基于摩擦模型的反演滑模控制在大型望远镜上的应用

发布时间：2018-05-14 04:37

本文选题：摩擦模型 + 反演滑模控制　；参考：《光学精密工程》2017年10期

【摘要】：根据永磁同步电机驱动的大型望远镜转台对指向精度与低速跟踪精度的要求,设计了基于摩擦模型的反演滑模控制器。建立了基于摩擦模型与外部扰动的系统模型;然后,按照反演设计方法,设计了离控制输入最远的子系统,在设计过程中加入滑模控制,从而减小非线性摩擦因素与外部风载等对指向精度与跟踪精度的影响。通过理论仿真和实验研究验证了该方法的有效性。结果显示:所设计的反演滑模控制器具有较好的动态响应,对扰动等不确定性因素具有较强的鲁棒性,当位置阶跃指令为4.6″时,稳态误差为0.048 51″,比传统的PI控制算法减小21.4%;当输入斜率为5(″)/s的位置斜坡指令时,稳态跟踪误差为0.031 26″,比传统的PI控制算法减小30.1%。结果表明提出的方法能够提高望远镜控制系统的指向精度和低速跟踪精度。
[Abstract]:According to the requirements of pointing accuracy and low speed tracking accuracy of the large telescope turntable driven by PMSM, an inverse sliding mode controller based on friction model is designed. The system model based on friction model and external disturbance is established. Then, according to the inverse design method, the subsystem farthest from the control input is designed, and sliding mode control is added in the design process. Thus, the influence of nonlinear friction factors and external wind load on the pointing accuracy and tracking accuracy is reduced. The effectiveness of the method is verified by theoretical simulation and experimental research. The results show that the proposed inverse sliding mode controller has better dynamic response and is robust to uncertain factors such as disturbance. The steady-state error is 0.048 "when the position step instruction is 4. 6". The steady-state tracking error is 0.031 26 "when the input slope is 5 (" / s "), which is 30.1% less than the traditional Pi control algorithm. The results show that the proposed method can improve the pointing accuracy and the low speed tracking accuracy of the telescope control system.
【作者单位】：中国科学院长春光学精密机械与物理研究所;
【基金】：中国科学院长春光学精密机械与物理研究所三期创新工程资助项目(No.065X32CN60)
【分类号】：TH743;TP273

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