An Electromechanical Collaborative Simulation Platform for the Radio Receiver Supporting
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1. ⱘ ⬉ ㋏㒳An Electromechanical Collaborative Simulation Platform for the Radio Receiver Supporting Systemof Large TelescopeZhang Hui, Qi Lin, Yei Peiqing, Zhao Tong, Duan GuanghongState Key Lab. of Tribology, Department of Precision Instrument and MechanologyTsinghua University Beijing, ChinaEmail: wwjj@Abstract —To meet the requirement of optimizing the design and control algorithm of the radio receiver supporting system of large telescope, a collaborative simulation platform based on virtual prototype was built. The prototype of the mechanism was built via the UGS and ADAMS software, the prototype of the measuring system, servo drive system and control system was built via Matlab/Simulink software. By integrating the four different system prototypes, a full close loop prototype for the electromechanical virtual prototype can be formed. By the use of this platform, collaborative simulation experiments have been carried out. The result shows that this collaborative simulation platform can simulate the status of the scaled model of the radio receiver supporting system efficiently and offers a reliable simulation platform for the design of the prototype of the large radio telescope.Keywords- F ollaborative V imulation; virtual prototype; large telescope; stewart platformI. 㿔Ё Ā ϔѨā 䯈 ⱘ䞡 ⾥ ⸔䆒 Пϔüü 500㉇ ⧗䴶 ⬉ 䖰䬰˄FAST ˖five hundred meter aperture spherical radio telescope ˅ Ϫ⬠Ϟ ⱘ 㒓 ⬉ 䖰䬰DŽ䆹 䖰䬰䗮䖛 䎼 ⱘ ㋶ 作⑤㠅ԡ㕂䇗 ԡ ㉇㑻㊒ ˄ ḍ䇃 Ѣ50 cm ˅ˈ✊ 作⑤㠅 䞛⫼Stewart 䖯㸠Ѡ㊒䇗 ˈ 亢▔ Ҫ 䗴 ⱘ 䖯㸠Џ ԡˈ 䆕作⑤ 㒜䖒 ↿㉇㑻˄ ḍ䇃 Ѣ4 mm ˅ⱘ ԡ㊒ ˈ⒵䎇 ⬉ 䖰䬰70MHz ˉ3GHz ⱘ 乥⥛㽕∖[1][2]DŽЎњ乎 䗴FAST ˈ 14 њⳌ ⱘ乘ⷨお ˈ Ё њ FAST ⱘӓⳳ ⷨお[3][4][5]ˈⷨおⳂ 䗮䖛ӓⳳ ˈ ゟ 㒧 ⱘ㰮 ḋ ˈ Ϩ 㒧 㰮 ḋ Ϟ䖯㸠ӓⳳ 偠ˈ ḋ ⱘ㒧 䆒䅵ǃ⬉⇨㋏㒳䗝 ҹ ㄪ⬹ㄝ䯂乬ⱘⷨおDŽԚ Ⳃ ⱘⷨお ⦄ˈ ゟⱘӓⳳⷨお㒧 㽕 ӬѢḋ ˄1˖12 䗴˅ 偠㒧 DŽお ˈЏ㽕 ⬅ѢⳂ ḋ Ё ㋏㒳 Ⳍ ⣀ゟˈ㔎Уԧ ѸѦˈ䖭ѯ㔎⚍ 㟈ӓⳳⷨお㒧 ḋ ⱘⷨお㔎 㗗 НDŽ䖥 ˈ䎼 ⾥ǃ䎼 ⱘ 乚 Ϣ ӓⳳⱘ㰮 ḋ Ў㾷 䖭㉏ ⾥Ѹ 䯂乬ⱘЏ㽕 ↉DŽ Ё Ў ⱘ ⫼ ADAMS MATLAB 䕃ӊⱘ ӓⳳ ⫼DŽ ⤂[6] ѢADAMS MATLAB 䔺 Џ 䖯㸠њ㘨 ӓⳳ˗ ⤂[7]䖤⫼ADAMS MATLAB 䎇 Ҏ䖯㸠њ㘨 ӓⳳ˗ ⤂[8]䖤⫼Pro/E ˈADAMS Simulink Ⳍ㘨 ⱘ㒘㒛 䚼 ӓⳳ ⊩ ӓ⫳㝱 㡖䖯㸠њ㰮 ḋ ⷨおDŽϞ䗄ⷨお Ѣ ӓⳳⱘ ⫼Џ㽕䲚ЁѢ Ẅ㋏㒳 ㋏㒳ⱘ ӓⳳˈ㗠ϔϾ ⱘ ⬉ ㋏㒳ⱘ㒘 Ӵ䗦 ㋏ 1 ⼎ˈ Ẅ㋏㒳ǃ⌟䞣㋏㒳ǃ偅 ㋏㒳ҹ ㋏㒳 Ͼ 䴶ˈ 㗗㰥 Ẅ㋏㒳 ㋏㒳ⱘӓⳳˈ ⬹偅 ㋏㒳 ⌟䞣㋏㒳ⱘ 㛑ˈ 㟈ӓⳳ 㔎 ˈ ℸЎњ ⦄㰮 ḋ Ϣ⠽⧚ḋ ⱘ ⳌԐ ˈ ゟ ⱘ ⬉ ӓⳳ 㽕ⱘDŽ䞛⫼UGS ǃADAMS ϢMATLAB 䕃ӊ㘨 ⱘ ӓⳳ ⊩ ゟњ作⑤ ㋏㒳ⱘ ӓⳳ ˈ䩜 ⱘ㓽 偠ḋ ゟњⳌ ⱘ㰮 ḋ ˈ䖯㸠њӓⳳ 偠ˈӓⳳ 偠㒧 Ϣ㓽 ⠽⧚ḋ 偠ⱘ ↨㸼 ˈ ゟⱘ ⬉ 䖰䬰作⑤ ㋏㒳 ⬉ ӓⳳ 㛑 㾷䞞ḋ 偠ⱘ ˈ ҹ⫼ѢFAST ⱘ䆒䅵 ⷨおDŽ㞾✊⾥ 䞥乍Ⳃ˄ ˅˄ ˅ǃ⏙ 䞡⚍ 偠 㒣䌍䌘 DŽ978-1-4244-7739-5/10/$26.00 ©2010 IEEE3. 㓽 ⱘ⠽⧚ḋ4. ⠽⧚ḋ ⱘϝ㓈II. ⬉㋏㒳㰮 ḋ ӓⳳ ⊩A. Ẅ㋏㒳 㗗㰥 ϝ㓈 ⱘ ゟˈ 䗝⫼њ ⱘ ԧ䗴 㰮 㺙䜡㛑 ⱘUGS Ўϝ㓈 ԧ ⱘ䆒䅵䕃ӊˈ ԧ ˈ UGS ӊ ЎParasolid Ḑ ˈ ADAMS ㋏㒳ЁDŽ䳔㽕⊼ ⱘ ˈϝ㓈 䕃ӊ ⊼ Ẅ㋏㒳ⱘ 䗴 㺙䜡㒚㡖ˈ㗠ADAMS 䕃ӊ䳔㽕ⱘ ⱘ 䖤 ӊⱘ 䞣ǃ䋼䞣ǃ䕀 䞣ㄝ䖤 DŽԚ⬅UGS AMDAMS 䖛Ёˈ ⱘ䋼䞣ǃ䕀 䞣ㄝ 䚼϶ DŽ ℸ ADAMS Ё П ˈ䋼䞣 䞣 䛑䞛⫼ 䕧 DŽ Ϟ䖬㔎 䖤 㑺 ǃ 䖲 ǃ⫼ ㄝ 䖤 ˈ ℸ䖬䳔㽕 ⏏ 㑺 ǃ 䚼 ㄝ НDŽADAMS 䕃ӊЁ կњ ⾡ 㾕㑺 ⫼ ⱘ Нˈ ⫼ ⬠䴶 ҹ ⱘЎ Ёⱘ䖤 䚼ӊП䯈⏏ 㑺 ㋏ ⫼ DŽ Ё↨䕗 䬂ⱘ⦃㡖 䰏 ⡍ ⡍ ⱘ НDŽ 㑺 ㋏ҹ ⫼ ⱘ⏏ ˈϔϾ ⱘ Ẅ㋏㒳 DŽ B. 䞣⌟Ϣ偅 ㋏㒳 䞣⌟㋏㒳 偅 ㋏㒳 Matlab ⱘSimulink Ё DŽ Ё䞣⌟㋏㒳ⱘ䕧 Ў ⫼ADAMS ⱘ⌟䞣 㛑 ゟⱘ偅 㡖ⱘ㰮 䞣⌟ ˈ䕧 Ў ⌟䞣䆒 ⱘ⌟䞣 DŽ偅 ㋏㒳ⱘ䕧 Ў ㋏㒳ⱘ䕧 Ҹˈ䕧 ЎADAMS ッ㒭㰮 ḋ ⱘ㰮 偅 ⶽDŽ C. ㋏㒳 ㋏㒳 ӓⳳ ⱘ䞡㽕⦃㡖DŽЎ ㋏㒳ӓⳳⱘ üüSimulink կњ ⾡ ㋏㒳䆒䅵Ḝˈ Ё ❳ ㅫ⊩ⱘ 㺙ˈг ҹ䖯㸠 ㅫ⊩ⱘ㓪 DŽD. ӓⳳ ⱘ㒘㺙ADAMS 䕃ӊЁⱘControls ˈ ҹ 䈵ⱘ㰮 ḋ 㺙 Matlab-Simulink Ḑ ⱘ ˈҢ㗠 㰮 ḋ Ẅ㋏㒳Ϣ⌟䞣㋏㒳ǃ偅 ㋏㒳 ㋏㒳㘨 ϔ䍋ˈ ϔ ⱘ ӓⳳ ˈ ˖ ԩ ǃ䖤 / ǃ⌟䞣㋏㒳 ǃ偅 ㋏㒳 ㋏㒳 Ѩ ˈ П䯈ⱘ ѸѦ ㋏ 2 ⼎DŽIII. 作⑤ ㋏㒳㓽 ⱘ ⬉ ӓⳳ Ўњ FAST ԧ ⱘ 偠ⷨおˈ 䗴њ作⑤ üStewart ⱘ㓽 ⠽⧚ḋ ˄1˖12˅ˈ 3 ⼎DŽḋ ϸ 㒧 ˈϞ ⬅ Ḛ ˄ ⌟䞣 ӊü㒓 㒓ッ˅ǃ⌟䞣 ӊ˄㒓 ˅ǃ䖤 ˄ 㒓 㒓ッ˅㒘 ˈ Ё㒓 䗮䖛䆄 㒓5. Ԏ 偅 ⱘ㰮 ḋ ッϢ 㒓ッП䯈ⱘ䭓 ⌟ ⠽⧚ḋ 䖤 Ⳍ ѢḚ г ㋏ⱘⳌ ԡ㕂ˈ䗮䖛㾷ㅫ ҹ 䖤 Ⳍ Ѣ ㋏ⱘぎ䯈 ˈ ℸϞ 㒧 Џ㽕⫼Ѣ㦋 ⱘ䖤 ԡ DŽϟ 㒧 ⬅䖤 ǃ Ͼ偅 䫒˄Ԏ ⬉ 偅 ⒮⦴ϱ Ⳉ㒓䖤 ˅ǃ作⑤〇 ˈ↣Ͼ偅 䫒Ϣ䖤 作⑤〇 ⫼㰢 䫄 ⧗䫄Ⳍ㘨DŽ䖤 䗮䖛 ㋶ǃ⒥䕂 Ϣ䜡䞡䖲 䍋 ˈҢ㗠 ϾStewart 䍋 ҹ FAST作⑤ Ёⱘ㊒䇗 ⱘ ⢊ DŽ䆩偠ⷨおⱘ Ⳃ ⠽⧚ḋ 䖤 ӊϟˈ 〇 ⱘ ԡ㊒ DŽ⬅Ѣ ϾStewart 䗮䖛 ㋶ 䍋 ˈՓ ㋏㒳 12Ͼ䖤 㞾⬅ ˈ ḋ Ϟ 26ϾЏ㽕䖤 䚼ӊˈ18Ͼ 䕀 ˈ6Ͼ⿏ ˈ6Ͼ⧗䫄 ˈ6Ͼ㶎 DŽ㑺 ⱘ ḋ㗠ϨϾ ӫ ˈ ℸ䖤⫼ 䖯㸠 䖯㸠ӓⳳ 䴲 㐕⧤ 䲒ⱘDŽ ℸ㉏⠽⧚ḋ 䖯㸠ӓⳳⱘ Շ ↉ 㰮 ḋ ⱘ ӓⳳDŽ䞛⫼ ⬉㋏㒳㰮 ḋ ӓⳳ ⊩ 䆹⠽⧚ḋ 䖯㸠 ӓⳳ䖛 ϟ˖A. ゟ㓽 ⠽⧚ḋ ⱘϝ㓈 ԧ4 ⼎ˈ ✻ Ёⱘ 䰙⫼ˈ UGS ㋏㒳Ё ⱘ ⾡ 䳊䚼ӊ䖯㸠 ℷˈ՟ ˈ ϝ㓈 Ёϛ 㡖ⱘ ϢϞ ˄㾕 4˅ˈҹ 㺙䜡 ˈԚ 䰙Ϟˈ ϢϞ 䗮䖛㶎 䖲 ϔ䍋ˈҢ ⡍ Ϟ ⳟˈ ҹ㾚ЎϔϾ ԧDŽ ℸ 䰙 ℷЁˈ ϛ 㡖ⱘ Ϟ ㅔ Ў ϔϾ ӊDŽ 䖬䳔 Ёⱘ 䚼ӊ䖯㸠 䋼㸹 НˈҢ㗠䅵ㅫ 䚼ӊⱘ䋼䞣 䕀 䞣DŽ ℷ ˈ 䗖 Ѣ ∖㾷ⱘϝ㓈 ԧ 䕧 ЎADAMS ӊḐ ⱘ DŽB. Н㑺⫼ADAMS 㑺 䖯㸠 НDŽADAMS/View կњ Ѣ ⾡ 㾕㑺 ҹ 䗮⫼㑺 ⱘ㦰 Нˈ䗮䖛䖭ѯ㦰 ҹ ⱘ 㑺 ⱘ ǃ䰏 ㄝ⡍ 䖯㸠 НDŽC. Н㋏㒳䕧 䕧НStewart 䖤 Ԏ 偅 ⬉ ⱘ䕧 ⶽЎ㋏㒳䕧 ˈ Н䖤 ⱘԡ ǃ⬉ 㓪ⷕ ⱘ䕀㾦Ў㋏㒳䕧 ˈ ADAMSⱘcontrols ˈ 㰮 ḋ 䕧 ЎSimulink㛑 䇗⫼ⱘ DŽD.Ԏ 偅 ㋏㒳ӓⳳ ⱘ ゟ㓽 ḋ 䞛⫼ⱘ偅 ㋏㒳 PMAC +MINAS-A4Ԏ 偅 ⬉ ⱘ ˈ䞛⫼PMAC ⱘ Ԏ ˈ Ԏ 偅 ㋏㒳ⱘԡ㕂⦃ ˗MINAS-A4䞛⫼䗳 DŽ 䆹Ԏ 偅 ㋏㒳ⱘ㒧 䖯㸠ㅔ ˈ ゟԎ 偅 ㋏㒳ⱘSimulink DŽSimulink Ё ⦃䏃PID 䗮䖛ϡ ⱘӓⳳ䇗 Ϣ 䰙⬉ ⱘ ⦃ ϔ㟈DŽE.⌟䞣㋏㒳 ԧ ⱘ ゟ 偠Ёⱘ⌟䞣㋏㒳䞛⫼њ⬅6Ͼ㒓 㒘 ⱘ ԧԡ ⌟䞣㋏㒳ˈ䆹㋏㒳 ⌟䞣ǃⳌ ⌟䞣㊒ 催ⱘӬ⚍ˈԚ г 㒱 䲒ⱘ㔎⚍ˈҢ ⧚ ⳟˈ⌟䞣㋏㒳ⱘ ԧ ҹҢ㒓 ⱘ ԧ ˈ✊ ḍ 㾷ㅫ ⌟䞣㋏㒳ⱘ ԧ DŽF. ㋏㒳 ϡ ѢӴ㒳Stewart ⱘ ⫼ ⊩ˈ ЁⱘStewart ≵ ⱘ ⸔ ˈⳌ ѢѠ㑻㊒䇗㋏㒳 䇈ˈ䖤 㹿䩶㋶ ˈ Ѣ 㑺 ˈϡ DŽ ℸˈ㋏㒳 12Ͼ䖤 㞾⬅ ˈ Ѣ Ⳃ 〇 ⱘԡ 䇈ˈ䖭⾡Stewart ⱘ 䯂乬ЎϔϾ ԭ 䯂乬DŽ〇 ⱘ 䔼䗍ϡ㛑㹿Ⳉ 䕀 Ў〇 Ϣ䖤 䯈ⱘⳌ ԡ 䔼䗍ˈ䳔㽕 䖤 ⱘ 䖤 ԡ 㒘 ϔ䍋⫳ ⱘⳌ ԡ DŽ ㋏㒳 ӓⳳ䕃ӊSimulinkЁ DŽ 偠ⱘ ҹ ⾡䆒䅵 Ḝˈ Ё ҟ㒡ϔ⾡↨䕗ㅔ ⱘ 㡖ぎ䯈PD ḜDŽ Ḛ 6 ⼎DŽķ作⑤〇 ԡ ˗ĸ⬉ ԡ㕂 Ҹԡ㕂˗Ĺ⬉ ԡ㕂䇃 ˗ĺ⬉ 䕀䗳 Ҹ ˗Ļ⬉ 䕧 ⶽ˗ļ⬉ 㓪ⷕ ԡ㕂⌟䞣 ˗Ľ⬉ 㓪ⷕ 䕀䗳⌟䞣 ˗ľ䖤 ԡ ˗Ŀ䖤 ԡ ⌟䞣 ˗ŀ䖤 ԡ 乘⌟ DŽ6. ⱘ ⬉ ㋏㒳7. ⬉ ㋏㒳ӓⳳ8. 㓽 偠〇 䰙䏃 ⬅䖤 ⱘ ҹ ԡ㕂 乘⌟䖤 ϟϔ ⱘ䖤 ԡ ˈ䗮䖛Stewart ⱘ䖤 䗚㾷∖ 㡖䕈Ϟⱘ 㡖 ԡ㕂ˈ✊ 䗮䖛 㡖䕈ϞⱘPD 䇗㡖Stewartϸ ⱘⳌ ԡ ҹ䖒 作⑤〇 ⱘ Ⳃ DŽIV.ӓⳳ㒧 ↨䞛⫼㰮 ḋ ⱘ ӓⳳ ⊩ ⠽⧚ḋ 䖯㸠ӓⳳˈ ⱘ ⬉ ㋏㒳ӓⳳⱘ〇 7 ⼎DŽ 䰙ⱘ㓽 偠ⱘ〇 8 ⼎ˈ⬅Ϟ䗄ϸ ҹ 㸼I㒧 Ӏ ҹⳟ ˈӓⳳ ⱘ Ϣ 偠 Ⳍ ˈ㗠Ϩ㋏㒳 Yaw ⫳ 㤵ⱘ㒧 г ӓⳳЁ ⏙Ἦⱘ㸼⦄ DŽV.㒧䆎䞛⫼UGSǃADAMS MATLABϝ㗙㘨 ˈ ゟFAST作⑤ ㋏㒳ⱘϝ㓈 ԧ ǃ Ẅ䖤 / ǃ⌟䞣 偅 ㋏㒳 DŽ ⫼ADAMS䕃ӊ կⱘ ˈ ⦄њ㰮 ḋ ⱘ ⬉㋏㒳 ㋏㒳 ӓⳳDŽ䗮䖛㰮 ḋ ӓⳳ 偠Ϣ⠽⧚ḋ 偠ⱘ ↨ˈ㸼 䆹ӓⳳ 䘐䖥 䰙㋏㒳ˈҎ 㓪䞣 ˈӓⳳ㊒ 催DŽℸ ⬉ ㋏㒳ⱘ ㋏㒳䖯㸠 Ⲭ㗗㰥ˈЎ Ẅ㋏㒳䆒䅵ǃ⌟䞣㋏㒳 偅 ㋏㒳ⱘ䗝 ǃ ㅫ⊩ⱘⷨお䖭 ϾѦⳌ㗺 ⱘ䯂乬 կњⷨお ˈ ҹЎFAST作⑤ ⱘⷨお կ 䴴ⱘӓⳳⷨお DŽR EFERENCES[1]Nan R D, Peng B. 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