大射电望远镜精调平台控制系统软件设计与实验
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摘要
本文根据新一代大射电望远镜光机电一体化创新设计方案,在分析大射电望远镜精调平台的需求和运动控制技术的研究现状和发展趋势的基础上,针对馈源指向跟踪系统高精度轨迹跟踪的要求,从工程实际出发,设计并实现了大射电望远镜精调Stewart平台控制系统硬件和软件,为复合控制的研究提供了实验平台。具体可归纳为以下三个方面:
分析了运动控制技术的现状和发展趋势,采用关节式分布控制策略,设计基于SynqNet运动控制现场总线的大射电望远镜(FAST)精调Stewart平台的控制系统;
根据项目要求,对精调Stewart平台控制专用软件进行了设计和具体开发,针对Stewart平台两种不同的工作状态,分别设计了固定基座Stewart平台控制软件和柔性支撑Stewart平台控制软件;
进行了大量地实验与测试,实验验证了控制策和所开发的软件及硬件的工程有效性与可行性,取得了较好的效果。为实现两级复合控制打下了基础。
Based on a completely new design project of next generation large radio telescope integrating tectonics and optics technologies proposed by Professor Duane, this paper first analyze the requirements of the radio telescope project called FAST and study the status of motion control network, then presents a design methodology for distributed motion control system based on SyneNet motion control network. Then designed and developed Software and hardware of control system of the Stewart platform. All these can be summarized as follows.
To analyze the status and the development trend of motion control technology, adopt the distributed control strategy in the joint space, design distributed motion control system based on SyneNet motion control network for Stewart platform.
To design and develop the hardware and software of the fine tuning Stewart platform control system, which are turn out to be reasonable in engineering application by experiments.
A large number of experiments prove the proposed hardware and software to be of validity and feasibility in engineering. A firm foundation for constructing the new generation large radio telescope with the collecting area of 500m is placed from the theory and engineering.
分析了运动控制技术的现状和发展趋势,采用关节式分布控制策略,设计基于SynqNet运动控制现场总线的大射电望远镜(FAST)精调Stewart平台的控制系统;
根据项目要求,对精调Stewart平台控制专用软件进行了设计和具体开发,针对Stewart平台两种不同的工作状态,分别设计了固定基座Stewart平台控制软件和柔性支撑Stewart平台控制软件;
进行了大量地实验与测试,实验验证了控制策和所开发的软件及硬件的工程有效性与可行性,取得了较好的效果。为实现两级复合控制打下了基础。
Based on a completely new design project of next generation large radio telescope integrating tectonics and optics technologies proposed by Professor Duane, this paper first analyze the requirements of the radio telescope project called FAST and study the status of motion control network, then presents a design methodology for distributed motion control system based on SyneNet motion control network. Then designed and developed Software and hardware of control system of the Stewart platform. All these can be summarized as follows.
To analyze the status and the development trend of motion control technology, adopt the distributed control strategy in the joint space, design distributed motion control system based on SyneNet motion control network for Stewart platform.
To design and develop the hardware and software of the fine tuning Stewart platform control system, which are turn out to be reasonable in engineering application by experiments.
A large number of experiments prove the proposed hardware and software to be of validity and feasibility in engineering. A firm foundation for constructing the new generation large radio telescope with the collecting area of 500m is placed from the theory and engineering.
引文
[1]一九九九年度“大射电望远镜FAST预研究”工作汇报.国家台文观测中心大射电望远镜实验室,2000.3
[2] Memorandum of an agreement to cooperate in a technology study program leading to a future very large radio telescope, signed by participants from Australia, China, Canada, India, the Netherlands, the U.S.A.. http://www.nfra.nl/skai/memorandum.htm
[3]南仁东.国际项目争建建议书.北京天文台,1996.
[4] Weygaert R. van de, Albada T.S. van. New challenges for cosmology. The westerbork observatory, continuing adventure in radio astronomy. Astrophysics and Space Science Library 1996, 207:225-295
[5] Legg T.H. A proposed new design for a large radio telescope. Astronomy and Astrophysics Supplement. 1998, 130:369-379
[6] Duan B.Y. Study on the line feed system of large spherical radio telescope from the viewpoint of mechanical and structural engineering. Proceedings of the Third International Conference on Large Radio Telescope, Guizhou of China, Oct.2-6, 1995
[7] Duan B.Y., Duan S.J. On the nonlinear dynamic analysis of the line feed structure and its suspended cable structure used in large spherical radio telescope. Invited paper at the 25th Conference of International Union of Radio Science, Lille of France, Aug.28-Sep. 5, 1996
[8] Duan B.Y., Zhang J B. Some new result about the integrated design of mechanical electronic, optic and automatic control technologies for next generation large radio telescopes. Invited paper at the Inter. Conf. of LT Workshop, Sydney, Australia, Dec. 15-18, 1997
[9] Duan B.Y., A new design project of the line feed structure for large spherical radio telescope and its nonlinear dynamic analysis. Int. J. Mechatronics, 1999,9:53-64
[10]雷源忠.我科学家对新一代大射电望远镜研究取得重要进展。中国机械工程,1998,9(11):87
[11]张杰,黄益群.基于PC的开放式多轴运动控制系统开发.伺服控制,2007,1.
[12]白海清,彭玉海.基于PMAC的数控系统软件开发研究.机床与液压, 2007,35(2).
[13]云利军,孙鹤旭,雷兆明,梁涛.工业网络的发展及其在运动控制中的应用.微型机与应用,2005,(09):4~6
[14]云利军,孙鹤旭,雷兆明.运动控制网络的研究现状及发展趋势.控制工程. 2006,13(04):289~293
[15] Shiu-Yang Lin, Chan-You Ho,and Ying-Yu Tzou. Distributed motion control using real-time network communication techniques.Beijing.IEEE PEMC,2000.
[16]武洪恩.基于Windows的开放结构控制平台及应用研究.博士学位论文,山东大学,2007.
[17]云利军,孙鹤旭等基于SynqNet的网络化运动控制器研究.制造技术与机床. 2006,(02):40-43
[18] Danaher Motion. MEI SynqNet在平板显示器制造设备中的应用:现代制造. 2006,(06):62-63
[19]黄怡墩PC-Based SSCNET运动控制系统与发展趋势.工业控制计算机.2003, (07):62-64
[20] Zheng Z W ,Yang X S ,Zeng J T .The study of the PC-based motion control network contrller.Journal of the Mechatronic Industry.20 05,(263):173-185.
[21]袁晓峰,龚邦明基于SERCOS-III总线的伺服驱动单元接口.组合机床与自动化加工技术.2005,(10):48-50.
[22] http://www.profibus.com/pn/technology/description/.
[23]中国PROFIBUS用户组织(CPO)秘书处.PROFINET技术和应用.国内外机电一体化技术.2006,(06):66-69.
[24]苏玉鑫.大射电望远镜精调Stewart平台的优化、分析与控制.博士学位论文,西安电子科技大学,2002.
[25]张永芳.大射电望远镜精调Stewart平台系统的控制与实验研究.硕士学位论文,西安电子科技大学,2002.
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[34] Danaher Motion.meisupport_030400.chm.
[35] Advantech Inc.PCI-1780 8-ch Counter/Timer Card User Manual.pdf.
[36]卓桂荣.并联机床数控系统软件研制.哈尔滨工业大学,博士学位论文,2002.
[37]邱金波,段宝岩,彭勃,南仁东.大型球面射电望远镜控制系统研究.自动化学报,2001,27(1):93-97.
[38]朱文白.FAST望远镜馈源运动的描述.国家天文观测中心MEMOS of the FAST, 1999.
[39]夏元清,黄一,等.大射电望远镜双Stewart平台的馈源精定位控制.系统仿真学报,2003,15(11):1651-1655.
[40]张永芳,段宝岩,陈光达等.大射电望远镜精调平台系统控制的设计与实现.计算机工程与设计,2003(11),8-9.
[41]杨乐平,李海涛等.LabVIEW高级程序设计,北京清华大学出版社,2003.
[42]杨乐平,李海涛,杨磊.LabVIEW程序设计与应用,电子工业出版社,2005(01).
[43] Jon Conway,Steve Watts.软件工程方法在LabVIEW中的应用.北京:清华大学出版社, 2006.4.
[44] David E. Simon.嵌入式系统软件教程.北京:机械工业出版社, 2005.
[45] Jean J.Labrosse.嵌入式系统构件.北京:机械工业出版社, 2002.
[46]高钟毓,王永梁.机电控制工程.北京:清华大学出版社, 1994.
[47]刘锋华,颜肖龙,余慧杰.基于DLL的LabVIEW环境多通道数据采集的实现方法.电子机械工程,2003,19(6):41-43.
[2] Memorandum of an agreement to cooperate in a technology study program leading to a future very large radio telescope, signed by participants from Australia, China, Canada, India, the Netherlands, the U.S.A.. http://www.nfra.nl/skai/memorandum.htm
[3]南仁东.国际项目争建建议书.北京天文台,1996.
[4] Weygaert R. van de, Albada T.S. van. New challenges for cosmology. The westerbork observatory, continuing adventure in radio astronomy. Astrophysics and Space Science Library 1996, 207:225-295
[5] Legg T.H. A proposed new design for a large radio telescope. Astronomy and Astrophysics Supplement. 1998, 130:369-379
[6] Duan B.Y. Study on the line feed system of large spherical radio telescope from the viewpoint of mechanical and structural engineering. Proceedings of the Third International Conference on Large Radio Telescope, Guizhou of China, Oct.2-6, 1995
[7] Duan B.Y., Duan S.J. On the nonlinear dynamic analysis of the line feed structure and its suspended cable structure used in large spherical radio telescope. Invited paper at the 25th Conference of International Union of Radio Science, Lille of France, Aug.28-Sep. 5, 1996
[8] Duan B.Y., Zhang J B. Some new result about the integrated design of mechanical electronic, optic and automatic control technologies for next generation large radio telescopes. Invited paper at the Inter. Conf. of LT Workshop, Sydney, Australia, Dec. 15-18, 1997
[9] Duan B.Y., A new design project of the line feed structure for large spherical radio telescope and its nonlinear dynamic analysis. Int. J. Mechatronics, 1999,9:53-64
[10]雷源忠.我科学家对新一代大射电望远镜研究取得重要进展。中国机械工程,1998,9(11):87
[11]张杰,黄益群.基于PC的开放式多轴运动控制系统开发.伺服控制,2007,1.
[12]白海清,彭玉海.基于PMAC的数控系统软件开发研究.机床与液压, 2007,35(2).
[13]云利军,孙鹤旭,雷兆明,梁涛.工业网络的发展及其在运动控制中的应用.微型机与应用,2005,(09):4~6
[14]云利军,孙鹤旭,雷兆明.运动控制网络的研究现状及发展趋势.控制工程. 2006,13(04):289~293
[15] Shiu-Yang Lin, Chan-You Ho,and Ying-Yu Tzou. Distributed motion control using real-time network communication techniques.Beijing.IEEE PEMC,2000.
[16]武洪恩.基于Windows的开放结构控制平台及应用研究.博士学位论文,山东大学,2007.
[17]云利军,孙鹤旭等基于SynqNet的网络化运动控制器研究.制造技术与机床. 2006,(02):40-43
[18] Danaher Motion. MEI SynqNet在平板显示器制造设备中的应用:现代制造. 2006,(06):62-63
[19]黄怡墩PC-Based SSCNET运动控制系统与发展趋势.工业控制计算机.2003, (07):62-64
[20] Zheng Z W ,Yang X S ,Zeng J T .The study of the PC-based motion control network contrller.Journal of the Mechatronic Industry.20 05,(263):173-185.
[21]袁晓峰,龚邦明基于SERCOS-III总线的伺服驱动单元接口.组合机床与自动化加工技术.2005,(10):48-50.
[22] http://www.profibus.com/pn/technology/description/.
[23]中国PROFIBUS用户组织(CPO)秘书处.PROFINET技术和应用.国内外机电一体化技术.2006,(06):66-69.
[24]苏玉鑫.大射电望远镜精调Stewart平台的优化、分析与控制.博士学位论文,西安电子科技大学,2002.
[25]张永芳.大射电望远镜精调Stewart平台系统的控制与实验研究.硕士学位论文,西安电子科技大学,2002.
[26] http://www.motioneng.com/pdf/XMP_SynqNet_PCI.pdf.
[27] http://www.amart.com.cn/ProductIndex.asp?ProID=139.
[28] Danaher Motion.SynqNet运动控制平台在注塑机器人项目中的应用.
[29] Danaher Motion.SynqNet运动控制网络对以太网的高性能运动升级.现代制造,2005(04),61-62.
[30] Danaher Motion.CD_SynqNet_Quick_Start_Guide_V7.pdf.
[31] Danaher Motion.ServoStar_CD_Series_Installation_Manual.pdf
[32]帕罗赛斯.MFC Windows程序设计(第2版),清华大学出版社2007,5(1).
[33] http://www.vczx.com/tutorial/mfc/mfc.php.
[34] Danaher Motion.meisupport_030400.chm.
[35] Advantech Inc.PCI-1780 8-ch Counter/Timer Card User Manual.pdf.
[36]卓桂荣.并联机床数控系统软件研制.哈尔滨工业大学,博士学位论文,2002.
[37]邱金波,段宝岩,彭勃,南仁东.大型球面射电望远镜控制系统研究.自动化学报,2001,27(1):93-97.
[38]朱文白.FAST望远镜馈源运动的描述.国家天文观测中心MEMOS of the FAST, 1999.
[39]夏元清,黄一,等.大射电望远镜双Stewart平台的馈源精定位控制.系统仿真学报,2003,15(11):1651-1655.
[40]张永芳,段宝岩,陈光达等.大射电望远镜精调平台系统控制的设计与实现.计算机工程与设计,2003(11),8-9.
[41]杨乐平,李海涛等.LabVIEW高级程序设计,北京清华大学出版社,2003.
[42]杨乐平,李海涛,杨磊.LabVIEW程序设计与应用,电子工业出版社,2005(01).
[43] Jon Conway,Steve Watts.软件工程方法在LabVIEW中的应用.北京:清华大学出版社, 2006.4.
[44] David E. Simon.嵌入式系统软件教程.北京:机械工业出版社, 2005.
[45] Jean J.Labrosse.嵌入式系统构件.北京:机械工业出版社, 2002.
[46]高钟毓,王永梁.机电控制工程.北京:清华大学出版社, 1994.
[47]刘锋华,颜肖龙,余慧杰.基于DLL的LabVIEW环境多通道数据采集的实现方法.电子机械工程,2003,19(6):41-43.