地基大口徑望遠(yuǎn)鏡伺服系統(tǒng)的抗擾動(dòng)設(shè)計(jì)
發(fā)布時(shí)間：2018-10-07 20:20
【摘要】：針對(duì)地基大口徑望遠(yuǎn)鏡伺服系統(tǒng)的抗擾動(dòng)問(wèn)題,提出了一種抗擾動(dòng)控制算法。該算法采用雙閉環(huán)控制結(jié)構(gòu):內(nèi)環(huán)為高帶寬的電流環(huán),采用PI控制器;外環(huán)為速度環(huán);采用線性自抗擾控制器,通過(guò)線性擴(kuò)張狀態(tài)觀測(cè)器辨識(shí)出系統(tǒng)擾動(dòng),然后將該擾動(dòng)前饋到系統(tǒng)控制量中去,構(gòu)成復(fù)合校正系統(tǒng)。為解決大動(dòng)態(tài)輸入引起的控制器飽和問(wèn)題,狀態(tài)觀測(cè)器的輸入控制量加入了抗飽和控制算法,保證了系統(tǒng)的穩(wěn)定性和良好的動(dòng)態(tài)特性。仿真和實(shí)驗(yàn)結(jié)果表明:與傳統(tǒng)的PI控制器相比,引入抗飽和功能的自抗擾控制器在高低速均可以獲得良好的動(dòng)態(tài)性能;在低速平穩(wěn)跟蹤實(shí)驗(yàn)中,速度波動(dòng)誤差(RMS)由0.000 68(°)/s降低到0.000 32(°)/s。實(shí)驗(yàn)結(jié)果證明提出的方法能夠有效提高伺服系統(tǒng)抗擾動(dòng)能力和速度跟蹤的平穩(wěn)性。
[Abstract]:An anti-disturbance control algorithm is proposed for the anti-disturbance problem of large aperture telescope servo system. The algorithm adopts double closed loop control structure: the inner loop is the current loop with high bandwidth, the PI controller is used, the outer loop is the speed loop, and the linear auto disturbance rejection controller is used to identify the disturbance of the system by the linear extended state observer. Then the disturbance is fed forward into the control system to form a compound correction system. In order to solve the problem of controller saturation caused by large dynamic input, an anti-saturation control algorithm is added to the input control of the state observer, which ensures the stability and good dynamic characteristics of the system. The simulation and experimental results show that, compared with the traditional PI controller, the anti-saturation ADRC can obtain good dynamic performance at high and low speed, and in the low-speed stationary tracking experiment, The velocity fluctuation error (RMS) was reduced from 0.000 68 (擄) / s to 0.000 32 (擄) / s. Experimental results show that the proposed method can effectively improve the anti-disturbance ability of servo system and the stability of velocity tracking.
【作者單位】： 中國(guó)科學(xué)院長(zhǎng)春光學(xué)精密機(jī)械與物理研究所;東北師范大學(xué)物理學(xué)院;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(No.11603024)
【分類號(hào)】：TH751
本文編號(hào)：2255542
[Abstract]:An anti-disturbance control algorithm is proposed for the anti-disturbance problem of large aperture telescope servo system. The algorithm adopts double closed loop control structure: the inner loop is the current loop with high bandwidth, the PI controller is used, the outer loop is the speed loop, and the linear auto disturbance rejection controller is used to identify the disturbance of the system by the linear extended state observer. Then the disturbance is fed forward into the control system to form a compound correction system. In order to solve the problem of controller saturation caused by large dynamic input, an anti-saturation control algorithm is added to the input control of the state observer, which ensures the stability and good dynamic characteristics of the system. The simulation and experimental results show that, compared with the traditional PI controller, the anti-saturation ADRC can obtain good dynamic performance at high and low speed, and in the low-speed stationary tracking experiment, The velocity fluctuation error (RMS) was reduced from 0.000 68 (擄) / s to 0.000 32 (擄) / s. Experimental results show that the proposed method can effectively improve the anti-disturbance ability of servo system and the stability of velocity tracking.
【作者單位】： 中國(guó)科學(xué)院長(zhǎng)春光學(xué)精密機(jī)械與物理研究所;東北師范大學(xué)物理學(xué)院;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(No.11603024)
【分類號(hào)】：TH751
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1 沈磐安,羅寧蘇;大望遠(yuǎn)鏡伺服系統(tǒng)機(jī)械諧振的補(bǔ)償[J];Chinese Journal of Astronomy and Astrophysics;1985年04期
，本文編號(hào)：2255542
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