CN109254597B - Control system and method for foundation large-caliber telescope - Google Patents
Control system and method for foundation large-caliber telescope Download PDFInfo
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Abstract
本发明涉及伺服控制技术领域，特别涉及一种地基大口径望远镜的控制系统及其方法；本发明包括：EtherCAT主站，用于发送指令和处理信息；EtherCAT从站，用于接受EtherCAT主站的指令和反馈信息至EtherCAT主站内；上位机，用于向EtherCAT主站发送望远镜的控制指令并接收EtherCAT主站回送的状态信息；本发明通过EtherCAT主控制器实现方位轴和俯仰轴的位置环和速度环运算校正，方位电机驱动器和俯仰电机驱动器分别实现方位弧形分段电机和俯仰电机的电流校正及功率驱动，使方位弧形分段电机和俯仰电机进行实时同步驱动，从而实现望远镜的高精度指向。
The invention relates to the technical field of servo control, in particular to a control system and a method for a ground-based large-diameter telescope; the invention includes: an EtherCAT master station for sending instructions and processing information; an EtherCAT slave station for receiving data from the EtherCAT master station The instructions and feedback information are sent to the EtherCAT master station; the upper computer is used to send the control instructions of the telescope to the EtherCAT master station and receive the status information returned by the EtherCAT master station; the present invention realizes the position loop and the pitch axis of the azimuth axis and the pitch axis through the EtherCAT master controller. The speed loop calculation correction, the azimuth motor driver and the pitch motor driver respectively realize the current correction and power drive of the azimuth arc segmented motor and the pitch motor, so that the azimuth arc segment motor and the pitch motor can be driven synchronously in real time, so as to realize the height of the telescope. Precision points.
Description
Technical Field
The invention relates to the technical field of servo control, in particular to a control system and a control method for a foundation large-aperture telescope.
Background
With the improvement of the requirements of detection capability, spatial resolution and the like, the aperture of the foundation telescope is larger and larger, and the requirements on the tracking and pointing accuracy are higher and higher. In order to meet the requirement of high-precision drive control of a foundation large-aperture telescope, a motor direct drive technology is gradually applied, particularly at the end of the 20 th century, along with the development of a motor and a power electronic technology, a novel arc-shaped sectional motor is adopted for directly driving an European southern astronomical observatory (ESO) and replaces a traditional integral motor, the arc-shaped sectional motor is formed by splicing a plurality of stators and a plurality of rotors, wherein the sectional stators are coil windings, and the sectional rotors are magnetic steels, the motor belongs to an alternating current permanent magnet synchronous motor with sine back electromotive force and has the advantages of low processing and manufacturing difficulty, high control precision, convenience in installation and maintenance and the like, so that the motor with the structure is more and more applied to the large-aperture astronomical telescope, such as an 8.2m VLT telescope of the European southern astronomical observatory, an 8.2m SUBAR telescope of the Japanese astronomical observatory, and a 10.4m GTC telescope of Spanish, and ALMA radio telescope arrays in the united states. Many of the extremely large optical telescopes being developed abroad now also employ such driving means, such as TMT (30m), Euro50(50m), etc.
The ground-based large-aperture telescope generally adopts a horizontal structure, and the pointing and tracking of a specific target are realized by controlling an azimuth axis and a pitch axis. According to the structural size and the driving torque requirement of the telescope, generally, azimuth axes are driven by arc-shaped sectional motors, and pitch axes are driven by arc-shaped sectional motors according to the structural and torque requirements, the arc-shaped sectional motors can be used, integral alternating current permanent magnet synchronous motors can also be used, generally, a left column and a right column for pitching the telescope are respectively provided, the two motors are symmetrically driven, and the driving principle is the same as that of the arc-shaped sectional motors; for the arc-shaped segmented motor, after the stators and the rotors are installed, each stator has an independent electric angle zero point relative to the rotor, and the arc-shaped segmented motor can be regarded as an independent motor for driving control.
For a foundation large-aperture telescope, one shafting is driven and controlled by dozens of motor sections if less, and the other shafting is driven and controlled by dozens of motor sections if more, and the high-precision pointing and low-speed stable tracking of the telescope can be realized only by requiring real-time synchronous driving of the motor sections on the same shaft; in addition, the telescope has a huge and complex structure, and provides higher requirements for electric control wiring, and if a set of high-performance control system is not provided, the telescope cannot well perform safe, reliable and real-time synchronous driving on a plurality of motor sections, and cannot meet the high-precision requirements of the telescope.
Disclosure of Invention
The invention mainly solves the technical problem of providing a control system of a foundation large-aperture telescope, which realizes the position and speed operation correction of an azimuth axis and a pitch axis through an EtherCAT main controller, and realizes the current correction and power drive of an azimuth arc-shaped sectional motor and a pitch motor respectively through an azimuth motor driver and a pitch motor driver, so that the azimuth arc-shaped sectional motor and the pitch motor can be driven synchronously in real time, thereby realizing the high-precision pointing of the telescope; a control method of the foundation large-caliber telescope is also provided.
In order to solve the technical problems, the invention adopts a technical scheme that: a control system of a ground-based large-aperture telescope is provided, which comprises:
the EtherCAT master station is used for sending instructions and processing information;
the EtherCAT slave station is used for receiving the instruction and the feedback information of the EtherCAT master station into the EtherCAT master station;
the upper computer is used for sending a telescope control instruction to the EtherCAT main station and receiving state information returned by the EtherCAT main station;
the EtherCAT master station and the EtherCAT slave station are connected through an EtherCAT bus to form a linear network topology structure;
the EtherCAT main station adopts an EtherCAT main controller;
the EtherCAT slave station comprises an azimuth motor driver used for driving an azimuth arc-shaped segmented motor of the telescope, a pitch motor driver used for driving a pitch motor of the telescope, a pitch limit switch used for transmitting limit information of a pitch axis of the telescope to the EtherCAT main controller, an azimuth limit switch used for transmitting limit information of an azimuth axis of the telescope to the EtherCAT main controller, and an encoder decoding board used for transmitting position information of the azimuth axis and the pitch axis of the telescope to the EtherCAT main controller.
As an improvement of the invention, the encoder decoding board is connected with an azimuth encoder for measuring the position of the azimuth axis of the telescope and a pitch encoder for measuring the position of the pitch axis of the telescope.
As a further improvement of the invention, the azimuth arc-shaped segmented motor consists of six segmented stators and a segmented rotor, wherein the six segmented stators are all coil windings, and the segmented rotor is circular magnetic steel.
As a further improvement of the invention, the pitching motor is arranged in the same structure as the azimuth arc-shaped segmented motor or two self-contained motors.
As a further improvement of the present invention, the EtherCAT main controller is connected to the upper computer through a non-EtherCAT interface.
As a further improvement of the invention, the azimuth limit switch and the pitch limit switch are both provided with an EtherCAT interface, and the azimuth limit switch and the pitch limit switch respectively transmit the limit information of the azimuth axis and the pitch axis to the EtherCAT main controller through the EtherCAT interface.
As a further improvement of the present invention, the azimuth motor driver is connected with a segmented stator in the azimuth arc-shaped segmented motor; the pitching motor driver is connected with a stator of the pitching motor.
A control method of a foundation large-aperture telescope comprises the following steps:
step S1, the EtherCAT master station receives a telescope control instruction sent by the upper computer, and simultaneously receives the position information of the azimuth axis and the pitch axis of the telescope fed back by the EtherCAT slave station;
step S2, the EtherCAT main controller calculates the rotating speed of the azimuth axis and the pitch axis of the telescope, and simultaneously calculates the magnetic pole reversing angle information of the azimuth arc-shaped segmented motor and the pitch motor of the telescope;
step S3, the EtherCAT main controller performs position closed-loop correction and speed closed-loop correction on the azimuth axis and the pitch axis to obtain average torque current instructions of the azimuth arc-shaped segmented motor and the pitch motor;
step S4, the EtherCAT main controller sends the average torque current instruction and the magnetic pole commutation angle information to the azimuth motor driver and the pitch motor driver, and the azimuth motor driver and the pitch motor driver respectively control the azimuth arc-shaped segmented motor and the pitch motor to work;
step S5, the EtherCAT main controller reads the limit information of the azimuth axis and the limit information of the pitch axis of the telescope through the EtherCAT bus, and monitors the state of the telescope in real time;
and step S6, repeating the steps S1 to S5 in sequence in a loop.
As an improvement of the present invention, in step S1, the EtherCAT main controller obtains the position information of the azimuth encoder and the pitch encoder solved by the encoder decoding board through the EtherCAT bus.
As a further improvement of the present invention, in step S2, it is necessary to calibrate the electrical zero points of the azimuth arc-segment motor and the pitching motor, and record the electrical zero point information of each azimuth arc-segment motor and each pitching motor.
The invention has the beneficial effects that: compared with the prior art, the invention realizes the position and speed operation correction of the azimuth axis and the pitch axis through the EtherCAT main controller, and the azimuth motor driver and the pitch motor driver respectively realize the current correction and the power drive of the azimuth arc-shaped segmented motor and the pitch motor, so that the azimuth arc-shaped segmented motor and the pitch motor are synchronously driven in real time, thereby realizing the high-precision pointing of the telescope.
Drawings
FIG. 1 is a block diagram of the connection structure of the control system of the present invention;
FIG. 2 is a schematic structural view of an azimuthal arc-segment motor of the present invention;
FIG. 3 is a block diagram of the steps of the control method of the present invention;
reference numerals: 1-segmented stator, 2-segmented rotor, S1-step S1, S2-step S2, S3-step S3, S4-step S4, S5-step S5.
Detailed Description
Referring to fig. 1 to 3, a control system for a ground-based large-aperture telescope of the present invention includes:
the EtherCAT master station is used for sending instructions and processing information;
the EtherCAT slave station is used for receiving the instruction and the feedback information of the EtherCAT master station into the EtherCAT master station;
the upper computer is used for sending a telescope control instruction to the EtherCAT main station and receiving state information returned by the EtherCAT main station;
the EtherCAT master station and the EtherCAT slave station are connected through an EtherCAT bus to form a linear network topology structure;
the EtherCAT main station adopts an EtherCAT main controller;
the EtherCAT slave station comprises an azimuth motor driver used for driving an azimuth arc-shaped segmented motor of the telescope, a pitch motor driver used for driving a pitch motor of the telescope, a pitch limit switch used for transmitting limit information of a pitch axis of the telescope to the EtherCAT main controller, an azimuth limit switch used for transmitting limit information of an azimuth axis of the telescope to the EtherCAT main controller, and an encoder decoding board used for transmitting position information of the azimuth axis and the pitch axis of the telescope to the EtherCAT main controller.
As shown in fig. 1, in the invention, the position loop and the speed loop operation correction of the azimuth axis and the pitch axis are realized by the EtherCAT main controller, the azimuth motor driver and the pitch motor driver respectively realize the current correction and the power drive of the azimuth arc-shaped segmented motor and the pitch motor, so that the azimuth arc-shaped segmented motor and the pitch motor are synchronously driven in real time, thereby realizing the high-precision pointing of the telescope.
In the prior art, a large telescope is huge and complex in structure, the whole frame is dozens of meters high, a plurality of electric control units are distributed on the machine and under the machine, and the distance between the devices is long, so that higher requirements are put forward on electric control wiring.
In the invention, an encoder decoding board is connected with an azimuth encoder for measuring the position of an azimuth axis of a telescope and a pitch encoder for measuring the position of a pitch axis of the telescope; the magnetic pole reversing angle information is directly transmitted to a plurality of motor drivers (including an azimuth motor driver and a pitching motor driver) through the EtherCAT main controller, the direct connection of an azimuth encoder and the plurality of azimuth motor drivers is avoided, the direct connection of the pitching encoder and the plurality of pitching motor drivers is avoided, and the number of connecting lines is greatly simplified.
In the invention, the number of the azimuth motor driver and the number of the azimuth arc-shaped segmented motors can be both six or more than six, and the number of the pitching motor driver and the number of the pitching motors can also be two or more than two.
As shown in fig. 2, the azimuth arc-shaped segmented motor is composed of six segmented stators 1 and a segmented rotor 2, wherein the six segmented stators 1 are all coil windings, and the segmented rotor 2 is circular magnetic steel.
Further, a thermistor (comprising a PTC (positive temperature coefficient) resistor and a KTY (potassium titanate) resistor) for monitoring the temperature of the azimuth arc-shaped segmented motor is arranged in the segmented stator 1; the azimuth motor driver is connected with a block stator in the azimuth arc-shaped segmented motor; the pitching motor driver is connected with the stator of the pitching motor.
In the invention, the pitching motor is arranged to be in the same structure as the azimuth arc-shaped segmented motor or consists of two self-contained motors. The azimuth arc-shaped segmented motor is the azimuth arc-shaped segmented motor, and the azimuth arc-shaped segmented motor have the same structure; the self-contained motor can be a common self-contained torque motor on the market.
Furthermore, the EtherCAT main controller is connected with an upper computer through a non-EtherCAT interface; specifically, the EtherCAT main controller is connected with an upper computer through a non-EtherCAT interface, receives a telescope control instruction sent by the upper computer, and feeds back state information of the control system to the upper computer, wherein the non-EtherCAT interface can be an RS232 interface, an RS422 interface or a common ethernet interface.
And furthermore, the azimuth limit switch and the pitching limit switch are both provided with EtherCAT interfaces, and the azimuth limit switch and the pitching limit switch transmit the limit information of the azimuth axis and the pitching axis to the EtherCAT main controller through the EtherCAT interfaces respectively.
In the invention, the characteristics of high refresh rate and good synchronism of the EtherCAT bus are fully utilized, the refresh rate of 1000Hz of current instruction and magnetic pole commutation angle information can be easily realized, the high-precision control requirement of a telescope is met, the bandwidth advantage of the EtherCAT bus is fully utilized, the state information of a motor driver and a motor is read and monitored in real time, the reliable operation of the system is ensured, meanwhile, the wiring workload is greatly simplified, the Ethernet cable of 100Base-TX standard can be used for linear structure interconnection, the reliable data transmission of equipment on a telescope machine and equipment under the telescope machine is realized, wherein the distance between networking equipment stations can reach 100m, 65535 equipment can be connected at most, and the device is particularly suitable for a large telescope control system.
As shown in fig. 3, a method for controlling a ground-based large-aperture telescope includes the following steps:
step S1, the EtherCAT master station receives a telescope control instruction sent by the upper computer, and simultaneously receives the position information of the azimuth axis and the pitch axis of the telescope fed back by the EtherCAT slave station;
step S2, the EtherCAT main controller calculates the rotating speed of the azimuth axis and the pitch axis of the telescope, and simultaneously calculates the magnetic pole reversing angle information of the azimuth arc-shaped segmented motor and the pitch motor of the telescope;
step S3, the EtherCAT main controller performs position closed-loop correction and speed closed-loop correction on the azimuth axis and the pitch axis to obtain average torque current instructions of the azimuth arc-shaped segmented motor and the pitch motor;
step S4, the EtherCAT main controller sends the average torque current instruction and the magnetic pole commutation angle information to the azimuth motor driver and the pitch motor driver, and the azimuth motor driver and the pitch motor driver respectively control the azimuth arc-shaped segmented motor and the pitch motor to work;
step S5, the EtherCAT main controller reads the limit information of the azimuth axis and the limit information of the pitch axis of the telescope through the EtherCAT bus, and monitors the state of the telescope in real time;
and step S6, repeating the steps S1 to S5 in sequence in a loop.
In step S1, the EtherCAT main controller obtains the position information of the azimuth encoder and the pitch encoder, which is solved by the encoder decoding board, through the EtherCAT bus.
Furthermore, in step S2, it is necessary to calibrate the electrical zero points of the azimuth arc-segment motor and the pitching motor, and record the electrical zero point information of each of the azimuth arc-segment motor and the pitching motor.
In step S5, the EtherCAT main controller reads the limit information of the azimuth axis, the limit information of the pitch axis, the motor stator temperature information, the driver bus voltage information, the motor current information, and the like through the EtherCAT bus, monitors the state of the telescope in real time, and timely processes the telescope if abnormality occurs.
The azimuth arc-shaped segmented motor comprises a segmented stator 1 and a segmented rotor 2, wherein the segmented stator 1 is a coil winding, the segmented rotor 2 is magnetic steel, and PTC and KTY resistors are arranged in the segmented stator 1 to realize temperature monitoring and over-temperature protection of the motor; the azimuth arc-shaped segmented motor belongs to an alternating current permanent magnet synchronous motor with sine back electromotive force, and after the stators and the rotors of the azimuth arc-shaped segmented motor are installed, each stator has an independent electric angle zero point relative to the rotor; the pitching motor in the invention can be an arc-shaped sectional motor or a self-contained alternating current permanent magnet synchronous motor, and the control principles of the pitching motor and the self-contained alternating current permanent magnet synchronous motor are the same.
In the invention, an EtherCAT main controller is used as an EtherCAT master station, a plurality of azimuth motor drivers, an azimuth limit switch, an encoder decoding board, a pitching limit switch and a plurality of pitching motor drivers are used as EtherCAT slave stations, a linear network topology structure is formed by an EtherCAT bus, and all the networking equipment transmits interactive information through an EtherCAT interface; the EtherCAT main controller is connected with the upper computer through a non-EtherCAT interface, receives a telescope control instruction sent by the upper computer, and feeds back state information of the control system to the upper computer, wherein the non-EtherCAT interface can be an RS232 interface, an RS422 interface or a common Ethernet interface; the azimuth motor driver is connected with a stator in the azimuth arc-shaped segmented motor to realize motor drive control and collect PTC and KTY resistance information, and is provided with an EtherCAT communication interface and interacts information with an EtherCAT main controller through the EtherCAT interface; the pitching motor driver is connected with a stator of the pitching motor to realize motor drive control and collect PTC and KTY resistance information, and the pitching motor driver is provided with an EtherCAT communication interface at the same time and exchanges information with an EtherCAT main controller through the EtherCAT interface; the azimuth limit switch and the pitch limit switch are both provided with EtherCAT communication interfaces, and transmit limit information of an azimuth axis and a pitch axis to the EtherCAT main controller through the EtherCAT interfaces; the azimuth encoder and the pitch encoder are connected with an encoder decoding board, the encoder decoding board is provided with an EtherCAT communication interface, and position information of an azimuth axis and a pitch axis is transmitted to the EtherCAT main controller through the EtherCAT interface; that is to say, the control system of the invention is composed of current loop, speed loop and position loop control, wherein, EtherCAT main controller mainly realizes the operation correction of position loop and speed loop, the motor driver (including azimuth motor driver and pitching motor driver) mainly realizes the current loop correction and power drive, after the motor and encoder are installed, firstly, the electric angle zero point calibration of the azimuth arc-shaped segmented motor and pitching motor is carried out (the method of electric angle zero point calibration is that the zero point position of the U-phase electromotive force zero crossing point of the motor is added with a quarter electric angle period to be the electric angle zero point of the motor), and the electric angle zero point information of each motor is recorded, the information participates in the closed loop control process of the system, the specific operation process is as follows: the EtherCAT main controller has real-time calculation and processing functions, works in a fixed-period scanning mode, and in a scanning period, firstly, reads a telescope control instruction sent by an upper computer through a non-EtherCAT interface, reads azimuth axis encoder position information and pitch axis encoder position information through the EtherCAT interface, calculates the rotating speeds of an azimuth axis and a pitch axis on the one hand based on a posterior difference algorithm and a low-pass filter according to the information, and calculates the magnetic pole reversing angle information of each motor on the azimuth axis and the pitch axis on the other hand according to the current encoder position information and motor electric angle zero point information calibrated in advance; then, carrying out position closed-loop correction and speed closed-loop correction to obtain average torque current instructions of the azimuth axis segmented motor and the pitch axis motor, and finally sending the control command, the average torque current instructions and the magnetic pole commutation angle information to corresponding azimuth motor drivers and pitch motor drivers through an EtherCAT interface; the motor driver works in a torque mode, a control strategy that id is 0 is adopted, the motor driver receives a control command, an average torque current command and magnetic pole reversing angle information sent by an EtherCAT main controller through an EtherCAT interface, current loop control of exciting current id and torque current iq of the alternating current permanent magnet synchronous motor is achieved, and torque control of the motor is achieved based on an SVPWM space vector pulse width modulation technology.
In the invention, the EtherCAT main controller simultaneously reads azimuth limit information, pitching limit information, motor stator temperature information, driver bus voltage information, motor current information and the like in real time through the EtherCAT interface, so that the state monitoring of the whole telescope control system is realized, and the reliable operation of the whole telescope control system is ensured.
The control method of the invention directly transmits the magnetic pole reversing angle information to the plurality of motor drivers through the EtherCAT main controller, thereby avoiding the direct connection of the azimuth encoder and the plurality of azimuth motor drivers, avoiding the direct connection of the pitch encoder and the plurality of pitch motor drivers and greatly simplifying the number of connecting wires.
The invention provides an embodiment, and the control system of the foundation large-caliber telescope comprises an upper computer, an EtherCAT main controller, six azimuth motor drivers, six azimuth arc segmented motors, an azimuth limit switch, an azimuth encoder, a pitching encoder, an encoder decoding board, a pitching limit switch, two pitching motor drivers, two pitching motors and an EtherCAT bus; as shown in fig. 1, an EtherCAT main controller serves as an EtherCAT main station, six azimuth motor drivers, an azimuth limit switch, an encoder decoding board, a pitch limit switch and two pitch motor drivers serve as EtherCAT slave stations, the EtherCAT main station and the EtherCAT slave stations form a linear network topology structure through an EtherCAT bus, and all the devices are networked and interconnected through an ethernet cable of 100Base-TX standard; the telescope azimuth axis is driven and controlled by an azimuth arc-shaped segmented motor, as shown in fig. 2, wherein a motor coil winding of the azimuth arc-shaped segmented motor consists of six segmented stators, so that the telescope azimuth axis is driven and controlled by six azimuth motor drivers, the telescope pitch axis is limited to a size structure, and does not adopt an arc-shaped segmented motor, but consists of two integrally-mounted motors, so that the telescope azimuth axis is driven and controlled by two pitch motor drivers; the azimuth arc-shaped sectional motor and the pitching integral motor both belong to alternating current permanent magnet synchronous motors with sine back electromotive force, and the control principles of the two motors are the same. In order to meet the requirements of high-precision angle measurement and speed measurement of the azimuth axis and the pitch axis of the telescope, the azimuth axis and the pitch axis are respectively provided with a set of high-resolution absolute encoders, the azimuth encoder and the pitch encoder are connected with an encoder decoding board, the encoder decoding board is used as an EtherCAT slave station, and the position information of the azimuth axis and the pitch axis encoder is transmitted to an EtherCAT main controller through an EtherCAT interface; in order to realize the safe operation of the azimuth axis and the pitch axis of the telescope in a specific angle range, a set of limit switch is respectively arranged on the azimuth axis and the pitch axis, the azimuth limit switch and the pitch limit switch are used as EtherCAT slave stations, and the information of the azimuth axis and the pitch axis limit switch is transmitted to an EtherCAT main controller through an EtherCAT interface; the azimuth motor driver and the pitch motor driver are used as EtherCAT slave stations, work in a torque mode, mainly realize the drive control of the motor, receive a control command, a torque current command and magnetic pole reversing angle information which are sent by the EtherCAT main controller through an EtherCAT interface, and send back the driver and motor state information to the EtherCAT main controller; the upper computer is an industrial personal computer, is connected with the EtherCAT main controller through an RS422 interface, sends a telescope control instruction to the EtherCAT main controller, and receives control system state information returned by the EtherCAT main controller; the EtherCAT main controller has real-time calculation and processing functions, works in a fixed-period scanning mode, takes an embedded processor CX2030-0120 of Beifu corporation as a control core, is provided with an RS422 serial port module and an EtherCAT communication interface, is connected with an upper computer through an RS422 serial port, and is communicated with other EtherCAT slave station equipment of a network through the EtherCAT communication interface; the whole control system is composed of a current loop, a speed loop and a position loop, wherein the EtherCAT main controller mainly realizes the operation correction of the position loop and the speed loop, and the motor driver mainly realizes the current loop correction and the torque control; after the azimuth arc-shaped sectional motors, the pitching motors, the azimuth encoders and the pitching encoders are installed, firstly, the positive rotation directions and the electric angle zero points of the six azimuth arc-shaped sectional motors and the two pitching motors are calibrated (calibrating the positive rotation direction of the electric angle of the motors and being consistent with the positive rotation direction of the encoders, namely, taking the clockwise rotation direction of the rotating platform of the telescope as the positive rotation direction of the encoders and also being the positive rotation direction of the electric angle of the motors, when the motors rotate in the positive rotation direction of the electric angle of the motors, the U opposite electromotive force of the motors leads the V opposite electromotive force of the motors by 120 degrees, and the V opposite electromotive force of the motors leads the W opposite electromotive force of the motors by 120 degrees, and calibrating the electric angle of the motors, namely, the zero crossing point position of the U opposite electromotive force of the motors and the quarter period of the electric angle are calibrated, and recording the electric angle zero point information of each motor, wherein the information participates in the closed-loop control process of the system, and the specific operation process is as follows: the EtherCAT main controller works in a 1ms fixed period scanning mode, firstly, a telescope control command sent by an upper computer is received through an RS422 interface, position information of an azimuth encoder and position information of a pitch encoder are read through the EtherCAT interface, then, according to the information, on one hand, the rotating speed of an azimuth shaft and a pitch shaft is calculated, on the other hand, magnetic pole commutation angle information of each motor of the azimuth shaft and the pitch shaft is calculated according to the current encoder position information and motor electric angle zero point information calibrated in advance, then, the position closed loop correction and the speed closed loop correction of the azimuth shaft and the pitch shaft are carried out, so that a total torque current command IA of an azimuth shaft sectional motor and a total torque current command IE of the pitch shaft are obtained, and finally, a control command, an average torque current command and the magnetic pole commutation angle information are sent to a corresponding azimuth motor driver and a pitch motor driver through the EtherCAT interface, the torque current value received by each azimuth motor driver is IA/6, and the torque current value received by each pitching motor driver is IE/2; the azimuth motor driver and the pitch motor driver both work in a torque mode, a control strategy with id equal to 0 is adopted, a control command, an average torque current command and magnetic pole commutation angle information sent by an EtherCAT main controller are received through an EtherCAT interface, current loop control of motor excitation current id and torque current iq is carried out according to the information, and torque control of the motor is realized based on an SVPWM space vector pulse width modulation technology.
In the invention, the EtherCAT main controller simultaneously reads azimuth limit information, pitching limit information, motor stator temperature information, driver bus voltage information, motor current information and the like in real time through the EtherCAT interface, so that the state monitoring of the whole telescope control system is realized, and the reliable operation of the whole telescope control system is ensured.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
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