65米射电望远镜副面精调系统—网络客户端控件开发及摇杆控制策略实现

发布时间：2018-07-27 13:33

【摘要】：为了满足探月工程及宇宙探索，上海天文台建设了一台口径65米射电望远镜，其副反射面需要根据望远镜的工作情况进行调整，为此研制了一台基于Stewart并联机构的副反射面调整机构，补偿实际位置由于重力、形变等原因造成的偏移。为了使副面控制系统SCU能够受到天线主控系统ACU的远程控制，需要设计一套远程控制链接系统，使得天线ACU软件能够和副反射面SCU软件相互通讯传输数据。与此同时在副面调试过程中发现了系统实际操作中的不便之处，为了使得副反射面能够实时按照操作者指定的方向运动，提出了摇杆控制的方法。通过算法提出，以及样机制作成功验证了摇杆控制的可行性，为今后副反射面操控提出了一种新的操控方法。本文主要介绍了在Windows平台下，基于VC的ActiveX功能，为副反射面调整机构控制系统设计了一个网络客户端控件，使得天线总控软件能够通过该控件对副反射面调整系统进行网络远程控制以及安全监控。详细介绍了控件中通讯协议以及各个模块的功能和实现方法。提出了基于操纵杆控制副反射面的方法，提出了动态跟踪原理并给出了基于副反射面并联调整机构的动态跟踪计算公式，通过在工控机中设计上位机软件使得动态跟踪实例化。设计并制造了摇杆控制器，，编写摇杆控制器下位机程序，通过串行通讯使得摇杆控制器和上位机电脑通讯。为了验证客户端控件的功能性和稳定性以及摇杆控制的可行性，进行了相关实验研究。第一个实验在上海65米射电望远镜主控软件中测试了网络客户端控件各个功能，通过一系列操控实验，检测每一个功能的运行状况并做了相关记录，从而验证设计的可行性；第二个实验通过设计好的摇杆控制系统，通过仿真验证了动态跟踪算法的可行性，结合6PUS并联机器人对于摇杆控制系统进行了测试实验。
[Abstract]:In order to meet the requirements of lunar exploration and space exploration, the Shanghai Observatory has built a 65-meter radio telescope, the secondary reflection of which needs to be adjusted according to the work of the telescope. In this paper, a side reflector adjusting mechanism based on Stewart parallel mechanism is developed to compensate the offset caused by gravity and deformation in actual position. In order to make the secondary control system (SCU) be remotely controlled by the antenna master control system (ACU), it is necessary to design a remote control link system so that the antenna ACU software can communicate with the secondary reflector SCU software to transmit data. At the same time, the inconveniences in the practical operation of the system are found in the debugging process of the auxiliary plane. In order to make the secondary reflector move in the direction specified by the operator in real time, a method of rocker control is proposed. The feasibility of the rocker control is verified by the algorithm and the prototype, and a new control method is proposed for the control of the secondary reflector in the future. This paper mainly introduces the design of a network client control system based on the ActiveX function of VC on the Windows platform for the control system of the accessory reflector adjustment mechanism. It enables the antenna master control software to carry out remote network control and security monitoring of the accessory reflector adjustment system through the control. The communication protocol and the function and implementation method of each module are introduced in detail. The method of controlling the reflector based on the joystick is put forward, the principle of dynamic tracking is put forward, and the calculating formula of dynamic tracking based on the parallel adjusting mechanism of the pair reflector is given. The dynamic tracking is instantiated by designing the upper computer software in the industrial control computer. The rocker controller is designed and manufactured, and the program of the rocker controller is written. The rocker controller communicates with the host computer through serial communication. In order to verify the function and stability of client control and the feasibility of rocker control, the related experiments were carried out. The first experiment has tested each function of the network client control in the main control software of Shanghai 65m radio telescope. Through a series of manipulation experiments, the running status of each function has been detected and the relevant records have been made to verify the feasibility of the design. In the second experiment, the feasibility of dynamic tracking algorithm is verified by simulation, and the control system of rocker rod is tested with 6PUS parallel robot.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH751

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