The Tianma 65 m radio telescope at Shanghai

The Shanghai Tianma 65 m radio telescope(TMRT)is a large,fully rotatable radio telescope with multiple scientific purposes.The main body of the telescope and four low-frequency receiving systems,including L,C,and S/X bands,were completed between 2008 and 2012.From 2013 to 2017,four high-frequency receiving systems,including Ku,K,Ka,and Q bands,were constructed and their performance was comprehensively tested.There are three main innovations.(1)A fully movable large radio telescope system with advanced performance and complete functions has been built.(2)An advanced,reliable main reflector adjustment system has been completed,overcoming gravity deformation and creating a large antenna with a main reflective surface accuracy of 0.28 mm(root mean square)for any elevation.(3)Five innovative technologies have been developed to achieve high-precision pointing in any direction within 3″.The TMRT has made a crucial contribution to the orbital measurement and positioning of China’s lunar and deep space probes.Significantly enhancing China's ability to participate in international VLBI observations and radio astronomy,this has facilitated a series of achievements in observational radio astronomical research,in areas such as VLBI,spectral lines,and pulsars.

Calculating real-time surface deformation for large active surface radio antennas using a graph neural network

This paper presents an innovative surrogate modeling method using a graph neural network to compensate for gravitational and thermal deformation in large radio telescopes.Traditionally,rapid compensation is feasible for gravitational deformation but not for temperature-induced deformation.The introduction of this method facilitates real-time calculation of deformation caused both by gravity and temperature.Constructing the surrogate model involves two key steps.First,the gravitational and thermal loads are encoded,which facilitates more efficient learning for the neural network.This is followed by employing a graph neural network as an end-to-end model.This model effectively maps external loads to deformation while preserving the spatial correlations between nodes.Simulation results affirm that the proposed method can successfully estimate the surface deformation of the main reflector in real-time and can deliver results that are practically indistinguishable from those obtained using finite element analysis.We also compare the proposed surrogate model method with the out-of-focus holography method and yield similar results.

Error analysis and distribution of the driving mechanism for large spherical radio telescope active reflector

In order to reduce the cost,3-PRS mechanism is introduced into the application of supporting theactive reflector unit of large radio telescope.The kinematic model of 3-PRS mechanism with rotationaljoint errors is derived to solve the error problem in actual engineering application.Then based on the errormodel,inverse and forward kinematics are analyzed.Because the solutions can not be analytically ex-pressed,a numerical method is applied.Afterwards,the parasitic motion errors are analyzed using searchmethod and empirical formulas of the maximum parasitic motion error are put forward.Finally,the toler-ance is distributed using empirical formulas to avoid interference between adjacent reflector units.Theanalyses provide a theoretical basis for the design and installation of large radio telescope active reflector.

Non-uniform temperature distribution of the main reflector of a large radio telescope under solar radiation

The non-uniform temperature distribution of the main reflector of a large radio telescope may cause serious deformation of the main reflector,which will dramatically reduce the aperture efficiency of a radio telescope.To study the non-uniform temperature field of the main reflector of a large radio telescope,numerical calculations including thermal environment factors,the coefficients on convection and radiation,and the shadow boundary of the main reflector are first discussed.In addition,the shadow coverage and the non-uniform temperature field of the main reflector of a 70-m radio telescope under solar radiation are simulated by finite element analysis.The simulation results show that the temperature distribution of the main reflector under solar radiation is very uneven,and the maximum of the root mean square temperature is 12.3℃.To verify the simulation results,an optical camera and a thermal imaging camera are used to measure the shadow coverage and the non-uniform temperature distribution of the main reflector on a clear day.At the same time,some temperature sensors are used to measure the temperature at some points close to the main reflector on the backup structure.It has been verified that the simulation and measurement results of the shadow coverage on the main reflector are in good agreement,and the cosine similarity between the simulation and the measurement is above 90%.Despite the inevitable thermal imaging errors caused by large viewing angles,the simulated temperature field is similar to the measured temperature distribution of the main reflector to a large extent.The temperature trend measured at the test points on the backup structure close to the main reflector without direct solar radiation is consistent with the simulated temperature trend of the corresponding points on the main reflector with the solar radiation.It is credible to calculate the temperature field of the main reflector through the finite element method.This work can provide valuable references for studying the thermal deformation and the surface accuracy of the main reflector of a large radio telescope.

MECHANICAL ANALYSIS OF ORBIT TRACKING MOVEMENT OF FEED SYSTEM IN LARGE SPHERICAL RADIO-TELESCOPE

The curve equation and its mechanics analysis of suspended-cable under the condition of end load are given. Then on the basis of it, the mechanical analysis of suspended-cable system for large spherical radio-telescope is studied, and procedures of the control for the orbit tracking movement of the line feed in large spherical radiotelescope are given. The validity of the results mentioned above is confirmed by means of computer simulations.

Analyzing the capability of a radio telescope in a bistatic space debris observation system

A bistatic space debris observation system using a radio telescope as the receiving part is introduced. The detection capability of the system at different working frequencies is analyzed based on real instruments. The detection range of targets with a fixed radar cross section and the detection ability of small space debris at a fixed range are discussed. The simulations of this particular observation system at different transmitting powers are also implemented and the detection capability is discussed. The simulated results approximately match the actual experiments. The analysis in this paper provides a theoretical basis for developing a space debris observation system that can be built in China.

Hybrid position/force control strategy and experiment of the six-cable driven parallel manipulator for the forty-meter aperture radio telescope

This paper mainly analyzes a hybrid position/force control strategy and experiment of a six-cable driven parallel manipulator for a forty-meter aperture radio telescope. Through the establishments of a kinematic model, a catenary model and a cable-force characteristics model, a basic method is presented based on preventing the pseudo-drag problem of a flexible cable and realizing the hybrid position/force control for a six-cable driven parallel manipulator, and a hybrid position/force control system is developed. Some specific experiments in two typical velocities for astronomical observations are carried out. Experimental results show that the tracking accuracy is related to the speed of the movement. The desired tracking accuracy of the support system is achieved through an effective hybrid position/force control strategy, the cable forces are controlled effectively, and the pseudo-drag problem of flexible cable is solved. This study establishes the foundation of achieving the harmonious movement of the six-cable driven parallel manipulator, A-B rotating platform and the Stewart fine tuninz olatform.

LT50m缩比模型悬索舱体系统的风振分析

在新一代大型射电望远镜 (LT)的悬索舱体系统中增加了抑制风激振动的下拉结构控制索系 ,并分析了 5 0m缩比模型的风振响应。首先 ,由非线性静力分析确定结构初始静态参考位形和初应力 ;其次 ,针对结构特点模拟作用在悬索和馈源舱上的随机风荷。在上述研究的基础上 ,在时域中模拟分析下拉索系对结构风振的抑制效果 ,同时通过典型节点时域响应的FFT变换 ,绘出响应自功率谱图 。

LT50m模型二级运动调整系统的动力学分析

安装在悬挂馈源舱内的Stewart平台作为馈源位姿精调机构与舱索粗调系统一起构成了大型射电望远镜(LT)馈源位姿的两级调整系统。使用索结构的悬链线解析方程以及在忽略舱体振动导致的Stewart平台惯性力的基础上,应用Newton-Euler法建立了舱索系统与Stewart平台耦合的动力学简化模型。通过对LT50m缩比模型的仿真分析,模拟了馈源舱对Stewart平台扰动的响应,并由实验进行了验证。

LT50m缩比模型舱索系统与Stewart平台动力学耦合分析

安装在大型射电望远镜(LT)悬挂馈源舱中的精调Stewart平台子系统与舱索粗调子系统之间存在动力学耦合,通过在LT原六索设计方案中增加下拉主动索系构成八索方案可以提高舱索系统的刚度,降低两级调整系统之间的耦合。在两级调整系统耦合动力学模型的基础上,针对LT50m模型的六索和八索设计方案进行了刚柔混合多体系统动力学仿真。结果表明,八索设计方案能够显著地降低二者之间的耦合,是系统解耦的一种有效途径。

LT50m模型柔性Stewart平台的运动精度分析

基于刚柔混合多体系统动力学的模态综合法研究了LT50 m模型中精调稳定Stewart平台的动力学问题,计算了支腿弹性变形对Stewart平台定位精度的影响。仿真结果表明,在LT50 m模型中,相对于实验获得的支腿进给误差和Stewart平台固有的加工制造误差对系统定位精度造成的影响,支腿的弹性变形可以忽略不计。

大口径射电望远镜伺服时滞因素分析及其预测补偿控制

射电望远镜控制系统是一个多变量复杂系统,伺服系统中的摩擦、齿轮间隙等众多时滞因素严重影响着射电望远镜系统的精度和稳定性。文中针对大口径射电望远镜伺服控制系统中的时滞因素进行研究。以模型预测控制(Model Predictive Control,MPC)为主控器,利用模糊比例-积分(Proportional-Integral,PI)控制结合Smith预估器解决时滞因素带来的影响,并利用所提出的控制方法对射电望远镜的位置控制系统进行时域分析。研究结果表明,在时滞因素影响下,大口径射电望远镜伺服控制系统依旧可以保持稳定,超调量为0.6%,稳态误差小于0.15%,满足大口径天线1.39%的指向精度要求。

基于激光映射方法的天线面板变形重构技术研究

对大型射电望远镜主反射面的单块面板变形进行了研究,将机器人学六自由度姿态变化应用至大型射电望远镜反射面面板的变形研究当中,提出了一种基于刚体六自由度变形的面板变形表征方式。基于该刚体六自由度姿态变形理论,提出了一种基于光学方法的天线面板变形重构技术,该项技术通过固结于面板上的激光单元所呈现的光斑图像来快速高精度地重构出面板的变形。深入地探究了激光光斑与天线面板变形两者之间的映射关系,将天线面板空间变形问题转化为有限区域内的激光光斑位移问题;对该方案的光斑图像进行了研究,提供了有效的光斑图像处理算法;将图像差分方法与Canny边缘检测算法相结合,能够有效地解决传统Canny算法在处理小目标时的问题,还采用了高精度亚像素质心定位算法,能够对光斑点进行亚像素级别的定位。为天线面板的测量提供了一种新的、可靠的图像处理方法,也为提高天线面板测量的精度和效率提供了新思路和方法。

A Reverse-Design Strategy for the Track Error of the Qi Tai Telescope Based on Pointing Accuracy

The Qi Tai Telescope(QTT),which has a 110 m aperture,is planned to be the largest scale steerable tele-scope in the world.Ideally,the telescope’s repeated pointing accuracy error should be less than 2.5 arc seconds(arcsec);thus,the telescope structure must satisfy ultra-high precision requirements.In this pur-suit,the present research envisages a reverse-design method for the track surface to reduce the difficulty of the telescope’s design and manufacture.First,the distribution characteristics of the test data for the track error were verified using the skewness coefficient and kurtosis coefficient methods.According to the distribution characteristics,the azimuth track error was simulated by a two-scale model.The error of the long period and short amplitude was characterized as large-scale and described by a trigonometric function,while the short period and high amplitude error was characterized as small-scale and simulated by a fractal function.Based on the two-scale model,effect of the error on the pointing accuracy was deduced.Subsequently,the relationship between the root mean square(RMS)of the track error and the RMS of the pointing accuracy error of the telescope was deduced.Finally,the allowable RMS value of the track error was derived from the allowable pointing accuracy errors.To validate the effectiveness of the new design method,two typical radio telescopes(the Green Bank Telescope(GBT)and the Large Millimeter Telescope(LMT))were selected as experimental examples.Through comparison,the theoretical calculated values of the pointing accuracy of the telescope were consistent with the measured values,with a maximum error of less than 10%.

中国天眼的超低丢包率天文数据流传输优化

当前UDP已经成为以中国天眼为代表的射电天文领域进行数据分发所采用的事实标准,在流量控制、拥塞控制、丢包重传等传统手段无法应用的情况下,为解决单处理器应用现有射电大数据流接入方法损耗过高的问题,形式化地论证丢包重传机制无法应用于射电天文场景,提出一套面向以FAST为代表的射电天文场景的定制化通信优化方法,包括基于缓存行对齐的巨型帧设计、CPU亲和性绑定、网卡直访缓存、三级缓存适配的内核缓冲区调整和旁路内核等手段。在25 Gbps的实际终端网络实验和8 Gbps模拟中,该套方法分别将网络传输丢包率从60%和e-4降为e-4和e-8,性能显著提高,验证了优化策略的有效性。

主动反射面面形实时计算与检测方法研究

主动反射面技术在射电望远镜发展中具有重要意义,为提高主动反射面技术中面形检测的实时性,减小环境因素造成的检测误差,建设了主动反射面面形监测研究平台,提出一种利用测距传感器的主动反射面面形计算与检测方法。首先确定主动反射面基准面,其次将面板运动看作旋转运动,利用罗德里格旋转公式得到面板的旋转矩阵,最后利用面板的旋转矩阵计算面板当前位姿。仿真结果显示,该方法具有可行性,计算1625个节点下的面板位姿耗费时长为5070 ms,能够提高面形检测的实时性,为提高主动反射面运行精度提供参考,使采用主动反射面技术的射电望远镜达到更好的性能指标。

Back Frame Optimization of a Large Radio Telescope Based on Force Cone Method

A new research perspective is proposed to optimize the topology of truss structure by force cone method,which involves force cone drawing rules and growth rules.Through the comparison with the mature variable density topology optimization method,the effectiveness of force cone method is verified.This kind of new method is simple and easy to understand(no need to master complex structural optimization design theory).Besides,it is time-saving in finite element calculations,and can obtain an optimized truss layout easily.By drawing the force cone,its application on a large radio telescope’s back frame structure shows that,compared with the existing one in terms of structural stiffness,Root Mean Square(RMS)precision,and beam stress distribution,the optimized back frame using the force cone method has higher stiffness,better RMS,more uniform stress,and lighter weight.

大型射电望远镜馈源定位3T索牵引并联机构分析与设计

在新一代大型射电望远镜的机构设计中,由于馈源质量的大幅降低,在馈源定位的设计中,提出采用四绳索牵引并联机构,牵引馈源舱实现三个方向的平动运动,达到加大馈源工作空间的目的。为了研究非线性绳索控制机构中的尺度优化设计问题,在已知馈源舱位置的情况下,为解决由于绳索自重导致的悬链线问题,通过将悬链线简化成抛物线的方法,解决悬链线带来的高度非线性静力平衡方程组的求解问题,得到简化的静力学平衡方程。通过建立的简化静力学平衡方程,求解出四绳索牵引并联系统的工作空间与设计参数间的关系,并使用一种以力优化为目标的优化算法得到工作空间中四绳索静力平衡下的精确索拉力和伸长量。通过综合考虑满足条件的参数,最终给出满足设计要求的机构优化尺度参数。

大型射电望远镜悬挂馈源结构的非线性力学分析

从降低风荷的角度 ,设计了大型射电望远镜的悬挂馈源舱体外形及舱内框架支撑结构 .对馈源悬挂系统进行了非线性有限元静力分析 ,结合优化方法 ,联立迭代求解了馈源舱体的位置、姿态、悬索的悬链线、张力和长度 ,为进一步系统地模拟分析非线性馈源悬挂系统在随机风荷作用下的风振响应奠定了基础 .

大射电望远镜馈源轨迹跟踪的模糊预测控制

针对新一代大射电望远镜悬索馈源系统为时变大滞后的被控对象 ,并充分考虑易于实现的工程要求 ,提出一种由模糊预测器和模糊控制器组成的馈源轨迹跟踪自适应模糊预测控制方案。