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

您当前的位置：

首页 >

文章列表页 >

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

更新时间：2022-12-20

- 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：08 November 2022，
  
  Published：10 December 2022
- 稿件说明：
移动端阅览
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.

关键词

Keywords

references

杨明，徐殿国，贵献国 . 永磁交流速度伺服系统抗饱和设计研究［J］. 中国电机工程学报， 2007 ， 27 （ 15 ）： 28 - 32 . doi: 10.3321/j.issn:0258-8013.2007.15.005 http://dx.doi.org/10.3321/j.issn:0258-8013.2007.15.005

YANG M ， XU D G ， GUI X G . Study of AC PMSM speed servo system anti-windup design ［J］. Proceedings of the CSEE ， 2007 ， 27 （ 15 ）： 28 - 32 . （in Chinese） . doi: 10.3321/j.issn:0258-8013.2007.15.005 http://dx.doi.org/10.3321/j.issn:0258-8013.2007.15.005

张超洋 . 带有抗积分饱和补偿的自抗扰控制器设计及其应用［D］. 天津：天津大学， 2019 .

ZHANG CH Y . Design and Application of Active Disturbance Rejection Control with Anti-windup Compensation ［D］. Tianjin ： Tianjin University ， 2019 . （in Chinese）

TARBOURIECH S ， TURNER M . Anti-windup design： an overview of some recent advances and open problems ［J］. IET Control Theory & Applications ， 2009 ， 3 （ 1 ）： 1 - 19 .

蒋邱雨 . 永磁同步电机转速环控制策略研究［D］. 南京：南京航空航天大学， 2020 .

JIANG Q Y . Research on Speed Loop Control Strategy of Permanent Magnet Synchronous Motor ［D］. Nanjing ： Nanjing University of Aeronautics and Astronautics ， 2020 . （in Chinese）

李垣江，董鑫，魏海峰，等 . 表贴式永磁同步电机转速环复合PI无位置传感器控制［J］. 电工技术学报， 2020 ， 35 （ 10 ）： 2119 - 2129 .

LI Y J ， DONG X ， WEI H F ， et al . Sensorless compound PI control for surface permanent magnet synchronous motor speed regulation system ［J］. Transactions of China Electrotechnical Society ， 2020 ， 35 （ 10 ）： 2119 - 2129 . （in Chinese）

于艳君，柴凤，高宏伟，等 . 基于Anti-Windup控制器的永磁同步电机控制系统设计［J］. 电工技术学报， 2009 ， 24 （ 4 ）： 66 - 70 . doi: 10.3321/j.issn:1000-6753.2009.04.011 http://dx.doi.org/10.3321/j.issn:1000-6753.2009.04.011

YU Y J ， CHAI F ， GAO H W ， et al . Design of PMSM system based on anti-windup controller ［J］. Transactions of China Electrotechnical Society ， 2009 ， 24 （ 4 ）： 66 - 70 . （in Chinese） . doi: 10.3321/j.issn:1000-6753.2009.04.011 http://dx.doi.org/10.3321/j.issn:1000-6753.2009.04.011

牛里，杨明，唐思宇，等 . 基于积分状态预测的Anti-Windup PID控制器设计［J］. 电工技术学报， 2014 ， 29 （ 9 ）： 145 - 152 . doi: 10.3969/j.issn.1000-6753.2014.09.021 http://dx.doi.org/10.3969/j.issn.1000-6753.2014.09.021

NIU L ， YANG M ， TANG S Y ， et al . Design of anti-windup PID controller with integral state prediction ［J］. Transactions of China Electrotechnical Society ， 2014 ， 29 （ 9 ）： 145 - 152 . （in Chinese） . doi: 10.3969/j.issn.1000-6753.2014.09.021 http://dx.doi.org/10.3969/j.issn.1000-6753.2014.09.021

付金宝，丁亚林，李清军，等 . Anti-Windup变结构自适应PID控制在航空相机位角控制系统的应用［J］. 光学精密工程， 2014 ， 22 （ 3 ）： 626 - 632 . doi: 10.3788/OPE.20142203.0626 http://dx.doi.org/10.3788/OPE.20142203.0626

FU J B ， DING Y L ， LI Q J ， et al . Application of Anti-Windup variable structure adaptive PID control to position angle control system of aerial camera ［J］. Opt. Precision Eng. ， 2014 ， 22 （ 3 ）： 626 - 632 . （in Chinese） . doi: 10.3788/OPE.20142203.0626 http://dx.doi.org/10.3788/OPE.20142203.0626

张斌，李洪文，郭立红，等 . 变结构PID在大型望远镜速度控制中的应用［J］. 光学精密工程， 2010 ， 18 （ 7 ）： 1613 - 1619 . doi: 10.3788/OPE.20101807.1613 http://dx.doi.org/10.3788/OPE.20101807.1613

ZHANG B ， LI H W ， GUO L H ， et al . Application of variable structure PID in velocity control for large telescope ［J］. Opt. Precision Eng. ， 2010 ， 18 （ 7 ）： 1613 - 1619 . （in Chinese） . doi: 10.3788/OPE.20101807.1613 http://dx.doi.org/10.3788/OPE.20101807.1613

王慎航，王云宽，胡建华，等 . 基于干扰抑制和非线性摩擦力补偿的速度环PI控制器抗饱和设计［J］. 中南大学学报（自然科学版）， 2015 ， 46 （ 9 ）： 3224 - 3230 .

WANG SH H ， WANG Y K ， HU J H ， et al . Anti-windup design for PI-type speed controller based on nonlinear compensation and disturbance suppression ［J］. Journal of Central South University （Science and Technology）， 2015 ， 46 （ 9 ）： 3224 - 3230 . （in Chinese）

SHIN H B ， PARK J G . Anti-windup PID controller with integral state predictor for variable-speed motor drives ［J］. IEEE Transactions on Industrial Electronics ， 2012 ， 59 （ 3 ）： 1509 - 1516 .

张兴华，姚丹 . 感应电机直接转矩控制系统的“抗饱和”控制器设计［J］. 电工技术学报， 2014 ， 29 （ 5 ）： 181 - 188 . doi: 10.3969/j.issn.1000-6753.2014.05.023 http://dx.doi.org/10.3969/j.issn.1000-6753.2014.05.023

ZHANG X H ， YAO D . Anti-windup speed controller design for direct torque controlled induction motor drives ［J］. Transactions of China Electrotechnical Society ， 2014 ， 29 （ 5 ）： 181 - 188 . （in Chinese） . doi: 10.3969/j.issn.1000-6753.2014.05.023 http://dx.doi.org/10.3969/j.issn.1000-6753.2014.05.023

CHOI J W ， LEE S C . Antiwindup strategy for PI-type speed controller ［J］. IEEE Transactions on Industrial Electronics ， 2009 ， 56 （ 6 ）： 2039 - 2046 .

TYLER S . A trajectory preprocessor for antenna pointing ［J］. The Telecommunications and Data Acquisition Report ， 1994 .

GAWRONSKI W . Modeling and Control of Antennas and Telescopes ［M］. Boston， MA ： Springer US ， 2008 .

Digital Implementation of Minimum Time Control of Double Integral System with Limits on Velocity and Acceleration ［M］. Systems Technology ， Inc ， 1992 .

SMITH D R ， SOUCCAR K . A polynomial-based trajectory generator for improved telescope control ［C］. SPIE Astronomical Telescopes + Instrumentation. Proc SPIE 7019， Advanced Software and Control for Astronomy II ， Marseille， France . 2008 ， 7019 ： 91 - 102 .

GAWRONSKI W . Control and pointing challenges of large antennas and telescopes ［J］. IEEE Transactions on Control Systems Technology ， 2007 ， 15 （ 2 ）： 276 - 289 .

SAVARESE S ， PERROTTA F ， SCHIPANI P ， et al . Trajectory generation methods for radio and optical telescopes ［C］. SPIE Astronomical Telescopes + Instrumentation. Proc SPIE 11445， Ground-Based and Airborne Telescopes VIII . 2020 ， 11445 ： 959 - 970 .

GAWRONSKI W ， ALMASSY W T . Command preprocessor for radio telescopes and microwave antennas ［J］. IEEE Antennas and Propagation Magazine ， 2002 ， 44 （ 2 ）： 30 - 37 .

Views

1156

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Parallelism measurement and trajectory planning of multi-channel double crystal monochromator

Trajectory planning scheme for ultra-precision system

Parallel adjustment mechanism for large aperture telescope based on flexible hinges

Related Author

XIAO Xiaohui

HE Jianhua

TANG Lin

ZHANG Xiaowei

FENG Zhao

LU Haolin

LIU Maomao

HE Siyu

Related Institution

School of Power and Mechanical Engineering， Wuhan University

Advanced Light Source Research Center， Wuhan University

Institute of High Energy Physics， Chinese Academy of Sciences

Institute of Microelectronics， Chinese Academy of Sciences

University of Chinese Academy of Sciences

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰