【摘要】：為了增強大口徑望遠鏡跟蹤架伺服控制系統(tǒng)的抗擾動性能,提高其低速跟蹤精度,提出了基于擾動力矩觀測器的力矩補償方法。該方法采用改進的加減速法控制轉(zhuǎn)臺的加減速時間,使得望遠鏡轉(zhuǎn)臺微震;通過測量電機的速度和電流響應(yīng)曲線,辨識獲得望遠鏡轉(zhuǎn)臺的轉(zhuǎn)動慣量。然后,設(shè)計了望遠鏡轉(zhuǎn)臺的加速度估計器,根據(jù)編碼器位置反饋數(shù)據(jù),采用雙積分和PD控制的方法,估計出當(dāng)前系統(tǒng)的加速度。最后,基于轉(zhuǎn)動慣量辨識和加速度估計,設(shè)計了擾動力矩觀測器,根據(jù)電機的電流和轉(zhuǎn)臺的加速度,計算出外部的擾動力矩,并將擾動前饋補償?shù)诫娏骺刂破鞯妮斎攵?以修正電流輸入?yún)⒖贾�。�?m望遠鏡控制系統(tǒng)中對擾動觀測器的性能進行了實驗驗證,結(jié)果表明,加入擾動力矩觀測器補償后,在跟蹤斜率為0.36(″)/s的位置斜坡時,跟蹤誤差值(RMS)由0.012 7″減小到0.007 3″;相比未加入擾動力矩觀測器的補償方法,望遠鏡的低速跟蹤抖動明顯減小,提高了伺服系統(tǒng)的低速跟蹤精度,實現(xiàn)了對目標(biāo)的平滑、穩(wěn)定跟蹤。
[Abstract]:In order to enhance the anti-disturbance performance and improve the low speed tracking accuracy of servo control system for large aperture telescope tracking frame, a torque compensation method based on disturbance torque observer is proposed. The improved acceleration and deceleration method is used to control the acceleration and deceleration time of the turntable to make the telescope turntable microtremor and the moment of inertia of the telescope turntable is obtained by measuring the speed and current response curves of the motor. Then, the acceleration estimator of the telescope turntable is designed. According to the feedback data of encoder position, the acceleration of the current system is estimated by using the method of double integral and PD control. Finally, based on the moment of inertia identification and acceleration estimation, a disturbance torque observer is designed. According to the current of the motor and the acceleration of the turntable, the external disturbance torque is calculated, and the disturbance feedforward is compensated to the input of the current controller. Input reference value to correct current. The performance of the disturbance observer is experimentally verified in 2m telescope control system. The results show that when the disturbance torque observer is added to the control system, when the slope of the slope is 0.36 (") / s, when the disturbance torque observer is added, The tracking error (RMS) was reduced from 0.012 "to 0.007 3". Compared with the compensation method without disturbance torque observer, the low speed tracking jitter of the telescope is obviously reduced, the tracking accuracy of the servo system is improved, and the target tracking is smooth and stable.
【作者單位】： 中國科學(xué)院長春光學(xué)精密機械與物理研究所;
【基金】：國家自然科學(xué)基金青年基金資助項目(No.11603024)
【分類號】：TH743;TP273

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1 孔德杰;程志峰;沈宏海;戴明;;動基座光電平臺伺服系統(tǒng)擾動力矩抑制能力仿真與分析[J];長春理工大學(xué)學(xué)報(自然科學(xué)版);2011年02期

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