Ultra-low speed research on friction drive for astronomical telescope

WANG Da-xing; DU Fu-jia

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Ultra-low speed research on friction drive for astronomical telescope

更新时间：2020-08-12

- Ultra-low speed research on friction drive for astronomical telescope
- Optics and Precision Engineering Vol. 14, Issue 2, Pages: 274-278(2006)
- 作者机构：
  
  1. 中国科学院研究生院
  2. 中国科学院国家天文台南京天文光学技术研究所,江苏南京210042
- 作者简介：
- 基金信息：
- DOI：
  CLC： TH751
- Received：22 December 2005，
  
  Revised：16 January 2006，
  
  Published Online：30 April 2006，
  
  Published：30 April 2006
- 稿件说明：
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WANG Da-xing, DU Fu-jia. Ultra-low speed research on friction drive for astronomical telescope[J]. Optics and precision engineering, 2006, 14(2): 274-278.
DOI：

WANG Da-xing, DU Fu-jia. Ultra-low speed research on friction drive for astronomical telescope[J]. Optics and precision engineering, 2006, 14(2): 274-278. DOI：

摘要

研究了大型天文望远镜摩擦传动系统的运行原理和特性

并进行了实验。结果表明

影响摩擦传动低速稳定运行的因素很多

主要有:编码器的测量误差

环境变化引起的误差

摩擦力矩和电机波动力矩等引起的误差

以及加工制造和安装引起的误差。另外在整个传动链中其它部分的摩擦力矩也不可能是一个定值

也存在力矩波动。结果还表明

利用非线性PID控制算法增益参数非线性变化的特性

可以使得控制系统既能达到响应速度快

无超调的目的

又能增强抵抗影响摩擦传动低速稳定运行因素的能力。实验中

低速可以达到0.2″/s

位置精度为0.032″(RMS)

证明了这种方法是行之有效的。

Abstract

The theory and characteristics of friction drive for a large astronomical telescope were presented. The results of experiment indicate that there are many factors influencing on the stability of low speed of friction drive. The main factors include:measuring error of encoder ;error of environment variance;errors of friction torque and motor fluctuating torque and error of manufacturing and installing. In addition

the friction torque of total drive chain is fluctuation also. The results of experiments also indicate that the nonlinear characteristic of increment parameter of nonlinear PID control algorithm can achieve prompt response and non-overshooting of the control system. The nonlinear PID also enhances the stability to resist the influence of friction drive low speed. In this experiment

the low speed is 0.2″/s and position precision is 0.032″(RMS)

which proved that this method is effective.

关键词

Keywords

references

. WANG G M, MA L SH, YAO ZH Q, et al. Experiment study on friction drive [J]. SPIE,2004,5495:419-428.

. LIU J K, ER L J, QFT robust control design for 3-axis flight table servo system with large friction[J]. Chinese Journal of Aeronautics,2004,17(1):34-38.

. 刘强,扈宏杰,尔联洁. 高精度位置伺服系统的鲁棒非线性摩擦补偿控制[J]. 电气传动, 2002,(6):10-13. LIU Q , HU H J , ER L J . Robust nonlinear friction compensation of high precision servo system with time variable parameters[J]. Electric Driver, 2002,(6):10-13.(in Chinese)

. 陈涛,陈娟,陈长青. 直流力矩电机低速自适应跟踪控制[J]. 光电工程, 2003.6:31-34. CHEN T , CHEN J , CHEN CH Q . Adaptive tracking control of DC torque motor in low speed[J]. Opto-Electronic Engineering 2003.6:31-34. (in Chinese)

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. 陈娟,张淑梅,黄艳秋,等. 电机波动力矩的重复学习控制补偿[J]. 光学精密工程, 2003,8(4):390-394. CHEN J , ZHANG SH M , HUANG Y Q,et al. Repetitive study control to compensate motor moment fluctuation[J]. Optics and Precision Engineering, 2003,8(4): 390-394. (in Chinese)

. 张卫国,曹永刚,陈涛. 用数字滤波器改善光电经纬仪机械谐振频率的方法[J]. 光学精密工程, 1999,7(2):77-82. ZHANG W G,CAO Y G,CHEN T. Digital filter approach to improving the resonance frequency of photoelectric theodolite [J]. Optics and Precision Engineering, 1999,7(2):77-82. (in Chinese)

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