Wind Disturbance Rejection Servo System Design for Large Deep Space Observatory Antenna

SUN Ming-wei; QIU De-min; WANG Yong-kun; CHEN Zeng-qiang

doi:10.3788/OPE.20132106.1568

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Wind Disturbance Rejection Servo System Design for Large Deep Space Observatory Antenna

更新时间：2020-08-12

- Wind Disturbance Rejection Servo System Design for Large Deep Space Observatory Antenna
- Optics and Precision Engineering Vol. 21, Issue 6, Pages: 1568-1575(2013)
- 作者机构：
  
  南开大学自动化系2.中国西安卫星测控中心
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20132106.1568
  CLC： V443.4;TP273
- Received：08 January 2013，
  
  Revised：05 March 2013，
  
  Published Online：20 June 2013，
  
  Published：15 June 2013
- 稿件说明：
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孙明玮邱德敏王永坤陈增强. 大口径深空探测天线抗风干扰伺服系统设计[J]. 光学精密工程, 2013,21(6): 1568-1575

SUN Ming-wei QIU De-min WANG Yong-kun CHEN Zeng-qiang. Wind Disturbance Rejection Servo System Design for Large Deep Space Observatory Antenna[J]. Editorial Office of Optics and Precision Engineering, 2013,21(6): 1568-1575
孙明玮邱德敏王永坤陈增强. 大口径深空探测天线抗风干扰伺服系统设计[J]. 光学精密工程, 2013,21(6): 1568-1575 DOI： 10.3788/OPE.20132106.1568.

SUN Ming-wei QIU De-min WANG Yong-kun CHEN Zeng-qiang. Wind Disturbance Rejection Servo System Design for Large Deep Space Observatory Antenna[J]. Editorial Office of Optics and Precision Engineering, 2013,21(6): 1568-1575 DOI： 10.3788/OPE.20132106.1568.

摘要

为了改善风载荷干扰对深空探测天线跟踪精度和寿命的影响，设计了位置环线性自抗扰控制器。由于扰动观测器可以改善系统性能，本文基于电机动力学机理，将电流与速度的反馈与负载的影响作为总扰动的一部分，通过静态增益对前向通道的惯性环节进行近似，极大地降低了扩张状态观测器的阶次；采用在线估计和补偿策略，抑制了风载荷干扰对控制系统的不利影响；利用描述函数法分析了包含摩擦特性的非线性系统闭环特性，说明这种控制策略可以避免极限环的产生。最后，开展了数学仿真和现场试验。在一深空探测系统上的应用结果显示，提出的控制策略超调比原产品减少了34%，抗击阵风干扰能力提高了60%，跟踪精度提高显著。得到的结果表明设计的控制策略提高了系统抗风干扰的能力。

Abstract

With the aim to attenuate the effect of wind load disturbance on the tracking precision and the life-span of a large deep space observatory antenna

this paper proposed a wind disturbance rejection servo system. As disturbance observer can improve the system performance

the mechanism of electrical motor was utilized to simplify the design process. The feedback channels of current and speed control as well as load impact were regarded as parts of the total disturbance

and the lags in the feed-forward channels were approximated by their steady gains respectively. Therefore

the required order of the extended state observer

which was employed to estimate the total disturbance

including the wind load torque and other uncertain mechanical dynamics

could be substantially reduced. Then

the total disturbance was compensated by the observer. Furthermore

the limit cycle was eliminated in the presence of friction according to the describing function method. Finally

mathematical simulations and experiments were carried out. In the experiment

the overshoot is reduced by 34% and the capacity of gust rejection is increased by 60%

respectively

as compared with that of traditional equipment

while the tracking precision is also raised significantly. The objective of rejecting the wind gust disturbance for the large deep space observatory antenna system can be achieved by using the proposed method.

关键词

Keywords

references

GAWRONSKI W, BIENKIEWEZ B, HILL R. Wind induced dynamics of a deep space network antenna [J]. Sound Vibration, 1994, 178(1): 66-77.[2]GAWRONSKI W K, RACHO C S,MELLSTROM J A. Application of the LQG and feed-forward controllers to the deep space network antennas [J]. IEEE Transactions on Control System Technology, 1995, 3(4):417-421.[3]GAWRONSKI W, SOUCCAR K. Control systems of the large millimeter telescope [J]. IEEE Antennas and Propagation, 2005, 47(4): 41-49.[4]GAWRONSKI W. Antenna control systems: from PI to H [J]. IEEE Antennas and Propagation, 2001,43(1):52-60.[5]HAN J. From PID to active disturbance rejection control [J]. IEEE Transactions on Industrial Electronics, 2009, 56(3):900-906.[6]LI S, YANG X, YANG D. Active disturbance rejection control for high pointing accuracy and rotation speed [J]. Automatica, 2009,45(8):1854-1860.[7]王帅, 李洪文, 孟浩然, 等. 光电望远镜伺服系统速度环的自抗扰控制[J]. 光学精密工程, 2011, 19(10):2442-2449.WANG SH, LI H W, MENG H R, et al.. Active disturbance rejection controller for speed-loop in telescope servo system [J]. Opt. Precision Eng., 2011, 19(10): 2442-2449. (in Chinese)[8]李锦英, 付承毓, 唐涛, 等. 运动平台上光电跟踪系统的自抗扰控制器设计[J]. 控制理论与应用, 2012, 29(7): 955-958.LI J Y, FU CH Y, TANG T, et al.. Design of active disturbance-rejection controller for photoelectric tracking system on moving bed [J]. Control Theory & Applications, 2012, 29(7): 955-958. (in Chinese)[9]LIU H, LI S. Speed control for PMSM servo system using predictive functional control and extended state observer [J]. IEEE Transactions on Industrial Electronics, 2012, 59(2):1171-1183.[10]黄浦, 修吉宏, 李军, 等. 航空相机镜筒位置控制的扰动估计与补偿[J]. 光学精密工程, 2012, 20(4): 803-810.HUANG P, XIU J H, LI J, et al.. Disturbance estimation and compensation of position control of lensbarrels aerial cameras [J]. Opt. Precision Eng., 2012, 20(4): 803-810. (in Chinese)[11]GAO Z. Scaling and bandwidth-parameterization based controller tuning [C]. Proceedings of the American Control Conference, 2003: 4989-4996.[12]OLSSON H,ASTRO M K J. Friction generated limit cycles [J]. IEEE Transactions on Control System Technology, 2001, 9(4): 629-636.[13]DAVENPORT A G. The spectrum of horizontal gustiness near the ground in high winds [J]. Quarterly Journal of the Royal Meteorological Society, 1961, 87(132):194-211.

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