基于扰动力矩观测器的大口径望远镜低速控制
发布时间：2018-10-31 19:12
【摘要】：为了增强大口径望远镜跟踪架伺服控制系统的抗扰动性能,提高其低速跟踪精度,提出了基于扰动力矩观测器的力矩补偿方法。该方法采用改进的加减速法控制转台的加减速时间,使得望远镜转台微震;通过测量电机的速度和电流响应曲线,辨识获得望远镜转台的转动惯量。然后,设计了望远镜转台的加速度估计器,根据编码器位置反馈数据,采用双积分和PD控制的方法,估计出当前系统的加速度。最后,基于转动惯量辨识和加速度估计,设计了扰动力矩观测器,根据电机的电流和转台的加速度,计算出外部的扰动力矩,并将扰动前馈补偿到电流控制器的输入端,以修正电流输入参考值。在2m望远镜控制系统中对扰动观测器的性能进行了实验验证,结果表明,加入扰动力矩观测器补偿后,在跟踪斜率为0.36(″)/s的位置斜坡时,跟踪误差值(RMS)由0.012 7″减小到0.007 3″;相比未加入扰动力矩观测器的补偿方法,望远镜的低速跟踪抖动明显减小,提高了伺服系统的低速跟踪精度,实现了对目标的平滑、稳定跟踪。
[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.
【作者单位】： 中国科学院长春光学精密机械与物理研究所;
【基金】：国家自然科学基金青年基金资助项目(No.11603024)
【分类号】：TH743;TP273
本文编号：2303272
[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.
【作者单位】： 中国科学院长春光学精密机械与物理研究所;
【基金】：国家自然科学基金青年基金资助项目(No.11603024)
【分类号】：TH743;TP273
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1 孔德杰;程志峰;沈宏海;戴明;;动基座光电平台伺服系统扰动力矩抑制能力仿真与分析[J];长春理工大学学报(自然科学版);2011年02期
，本文编号：2303272
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