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CN-121979298-A - Telescope turntable control system based on heterogeneous servo protocol

CN121979298ACN 121979298 ACN121979298 ACN 121979298ACN-121979298-A

Abstract

The invention relates to the technical field of telescope control, and particularly provides a telescope turntable control system based on a heterogeneous servo protocol, which comprises a basic track calculation module, a servo communication module, a guide track conversion module, a servo protocol encoder, a servo control system and a servo protocol decoder, wherein the guide track conversion module, the servo protocol encoder and the servo protocol decoder are all provided with abstract interface functions and realize functions in derivative classes, the basic track calculation module is used for calculating a basic track of a target, the guide track conversion module generates a guide track according to the basic track, a telescope turntable and a servo protocol, the servo communication module receives the guide track, the guide track is converted into a servo guide instruction by the servo protocol encoder, the telescope is guided to rotate, and user comprehensible information is analyzed and generated by the servo protocol decoder to display. The device independent module is decoupled from the device, so that the flexibility and applicability of the telescope turntable control system are greatly improved.

Inventors

  • SONG LIDUO
  • LI HONGWEN
  • LIU JUNCHI
  • ZHANG SHIXUE
  • CHEN BAOGANG
  • YAO KAINAN

Assignees

  • 中国科学院长春光学精密机械与物理研究所

Dates

Publication Date
20260505
Application Date
20260409

Claims (10)

  1. 1. The telescope turntable control system based on heterogeneous servo protocols is characterized by comprising an equipment independent module and an equipment related module, wherein the equipment independent module comprises a basic track calculation module and a servo communication module, and the equipment related module comprises a guide track conversion module, a servo protocol encoder, a servo control system of a telescope and a servo protocol decoder, wherein the guide track conversion module, the servo protocol encoder and the servo protocol decoder are all provided with abstract class interface functions, and the functions of the interface functions are realized in derivative classes; The basic track calculation module is used for calculating a basic track of a target in a standard horizon coordinate system and sending the basic track to the guide track conversion module; The guide track conversion module generates a guide track according to the basic track, the telescope turntable and the servo protocol, and sends the guide track to the servo communication module; The servo communication module receives the guide track, converts the guide track into a servo guide instruction by utilizing the servo protocol encoder, and sends the servo guide instruction by a standard communication interface to guide a telescope turntable to drive a telescope to rotate; After receiving feedback data of the servo control system, the servo communication module analyzes the feedback data by utilizing the servo protocol decoder to generate user understandable information, wherein the user understandable information comprises telescope pointing, guiding errors and fault information.
  2. 2. The telescope turret control system of claim 1, wherein the device-independent module further includes an information display module for displaying the user-understandable information.
  3. 3. The telescope turret control system according to claim 2, wherein the guide track conversion module, servo protocol encoder, and servo protocol decoder are interfaced.
  4. 4. The telescope turret control system according to claim 1, wherein the guide track conversion module is configured to define a parent guide track conversion interface class that includes only track conversion interface functions and is an abstract class, wherein the track conversion interface function takes the base track as input and the guide track as output, and the specific function of the track conversion interface function is implemented in a derivative class.
  5. 5. The telescope turret control system according to claim 4, wherein the derived classes of the parent class guide track conversion interface class are denoted as guide track conversion implementation classes, each derived class corresponding to a telescope turret and servo protocol combination, and wherein the base track in such combination is converted to the guide track and sent to the servo communication module.
  6. 6. The telescope turret control system according to claim 1, wherein the servo protocol encoder is configured to define a parent servo protocol encoder interface class that includes only protocol encoding interface functions and is an abstract class, the protocol encoding interface functions taking coordinates on the guide track as input and the guide instructions as output, the specific functions of the protocol encoding interface functions being implemented in a derivative class.
  7. 7. The telescope turret control system according to claim 6, wherein the derived classes of parent servo protocol encoder interface classes are denoted as servo protocol encoder implementation classes, each derived class corresponding to a servo protocol, the guide tracks under the servo protocol being converted to the guide instructions, and the guide instructions being sent by the servo communication module to a telescope servo control system.
  8. 8. The telescope turret control system according to claim 1, wherein the servo protocol decoder is configured to define a parent servo protocol decoder interface class that includes only protocol decoding interface functions and is an abstract class, the protocol decoding interface functions having feedback data from the servo control system as input and the user-understandable information as output, the protocol decoding interface functions being implemented in a derivative class.
  9. 9. The heterogeneous servo protocol based telescope turret control system of claim 8, wherein the derived classes of parent servo protocol decoder interface classes are denoted as servo protocol decoder implementation classes, each derived class being operable to convert servo control system feedback data under one servo protocol to the user-understandable information and to transmit the user-understandable information by the servo communication module to an information display module for display.
  10. 10. The telescope turret control system based on heterogeneous servo protocols according to claim 9, wherein the telescope turret control system selects one corresponding derivative class for each of the guide track conversion module, the servo protocol encoder and the servo protocol decoder, and writes the derivative class selection information corresponding to the guide track conversion module, the servo protocol encoder and the servo protocol decoder into a configuration file, and selects the corresponding derivative class for instantiation according to the configuration file when the telescope turret control system is started.

Description

Telescope turntable control system based on heterogeneous servo protocol Technical Field The invention relates to the technical field of telescope control, and particularly provides a telescope turntable control system based on a heterogeneous servo protocol. Background Telescope is mainly divided into foundation, vehicle-mounted and ship-mounted according to the difference of mounting position, and according to the difference of application, mainly include categories such as astronomical observation, measurement and laser communication. Telescope of different uses has remarkable differences in mechanical structure, optical design, control system and the like. In addition, the turntable control modes of different telescopes are different due to the influence of factors such as cost, device type selection and the like. For example, in astronomical observation field, azimuth rotation interval is often adopted asThe telescope is characterized in that the turntable of the telescope is controlled to be in an azimuth interval by a bovine head shifting blockThe internal operation can ensure that the azimuth observation range of the telescope covers a required interval and can effectively prevent the winding of the on-board and off-board cables. The shooting range telescope usually adopts an electromagnetic slip ring to solve the communication problem on the machine and under the machine, and the telescope has the main advantages of strong maneuverability, no reverse span rotation, but higher cost. Because of different turntable control modes of the telescope, the respective servo protocols have isomerism, and even though the telescope with the same mechanical structure has different use and device selection, different servo protocols may be needed. For example, also azimuth intervalSome servo control systems require the master control system to send directlyThe guiding data in azimuth interval is guided, while some require the main control system to sendThe guiding data of the azimuth section is closely guided by a servo control system. The above factors act comprehensively, so that the main control system needs to configure an equipment-based observation track calculation module and a servo guide module aiming at different types of telescopes. For a long time, the main control systems of different telescopes couple the track generating method based on equipment into the observation track generating modules of various targets according to the turntable control mode. In addition, due to the heterogeneity of the servo protocols, the master control system also often couples the protocol codec module to the servo communication module for development. The development mode not only affects the reusability of the main control system, but also is extremely easy to cause the problem of difficult positioning. The Chinese patent publication number is CN119291913A, the publication date is 2025, 1 month and 10 days, and the patent name is 'a telescope guiding method and application'. For the azimuth rotation range isThe telescope realizes an observation track planning method. However, the invention only realizes an observation track planning method aiming at the telescope of the type, and does not decouple the module related to the telescope equipment through an interfacing and modularized program design method, so that the reusability and maintainability of the main control system can not be improved. Disclosure of Invention In order to solve the problems, the invention provides a telescope turntable control system based on a heterogeneous servo protocol, which decouples part of modules from equipment, and greatly improves the flexibility and applicability of the telescope turntable control system. The invention provides a telescope turntable control system based on a heterogeneous servo protocol, which comprises the following components: The device independent module comprises a basic track calculation module and a servo communication module, wherein the device independent module comprises a guide track conversion module, a servo protocol encoder, a servo control system of a telescope and a servo protocol decoder, wherein the guide track conversion module, the servo protocol encoder and the servo protocol decoder are all provided with abstract class interface functions, and the functions of the interface functions are realized in derived classes; The basic track calculation module is used for calculating a basic track of the target in a standard horizon coordinate system and sending the basic track to the guide track conversion module; The guide track conversion module generates a guide track according to the basic track, the telescope turntable and the servo protocol, and sends the guide track to the servo communication module; the servo communication module receives the guide track, converts the guide track into a servo guide instruction by using a servo protocol encoder, and sends the servo guide instruction by a standard