光学精密工程2025，Vol.33Issue(21)：3403-3418,16.DOI:10.37188/OPE.20253321.3403
多电机同步驱动的大口径望远镜主轴伺服性能分析
Performance analysis of large-aperture telescope main axes servo based on multi-motor synchronous drive
摘要
Abstract
To satisfy the servo requirements of main axes for next-generation ultra-large ground-based tele-scopes,a multi-motor synchronous drive control method and corresponding experimental validation are presented.Using a 4 m telescope as the platform,the control-system hardware is described and an Ether-CAT-based multi-motor synchronous control architecture is developed.Parameter calibration procedures and test results are reported for the azimuth segmented-arc permanent-magnet synchronous motors(SAPMSM)and the assembled elevation motors.The speed controller is synthesized as an optimal sec-ond-order system;a structural filter and an anti-windup scheme are incorporated to achieve rapid,over-shoot-free speed response.To quantify torque ripple,a torque-current-based analysis method is intro-duced,demonstrating that torque ripple can be mitigated by matching motor electrical phases.An extend-ed state observer(ESO)is further employed to enable torque feedforward compensation.Experimental re-sults indicate that direct drive of the mount attains a first natural frequency of 20 Hz.The elevation dual-drive architecture exhibits superior dynamic characteristics,with a velocity closed-loop bandwidth of 6 Hz.The telescope produces rapid,overshoot-free speed responses in both the linear(low-speed)and nonlinear(high-speed)regimes.After application of the torque-fluctuation feedforward compensation on the eleva-tion axis,speed fluctuation was reduced from 0.000 868(°)/s to 0.000 341(°)/s,significantly enhancing speed stability.These results demonstrate that the proposed multi-motor synchronous drive system meets the high-precision demands of the telescope and offers a valuable reference for control-system design of larger-aperture telescopes.关键词
地基望远镜/永磁同步电机/同步驱动/EtherCAT总线/抗饱和/扩张状态观测器/力矩波动Key words
ground-based telescope/Permanent Magnet Sychronous Motor(PMSM)/synchronous drive/EtherCAT bus/anti-windup/ESO/torque ripple分类
信息技术与安全科学引用本文复制引用
王帅,邓永停,刘洋,杨晓霞,李洪文,王建立..多电机同步驱动的大口径望远镜主轴伺服性能分析[J].光学精密工程,2025,33(21):3403-3418,16.基金项目
国家自然科学基金资助项目(No.12303085,No.12473083) （No.12303085,No.12473083）
中国科学院青促会优秀会员资助项目(No.Y2023060) （No.Y2023060）
