光学精密工程2017，Vol.25Issue(10)：2620-2626,7.DOI:10.3788/OPE.20172510.2620
基于摩擦模型的反演滑模控制在大型望远镜上的应用
Backstepping sliding mode control of large telescope based on f riction model
摘要
Abstract
According to the requirement of a large telescope driven by a permanent magnet synchronous motor( PMSM ) for pointing precision and following precision ,a sliding mode position controller was designed based on a friction model with backstepping approach .Firstly ,the system model was estab-lished based on LuGre friction model and external disturbance .Then ,a subsystem which is the fur-thest away from the control input was designed by inversion method .In the design process ,the slid-ing mode control law was induced into each step of backstepping approach to attenuate the influence of nonlinearity friction and external disturbance on the pointing precision and following precision of the large telescope .The effectiveness of the proposed method was verified by theoretical simulation and experimental test .The experimental results demonstrate that the system has a good dynamic perform-ance and is insensitive to the uncertainty factors such as disturbance .The stable pointing error is 0 .04851″w hen the position command is 4 .6″,w hich decreases 21 .4％ than that of the traditional PI controller .The stable following error is 0 .03126″when the ramp position command 5 (″)/s ,which decreases 30 .1％ than that of the traditional PI controller . The proposed controller improves the pointing precision and following precision of large telescopes successfully .关键词
摩擦模型/反演滑模控制/永磁同步电机/大型望远镜Key words
friction model/backstepping with sliding mode control/Permanent Magnet Sychronous Motor(PMSM )/large telescope分类
机械制造引用本文复制引用
郭鹏飞,邓永停,王帅..基于摩擦模型的反演滑模控制在大型望远镜上的应用[J].光学精密工程,2017,25(10):2620-2626,7.基金项目
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) （No.065X32CN60）
