基于CAN总线的主动光学镜面位姿驱动系统研究  

Development and Evaluation of a CAN-based Alignment System for Active Optics

作　　者：肖心怡 张宗猛 杨德华[1] 吴常铖[1] 金振宇[2] Xiao Xinyi;Zhang Zongmeng;Yang Dehua;Wu Changcheng;Jin Zhenyu(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Yunnan Observatories,Chinese Academy of Sciences,Kunming 650216,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106 [2]中国科学院云南天文台,云南昆明650216

出　　处：《天文研究与技术》2021年第3期354-361,共8页Astronomical Research & Technology

基　　金：国家自然科学天文联合基金(U1531110);国家自然科学基金(11573068)资助.

摘　　要：为先进地基太阳望远镜(Advanced Ground-based Solar Telescope,AST-G)主镜支撑系统预研,设计了一套基于控制器局域网络(Controller Area Network,CAN)总线通信的主动光学镜面位姿调整驱动系统。首先,面向一个主动支撑样机实验平台,开展镜面运动学理论分析及位姿解算;然后,采用STM32设计了1个主节点和3个子节点,实现了镜面位姿驱动系统中位移促动器的分布式控制;最后,开展了基于CAN总线的位移促动器性能测试及镜面位姿调整实验验证。结果表明,位移促动器的控制精度的均方根误差优于1μm,镜面绕x,y轴的转动均方根误差优于1″,镜面z轴方向平动均方根误差优于1μm。基于CAN总线的位姿驱动系统研究为先进地基太阳望远镜主镜支撑系统的研制提供了技术探索,也可为其它主动光学应用系统提供参考。In order to explore the primary mirror support of the Advanced Ground-based Solar Telescope(AST-G),this paper reported the development of the aligning system of an active optical mirror using CAN bus communication.Based on an active support system prototype,theoretical analysis of mirror kinematics with regard to the configuration of displacement actuators was firstly figured out.Then,a master node and three slave nodes were designed with STM32 to realize the distributed control of displacement actuators to actively align the mirror.Finally,we tested the performance of displacement actuator with CAN bus and the experimental verification of the mirror alignment.The results show that the control accuracy of the displacement actuator is better than 1μm RMS,the rotations of the system around the x-axis and y-axis are better than 1″RMS,and the piston error of the mirror is also better than 1μm RMS.The research of the alignment system with CAN bus is an elementary technical preparation for future development of the primary mirror support system of the AST-G.

关 键 词：主动光学 CAN总线 镜面调整 位移促动器 

分 类 号：TH751[机械工程—仪器科学与技术]