Fast and high precision positioning strategy based on trajectory planning for ground based telescope

LIU Jing; DENG Yongting; FEI Qiang; LI Hongwen; SHAO Meng

doi:10.37188/OPE.20223023.3070

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Fast and high precision positioning strategy based on trajectory planning for ground based telescope

更新时间：2026-09-12

- Fast and high precision positioning strategy based on trajectory planning for ground based telescope
- Optics and Precision Engineering Vol. 30, Issue 23, Pages: 3070-3080(2022)
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所，吉林长春 130033
  2.季华实验室，广东佛山 528033
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20223023.3070
  CLC： TP273
- Received：30 September 2022，
  
  Revised：2022-11-08，
  
  Published：10 December 2022
- 稿件说明：
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刘京,邓永停,费强等.基于轨迹规划的地基望远镜快速高精度定位策略[J].光学精密工程,2022,30(23):3070-3080.

LIU Jing,DENG Yongting,FEI Qiang,et al.Fast and high precision positioning strategy based on trajectory planning for ground based telescope[J].Optics and Precision Engineering,2022,30(23):3070-3080.
刘京,邓永停,费强等.基于轨迹规划的地基望远镜快速高精度定位策略[J].光学精密工程,2022,30(23):3070-3080. DOI： 10.37188/OPE.20223023.3070.

LIU Jing,DENG Yongting,FEI Qiang,et al.Fast and high precision positioning strategy based on trajectory planning for ground based telescope[J].Optics and Precision Engineering,2022,30(23):3070-3080. DOI： 10.37188/OPE.20223023.3070.

摘要

为了提高地基望远镜的定位性能，实现快速无超调的高精度位置切换控制，提出了基于近似最优指令整形算法的轨迹规划定位策略。利用近似最优指令整形算法设计指令修正器，指令修正器位于位置控制器之前，依据参考指令、速度、加速度限幅信息进行轨迹规划，引导系统快速平滑地到达目标位置。相比传统梯形指令整形算法，近似最优指令整形算法解决了抖振问题，因此可获得更优的位置控制性能。实验结果表明，系统响应2.5° 和30° 位置阶跃信号时，相比无轨迹规划定位策略，采用轨迹规划定位策略后位置响应超调量大大降低，系统进入2″误差带的调节时间分别降低了1.14 s和1.57 s。仿真和实验结果一致，基于近似最优指令整形方法的轨迹规划定位策略，可有效提高望远镜的定位性能。

Abstract

In order to achieve fast and high-precision position switching control of a ground-based telescope， without overshoot and while improving the positioning performance， a trajectory-planning strategy based on an approximate optimal-command-shaping algorithm is proposed. The approximate optimal-command-shaping algorithm is utilized to design the command shaper， which is located before the position controller. The designed command shaper is able to perform trajectory planning， using the reference command， and the speed- and acceleration-limit information of the system. As a result of the algorithm-designed command shaper， the system can be guided to its destination quickly and smoothly. Compared to the traditional trapezoidal-command-shaping algorithm， the proposed approximate optimal-command-shaping algorithm overcomes the problem of chattering， thus achieving better position-control performance. The experimental results demonstrate that， compared to the positioning strategy without trajectory planning， the system using the proposed positioning strategy has a reduced adjustment time. In particular， the adjustment time for the system to enter the 2″ error band in response to a 2.5° and 30° step reference is reduced by 1.14 s and 1.57 s， respectively. In addition， the overshoot of the position response is significantly reduced. The simulation and experimental results show that the positioning performance of the telescope can be improved effectively by the trajectory-planning positioning strategy， based on the proposed approximate optimal-command-shaping method.

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references

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