Optics and Precision Engineering, Volume. 32, Issue 15, 2374(2024)

Parallelism measurement and trajectory planning of multi-channel double crystal monochromator

Haolin LU1... Maomao LIU2, Siyu HE1, Zhao FENG1, Xiaowei ZHANG3, Lin TANG2, Jianhua HE2 and Xiaohui XIAO1,* |Show fewer author(s)
Author Affiliations
  • 1School of Power and Mechanical Engineering, Wuhan University, Wuhan430072, China
  • 2Advanced Light Source Research Center, Wuhan University, Wuhan43007, China
  • 3Institute of High Energy Physics, Chinese Academy of Sciences, Beijing100049, China
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    Figures & Tables(19)
    Principle diagram of QXAFS and multi-channel DCM
    Parallelism error of multi-channel double crystal monochromator
    Working principle of photoelectric autocollimator
    Composition of parallelism error calibration system
    Flowchart of parallelism error calibration
    Strategy of trajectory planning
    Four-order S-curve trajectory
    Flow chart of S-curve trajectory planning algorithm
    Experimental platform of multi-channel monochromator
    Motion resolution test results
    Parallelism calibration curves of six pairs
    S-curve trajectory planning results
    S-curve trajectory tracking results
    Control value fed into slave motor
    • Table 1. Dynamic constraint parameters of actual physical system

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      Table 1. Dynamic constraint parameters of actual physical system

      运动参量备 注
      最大速度Vmax由电机额定转速决定
      最大加速度Amax由电机额定转矩及负载惯量决定
      最大加加速度Jmax由电机驱动器电流环响应时间确定
      最大加加加速度Smax由参考值确定1419
      其他高阶量不设定最大值限制
    • Table 2. Hardware selection of experimental platform

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      Table 2. Hardware selection of experimental platform

      硬 件型 号功 能
      安川驱动器SGDS-120A电机驱动
      安川直驱电机SGM7D-08G转轮动力
      海德汉编码器RCN 5581位置反馈
      dSPACE控制器MicroLabBox算法部署
      MATLAB上位机R2017a算法设计
      光电自准直仪Elcomat 3000光路测试
    • Table 3. Parallelism calibration results of six pairs

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      Table 3. Parallelism calibration results of six pairs

      晶片点位主轴角度从轴角度平均差值
      1起点678 603.7679 604.6-1 003.5
      终点690 203.6691 214.2
      起点678 603.8679 604.8
      2起点894 603.8895 718.4-1 107.2
      终点906 401.1907 502.3
      起点894 603.9895 717.4
      3起点1 110 935.21 111 917.4-977.0
      终点1 118 437.21 119 409.7
      起点1 110 936.31 111 918.6
      4起点31 338.332 364.7-1 029.1
      终点42 438.443 475.8
      起点31 340.232 366.5
      5起点251 445.1252 553.4-1 117.5
      终点258 345.3259 467.8
      起点251 446.1252 554.3
      6起点462 646.2463 610.2-969.0
      终点474 346.2475 322.4
      起点462 646.8463 611.0
    • Table 4. Trajectory parameter

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      Table 4. Trajectory parameter

      参数取值参数取值
      轨迹阶数4P10″
      切换时间0.138P2-103.7″
      工作时间0.028P326.5″
      Vmax/((°)·s-112P4-25.6″
      Amax/((°)·s-230P5-114″
      Jmax/((°)·s-33 000P6-34.5″
      Smax/((°)·s-47×105
    • Table 5. Trajectory tracking experimental results

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      Table 5. Trajectory tracking experimental results

      转速/(rad·s-1均方根误差最大值误差
      S形曲线多项式曲线未规划曲线S形曲线多项式曲线未规划曲线
      0.55.807.49.712.619.216.0
      1.06.1015.816.915.827.547.2
      1.59.1824.328.439.265.983.8
      2.016.9035.255.359.3105.6139.6
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    Haolin LU, Maomao LIU, Siyu HE, Zhao FENG, Xiaowei ZHANG, Lin TANG, Jianhua HE, Xiaohui XIAO. Parallelism measurement and trajectory planning of multi-channel double crystal monochromator[J]. Optics and Precision Engineering, 2024, 32(15): 2374

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    Paper Information

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    Received: Apr. 3, 2024

    Accepted: --

    Published Online: Sep. 27, 2024

    The Author Email: XIAO Xiaohui (xhxiao@whu.edu.cn)

    DOI:10.37188/OPE.20243215.2374

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