光学精密工程2011，Vol.19Issue(10)：2442-2449,8.DOI:10.3788/OPE.20111910.2442
光电望远镜伺服系统速度环的自抗扰控制
Active disturbance rejection controller for speed-loop in telescope servo system
摘要
Abstract
According to the characteristics of a large optical telescope by large inertia and nonlinear frictions, an Active Disturbance Rejection Controller (ADRC) was designed to improve the response speed of the servo system. The working principle and basic structure of the ADRC was introduced, the regulation of parameters for the ADRC was given, and each parameter was analyzed imitatively. Finally, the ADRC was compared with conventional PID controllers. Actual results show that the ADRC can not only achieve a higher response speed without a overshoot, and its low-speed step response time can be shortened and the low-speed smoothness be improved. When it runs in 0. 005 (°)/s, the system settling time is 1 s, the standard deviation of velocity fluctuation is 0. 000 082 (°)/s (maximum in 0. 000 42 (°)/s). The results demonstrate that the performance of the ADRC is better than that of the traditional PID controller. Experimental results show that the ADRC can inhibit friction, saturation and other nonlinear factors, and can improve the speed performance of the telescope servo system.关键词
光电望远镜/自抗扰控制/摩擦补偿/输入饱和/低速性能/伺服控制Key words
telescope/ Active Disturbance Rejection Controller (ADRC)/ friction compensation/ input saturation/ low velocity performance/ servo control分类
信息技术与安全科学引用本文复制引用
王帅,李洪文,孟浩然,吴庆林..光电望远镜伺服系统速度环的自抗扰控制[J].光学精密工程,2011,19(10):2442-2449,8.基金项目
中国科学院三期创新工程基金资助项目 （）
