powered on, and then the deflection and locking of the deflection mirror can be realized, so that the control is convenient, and the precision is relatively high.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of large telescope optical path control, and particularly relates to a telescope deflection mirror control method and a control device. BACKGROUND

[0002] The large telescope deflection mirror is mainly responsible for high-precision switching and deflection of the optical path, and ensures that the optical path is not deviated when the telescope is tracking after the deflection mirror is switched to the position. Therefore, the deflection mirror needs to be stably self-locked at the deflected position after being switched to the position. The deflection mirror is particularly important in a large telescope with a deflection optical path switching focal point, and is mainly responsible for light path switching of different imaging terminals on different light paths such as focus resistance and focus clamping. If the switching precision of the deflection mirror cannot meet the requirements, the optical path cannot be accurately aligned, and the deflection mirror cannot be stably locked at the position after reaching the optical path, which will cause the deflection mirror angle to deviate, so that the rear optical path cannot be accurately aligned, and clear imaging cannot be achieved. In addition, by switching the deflection mirror, the light beam can be reflected to different imaging terminals by about 90 degrees each time, that is, different imaging terminals are realized by using one telescope. However, each imaging terminal needs high-precision alignment, and when the telescope azimuth and elevation axes continuously change during observation of the target imaging terminal, the deflection mirror needs to be stably and accurately locked at the deflected position.

[0003] In order to realize high-precision switching of the deflected optical path, high-precision control of the deflection mirror switching platform is needed. If a gear self-locking structure transmission device is selected, the transmission gap will affect the precision. The direct motor driving mode can eliminate the influence of the transmission gap, but the direct transmission mechanism does not have a self-locking device, which will cause the deflection mirror platform to deviate when the motor is not enabled. When the motor is not powered on, the deflection mirror angle will deviate due to factors such as changes in the telescope azimuth and elevation axes, external disturbances, etc. After each telescope is powered on, the deflection mirror needs to be re-calibrated, and the deflection mirror motor needs to be powered on during telescope tracking, which increases the operation process of the telescope and the use requirements of the deflection mirror motor and its controller, and is not convenient for field maintenance and shortens the service life of the deflection mirror motor. In order to realize optical axis locking and ensure that the deflection mirror platform is stable and does not move when the power is off and the telescope moves, a locking device needs to be installed. The locking device of the previous deflection mirror uses a small locking motor, which slowly locks the rotor of the deflection mirror motor when the deflection mirror motor is disabled, thereby realizing locking of the deflection mirror platform. However, this scheme needs to be controlled by two motors, the control logic and the motor controller used are relatively complex, expensive and inconvenient to maintain. In addition, the locking motor needs a long time to slowly lock and unlock, which is too long when the telescope is tracking a fast target, so that the deflection mirror cannot be quickly and real-timely switched back to work. SUMMARY

[0004] The embodiment of the present application relates to a telescope deflection mirror control method and a control device, and at least part of the defects of the prior art can be solved.

[0005] The embodiment of the present application relates to a telescope deflection mirror control method, which adopts a brake motor to control the switching of the deflection mirror, and a deflection mirror brake enable command transmitter sends a deflection mirror brake enable command, and a deflection mirror in-place controller cooperates with the brake to control the suction of the brake piece, and further controls the locking of the deflection mirror to a fixed position.

[0006] As one of the embodiments, the deflection mirror in-place controller determines whether the position of the deflection mirror is in place and continuously stable, and the brake determination processing controller determines whether the brake of the deflection mirror is stable, simultaneously determines the brake state and the stability of the brake, and further sends a brake enable signal to the motor enable controller.

[0007] As one of the embodiments, the deflection mirror in-place controller determines whether the deflection mirror is deflected in place by judging the position error of the deflection mirror.

[0008] As one of the embodiments, the position error threshold of the deflection mirror is set in advance, and when the actual position error of the deflection mirror is less than the preset position error threshold, the actual position error of the deflection mirror is within a reasonable range.

[0009] As one of the embodiments, the deflection mirror in-place controller calculates the actual position error of the deflection mirror at a corresponding time according to a certain frequency, and specifically satisfies the following calculation formula:

[0010]

[0011] Among them

[0012] And E reach is the in-place state of the deflection mirror, p err (k) is the actual position error of the deflection mirror, Δp is the position error threshold, T s is the calculation frequency of the deflection mirror in-place controller, k is the number of counting periods in which the error of the deflection mirror is less than the error determination threshold, T r (k) is the deflection time in which the actual position error is less than the position error threshold for continuous k times, T0 is the time in which the actual error is less than the position error threshold for the first time, and T1 is the time threshold of judging in place.

[0013] As one of the embodiments, the brake determination processing controller judges whether the brake is suctioned to a certain time according to a certain frequency, and further judges whether the motor enable is closed, and specifically satisfies the following calculation formula: Among them

[0014] And E motorE is the enable signal of the brake motor brake (k1) is the brake state, T b (k1) is the total brake time, T s is the calculation frequency of brake attraction, T2 is the total preset time of brake attraction, k1 is the number of counting periods of brake attraction, and T0 is the time of the first brake attraction.

[0015] As one of the embodiments, the deflection mirror has four deflection positions, which are 0°, 90°, 180° and 270° respectively.

[0016] As one of the embodiments, the deflection mirror is switched during deflection in combination with a deflection mirror position controller, a deflection mirror speed controller, a deflection mirror current controller and a speed calculation controller.

[0017] As one of the embodiments, the rotor brake piece is installed on the rotor of the brake motor, the stator brake piece is installed on the stator of the brake motor, and the deflection mirror is connected with the rotor of the brake motor; when the brake piece is powered to a certain voltage, the two brake pieces demagnetize, the rotor and the stator of the brake motor are separated, and when the brake piece is powered off to a certain voltage, the magnetic force of the two brake pieces is restored, and the two brake pieces are attracted together.

[0018] As one of the embodiments, a telescope deflection mirror control device comprises

[0019] A brake motor is provided for the deflection mirror and is used to drive the deflection mirror to switch and lock.

[0020] A deflection mirror brake enable instruction transmitter is used to transmit a deflection mirror brake enable instruction.

[0021] A deflection mirror in-place controller is used to control the deflection mirror to be in place.

[0022] The embodiment of the present application has at least the following beneficial effects:

[0023] In the control method provided by the present application, the brake motor is used to control the switching of the deflection mirror, the rotor of the brake motor drives the deflection mirror to deflect, and the light path is switched. When the brake piece is powered to a certain voltage, the two brake pieces demagnetize, and the rotor and the stator of the brake motor are separated. When the brake piece is powered off to a certain voltage, the magnetic force of the two brake pieces is restored, and the two brake pieces are attracted together. Since the stator is fixed, the rotor is fixed together with the stator at this time. When the brake motor is not powered, the rotor can be locked to the fixed position, and the deflection and locking of the deflection mirror can be realized. The control is convenient, and the precision is relatively high. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0025] Figure 1 A flow chart of a telescope deflection mirror control method provided by the embodiment of the present application is shown in the figure.

[0026] Figure 2 A deflection mirror deflection position diagram of the telescope deflection mirror control method provided by the embodiment of the present application is shown in the figure.

[0027] Figure 3 A deflection mirror switching brake enable control and error diagram of the telescope deflection mirror control method provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort fall within the scope of the present application.

[0029] Referring to Figure 1 The embodiment of the present application provides a telescope deflection mirror control method, which controls the switching of the deflection mirror by using a brake motor. Specifically, the brake motor is controlled by a deflection mirror brake enable command transmitter and a deflection mirror in-place controller. The deflection mirror brake enable command transmitter sends a deflection mirror brake enable command, and the deflection mirror in-place controller is used to determine whether the deflection mirror is deflected to the right position. In this embodiment, the switching action of the deflection mirror is controlled by the brake motor. After the deflection is completed, the deflection mirror in-place controller needs to determine whether the deflection mirror is deflected to the right position. After the deflection mirror is deflected to the right position, the deflection mirror brake enable command transmitter sends a deflection mirror brake enable command to make the two brake pieces of the brake motor attract each other, so as to lock the deflection mirror in a fixed position. By using this control method, the accuracy of the switching action of the deflection mirror can be effectively ensured, and the operation is relatively simple and easy to maintain.

[0030] The above embodiment is optimized, the deflection mirror in-place controller should also continuously determine whether the position of the deflection mirror is in place when determining whether the position of the deflection mirror is in place, to ensure that the deflection mirror is always in the in-place state. On the other hand, the brake determination processing controller determines whether the brake of the deflection mirror is stable, and determines the brake state and the stability of the brake, and then sends a disable signal to the motor enable controller. Specifically, after the deflection mirror in-place controller continuously determines that the position of the deflection mirror is in place, the brake piece of the brake motor is attracted, at this time, the brake determination processing controller determines whether the brake of the deflection mirror is stable, and after determining that the brake is stable for a certain period of time, the motor enable controller sends a disable signal. In this embodiment, when determining whether the deflection mirror is deflected to the in-place state, it is necessary to continuously determine whether the deflection mirror is in the in-place state, so as to accurately determine the in-place state of the deflection mirror. Similarly, when the brake motor is in the brake operation, it is also necessary to continuously determine the brake state, so as to ensure the stability of the brake state. In order to eliminate the influence of the brake attraction on the position of the deflection mirror, the brake motor is turned off after the brake attraction is stable, so as to ensure that the brake piece is attracted, the brake motor is closed-loop controlled, a certain torque can be output, and the position of the deflection mirror will not be changed when the brake is attracted. At this time, the brake motor is disabled, the brake motor is not powered on, and the brake has held the deflection mirror at the position. The deflection mirror can be fixed at the position and will not move. Specifically, the rotor brake piece is installed on the rotor of the brake motor, the stator brake piece is installed on the stator of the brake motor, and the deflection mirror is connected with the rotor of the brake motor and driven by the rotor to deflect. When the brake piece is powered to a certain voltage, the two brake pieces are demagnetized, and the rotor and the stator are separated. When the brake piece is powered off to a certain voltage, the magnetic force of the two brake pieces is restored, and the two brake pieces are attracted together. Since the stator is fixed, the rotor is fixed together with the stator. When the motor is not powered on, the motor rotor can be locked at the fixed position.

[0031] The embodiment of the present application provides a position in-place determination method of a deflection mirror. Specifically, a deflection mirror in-place controller determines whether the deflection mirror is deflected to the in-place state by judging the position error of the deflection mirror. A position error threshold of the deflection mirror is set in advance. When the deflection mirror is deflected, the actual position of the deflection mirror is detected, which is compared with the standard position of the deflection mirror after deflection. The difference between the two is the actual position error of the deflection mirror, which is compared with the preset position error threshold. When the actual position error is less than the preset position error threshold, the actual position error of the deflection mirror is within a reasonable range, which indicates that the deflection mirror is deflected to the in-place state in this determination.

[0032] The above embodiment is optimized. Since the deflection mirror in-place controller needs to continuously determine whether the deflection mirror is deflected in place, i.e., needs to continuously calculate whether the actual position error of the deflection mirror is less than the preset position error threshold, the actual position error of the deflection mirror at the corresponding moment can be calculated at a certain frequency, and when the actual position error calculated for multiple times in succession is less than the position error threshold, and the deflection time exceeds the time threshold, it indicates that the deflection mirror is in the deflected in-place state, and when the calculated actual position error is not less than the position error threshold, it indicates that the deflection mirror is not in the deflected in-place state, and the actual position error of the deflection mirror needs to be re-counted for the number of times that it is less than the position error threshold. For details, refer to the following calculation formula:

[0033]

[0034] wherein

[0035] and E reach is the in-place state of the deflection mirror, p err (k) is the actual position error of the deflection mirror, Δp is the position error threshold, T s is the calculation frequency of the deflection mirror in-place controller, k is the number of error determination threshold counting periods in which the error of the deflection mirror is less than the error determination threshold, T r (k) is the deflection time in which the actual error is less than the position error threshold for k consecutive times, T0 is the time at which the actual position error is less than the position error threshold for the first time, which can be set as T0=0, which is the initial time value of the calculator, T1 is the time threshold for judging in-place, when the deflection time exceeds the time threshold, it is determined that the deflection is in place, and E reach is set to 1, otherwise E reach is set to 0, indicating that the deflection is not in place.

[0036] The in-place state E reach of the deflection mirror can be determined through the above calculation formula, and the in-place state E reach is fed back to the motor brake enable command transmitter. The motor brake enable command transmitter sends the brake attraction control command C reach, the motor enable controller is controlled to enable the clamping. In fact, when the deflection switching control of the deflection mirror is performed, the deflection mirror position controller, the deflection mirror speed controller, the deflection mirror current controller and the speed calculation controller are combined. The deflection mirror position controller is used to control the rotation of the deflection mirror from one deflection position to another deflection position, and the deflection mirror speed controller is used to control the rotation speed of the deflection mirror; the deflection mirror current controller is used to control the current of the clamping motor, and the two clamping pieces are controlled by voltage. When the voltage is applied to the two clamping pieces, the two clamping pieces are demagnetized, and the motor rotor and stator are separated. When the voltage is small or no voltage is applied, the magnetic force of the two clamping pieces is restored, and the two clamping pieces are attracted together. The speed calculation controller calculates the rotation speed of the deflection mirror in combination with the rotation encoder of the clamping motor.

[0037] Further, when the clamping is enabled, the clamping judgment processing controller calculates whether the clamping is enabled at the corresponding time according to a certain frequency. The clamping judgment processing controller receives the clamping enable control instruction C reach The control power supply of the clamping piece is disconnected, so that the magnetic force of the clamping piece is restored and the clamping is enabled. In order to determine whether the motor enable controller can be disconnected, the time for determining whether the clamping is enabled can be used. First, the total preset time for enabling the clamping is determined, and then the actual total time for enabling the clamping is calculated. Of course, it is necessary to continuously determine whether the two clamping pieces are always clamped during the calculation of the actual total time for enabling the clamping. When the clamping piece is not clamped, the actual total time for enabling the clamping is recalculated. When the actual total time for enabling the clamping is greater than the preset total time, and the deflection mirror is determined to be in the deflection in-place state, the motor enable controller can be disconnected. The clamping judgment frequency of the clamping piece can be the same as the in-place judgment frequency of the deflection mirror. The specific calculation formula can be referred to as follows:

[0038] wherein

[0039] and E motor is the enable signal of the clamping motor, E brake (k1) is the clamping state, T b (k1) is the total time for enabling the clamping, T s is the calculation frequency of the clamping, T2 is the total preset time for enabling the clamping, k1 is the number of counting periods of the clamping, and T0 is the time for first enabling the clamping, which can be set as T0=0, which is the initial time value of the calculator.

[0040] For the deflection mirror, four deflection positions can be set, i.e. the telescope can correspond to four imaging terminals. Adjacent two imaging terminals are arranged at an angle of 90 degrees, i.e. the deflection mirror can correspond to one imaging terminal every time the deflection mirror is deflected by 90 degrees. Therefore, the deflection positions of the deflection mirror are 0°, 90°, 180° and 270°, respectively. In specific embodiments, please refer toFigure 2 First, send a command to deflect the deflection mirror to 270° of deflection position 3, that is, p n =270, and the brake is controlled to be energized after the error is judged to be less than 1 arcsec, that is, Δp = 1 arcsec. The deflection mirror switching position can be obtained through the feedback of the rotary encoder. If the deflection mirror has an error of less than 1 arcsec for 10 seconds, the brake is controlled to be energized if the error lasts for 10 seconds, that is, T r (k)=10, the motor starts to be cut off 10.6s after the brake is closed, that is, T b (k1) = 10.6s, sampling interval T s =0.001s; the position error of the deflection mirror when the brake is engaged and the enable is disconnected is as follows Figure 3 As shown: Enable represents E motor Represents the enable signal of the brake motor, Brake represents E brake , represents the brake pull-in signal, Figure 3 It can be seen that the position error deviates by 100 arcsec after the brake is applied, but the enable is not disconnected at this time, and the motor torque still exists. The position error is adjusted to within 1 arcsec. At this time, after the motor enable is disconnected, the error remains within 1 arcsec and remains so after the motor enable is disconnected, thereby locking the position of the deflecting mirror.

[0041] An embodiment of the present invention also provides a telescope deflection mirror control device, comprising a brake motor, a deflection mirror brake enable command transmitter, and a deflection mirror position controller. The brake motor is used to mount the deflection mirror and drive the deflection mirror's deflection switching and locking; the deflection mirror brake enable command transmitter is used to send the deflection mirror brake enable command; and the deflection mirror position controller controls the deflection mirror's position. In this embodiment, the control device corresponds to the control method described above, and the control device can implement deflection switching control of the deflection mirror according to the control method. The specific control process is not further described here.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A telescope deflection mirror control method, characterized in that: The brake motor is used to control the switching of the deflection mirror. The deflection mirror brake enable command transmitter sends the deflection mirror brake enable command, and works together with the deflection mirror in-position controller to control the brake plate to engage, thereby controlling the deflection mirror to be locked to a fixed position. The deflection mirror in-position controller determines whether the deflection mirror is in position and remains stable. The brake judgment processing controller determines whether the brake of the deflection mirror is stable, and also determines the brake status and stability, and then sends an enable signal to the motor enable controller. The deflection mirror in place controller determines whether the deflection mirror is in place by judging the position error of the deflection mirror; A position error threshold of the deflection mirror is preset. When the actual position error of the deflection mirror is less than the preset position error threshold, the actual position error of the deflection mirror is within a reasonable range. The deflection mirror in-position controller calculates the actual position error of the deflection mirror at the corresponding moment according to a certain frequency, and specifically satisfies the following calculation formula: in And E reach is the position of the deflecting mirror, p err (k) is the actual position error of the deflection mirror, Δp is the position error threshold, T s is the calculation frequency of the deflection mirror in-position controller, k is the number of counting cycles when the deflection mirror error is less than the error judgment threshold, T r (k) is the deflection time when the actual error is less than the position error threshold for k consecutive times, T0 is the time when the actual position error is less than the position error threshold for the first time, and T1 is the time threshold for judging the position is in place; The brake judgment processing controller determines whether the brake is engaged for a certain time at a certain frequency, and then determines whether to turn off the motor enable. The specific calculation formula is as follows: in And E motor E is the enable signal of the brake motor. brake (k1) is the brake state, T b (k1) is the total brake time, T s is the calculation frequency of brake energization, T2 is the preset total time of brake energization, k1 is the number of counting cycles of brake energization time, and T0 is the time of first brake energization; The rotor brake plates are installed on the rotor of the brake motor, the stator brake plates are installed on the stator of the brake motor, and the deflecting mirror is connected to the rotor of the brake motor; when the brake plates are energized to a certain voltage, the two brake plates are demagnetized and the motor rotor and stator are disengaged; when the brake plates are deenergized to a certain voltage, the magnetic force of the two brake plates is restored and the two brake plates are attracted together.

2. The telescope deflection mirror control method according to claim 1, wherein: The deflection mirror has four deflection positions: 0°, 90°, 180° and 270°.

3. The telescope deflection mirror control method according to claim 1, wherein: When the deflecting mirror is deflecting, the deflecting mirror position controller, the deflecting mirror speed controller, the deflecting mirror current controller and the speed calculation controller are combined to realize the deflection switching of the deflecting mirror.

4. A telescope deflection mirror control device for implementing the telescope deflection mirror control method according to claim 1, characterized in that: include Brake motor, for installation of deflection mirror and driving the deflection mirror to switch and lock; Deflecting mirror brake enable command transmitter, sends the deflecting mirror brake enable command; The deflection mirror is in position controller, which controls the deflection mirror to deflect into position.

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