光学精密工程2017，Vol.25Issue(10)：2627-2635,9.DOI:10.3788/OPE.20172510.2627
地基大口径望远镜伺服系统的抗扰动设计
Disturbance rejection control for large ground-based telescope
摘要
Abstract
An improved disturbance rejection control algorithm was proposed to overcome the velocity fluctuation caused by the disturbance torque in a large ground-based telescope .The algorithm consists of two closed-loop structures ,an inner high-bandwidth current loop and an outer speed loop .The in-ner current loop is a PI controller .T he outer loop is a speed controller adopting the linear active dis-turbance rejection controller .For the speed loop ,an extended state observer is used to estimate the system disturbances ,and the estimated disturbance is fed into the control system to form a composite correction system .To solve the problem of controller saturation caused by the large dynamic input ,an anti-windup control algorithm was induced the input of the extended state observer to guarantee the stability and good dynamic characteristics of the system . T he simulation and experimental results show that linear active disturbance rejection controller with anti-windup achieves fast response without overshoot at both high or low speeds as compared with the PI controller .In a low speed smoothing ex-periment ,the algorithm improves the RMS value of speed error from 0 .00068(°)/s to 0 .00032(°)/s . Experimental results demonstrate that the proposed algorithm effectively reduces the velocity fluctua-tion of the servo system caused by the motor torque ripple and improves its speed smooth .关键词
地基望远镜/扰动抑制/线性自抗扰控制/交流永磁同步电机/抗饱和/低速性能Key words
ground-based telescope/disturbance rejection/linear active disturbance rejection control/permanent magnet synchronous motor/anti-windup/low-speed performance分类
信息技术与安全科学引用本文复制引用
王帅,邓永停,朱娟..地基大口径望远镜伺服系统的抗扰动设计[J].光学精密工程,2017,25(10):2627-2635,9.基金项目
国家自然科学基金资助项目(No.11603024) （No.11603024）
