光学精密工程2025，Vol.33Issue(21)：3419-3430,12.DOI:10.37188/OPE.20253321.3419
大型车载光电望远镜伺服系统扰动抑制
Disturbance suppression for servo system of large vehicle mounted electro-optical telescope
摘要
Abstract
The servo system of a large vehicle-mounted electro-optical telescope is affected by time-vary-ing disturbances,such as motor cogging torque,which degrade tracking performance.To enhance the dis-turbance rejection capability of the telescope servo,current and speed control loops were first designed.Based on this control architecture,methods employing direct current compensation and observer-based feedforward compensation were compared for mitigation of periodic and time-varying disturbances induced by cogging torque.Their practical limitations were analyzed,and an online disturbance estimation and compensation method was proposed,combining extended state observers with compensation and predic-tion models to suppress tracking fluctuations caused by disturbance torque.The proposed approach was validated through simulation and experiments.When following a 1(°)/s speed command,the RMS of the speed fluctuation error was reduced from 0.007 60(°)/s without compensation to 0.003 45(°)/s,a rela-tive decrease of 54.6%.When tracking a position slope command at 1(°)/s,the RMS of the position tracking error was reduced from 0.997″ without compensation to 0.157″,a relative decrease of 84.3%.The results demonstrate that the presented method effectively improves the disturbance rejection perfor-mance of the servo system for large vehicle-mounted electro-optical telescopes.关键词
光电望远镜/扰动抑制/伺服控制/观测器Key words
electro-optical telescope/disturbance suppression/servo control/observer分类
信息技术与安全科学引用本文复制引用
邵蒙,邓永停,李洪文,陈涛,王帅,张智敏..大型车载光电望远镜伺服系统扰动抑制[J].光学精密工程,2025,33(21):3419-3430,12.基金项目
国家自然科学基金资助项目(No.11973041,No.12122304) （No.11973041,No.12122304）
国家重点研发计划资助项目(No.2020YFA0406502) （No.2020YFA0406502）
天文联合基金资助项目(No.U2031126) （No.U2031126）
吉林省科技发展计划资助项目(No.20230203113SF) （No.20230203113SF）
