地基大口径望远镜伺服系统的抗扰动设计
发布时间：2018-10-07 20:20
【摘要】：针对地基大口径望远镜伺服系统的抗扰动问题,提出了一种抗扰动控制算法。该算法采用双闭环控制结构:内环为高带宽的电流环,采用PI控制器;外环为速度环;采用线性自抗扰控制器,通过线性扩张状态观测器辨识出系统扰动,然后将该扰动前馈到系统控制量中去,构成复合校正系统。为解决大动态输入引起的控制器饱和问题,状态观测器的输入控制量加入了抗饱和控制算法,保证了系统的稳定性和良好的动态特性。仿真和实验结果表明:与传统的PI控制器相比,引入抗饱和功能的自抗扰控制器在高低速均可以获得良好的动态性能;在低速平稳跟踪实验中,速度波动误差(RMS)由0.000 68(°)/s降低到0.000 32(°)/s。实验结果证明提出的方法能够有效提高伺服系统抗扰动能力和速度跟踪的平稳性。
[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 (掳) / s to 0.000 32 (掳) / s. Experimental results show that the proposed method can effectively improve the anti-disturbance ability of servo system and the stability of velocity tracking.
【作者单位】： 中国科学院长春光学精密机械与物理研究所;东北师范大学物理学院;
【基金】：国家自然科学基金资助项目(No.11603024)
【分类号】：TH751
本文编号：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 (掳) / s to 0.000 32 (掳) / s. Experimental results show that the proposed method can effectively improve the anti-disturbance ability of servo system and the stability of velocity tracking.
【作者单位】： 中国科学院长春光学精密机械与物理研究所;东北师范大学物理学院;
【基金】：国家自然科学基金资助项目(No.11603024)
【分类号】：TH751
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1 沈磐安,罗宁苏;大望远镜伺服系统机械谐振的补偿[J];Chinese Journal of Astronomy and Astrophysics;1985年04期
，本文编号：2255542
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