光电望远镜伺服系统速度环的自抗扰控制

王帅; 李洪文; 孟浩然; 吴庆林

doi:10.3788/OPE.20111910.2442

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光电望远镜伺服系统速度环的自抗扰控制

微纳技术与精密机械 | 更新时间：2020-08-12

- 光电望远镜伺服系统速度环的自抗扰控制
- Active disturbance rejection controller for speed-loop in telescope servo system
- 光学精密工程 2011年19卷第10期页码：2442-2449
- 作者机构：
  
  中国科学院长春光学精密机械与物理研究所,吉林长春,中国,130033
- 作者简介：
- 基金信息：
  
  中国科学院三期创新工程基金资助项目()
- DOI：10.3788/OPE.20111910.2442
  中图分类号： TH743;TP273
- 收稿日期：2011-01-29，
  
  修回日期：2011-02-18，
  
  网络出版日期：2011-10-27，
  
  纸质出版日期：2011-10-25
- 稿件说明：
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王帅, 李洪文, 孟浩然, 吴庆林. 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 Shuai, LI Hong-wen, MENG Hao-ran, WU Qing-lin . Active disturbance rejection controller for speed-loop in telescope servo system[J]. Editorial Office of Optics and Precision Engineering, 2011,19(10): 2442-2449
王帅, 李洪文, 孟浩然, 吴庆林. 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 DOI： 10.3788/OPE.20111910.2442.

WANG Shuai, LI Hong-wen, MENG Hao-ran, WU Qing-lin . Active disturbance rejection controller for speed-loop in telescope servo system[J]. Editorial Office of Optics and Precision Engineering, 2011,19(10): 2442-2449 DOI： 10.3788/OPE.20111910.2442.

摘要

针对大口径光电望远镜惯量大、存在摩擦非线性的特点

设计了自抗扰控制器以改善伺服系统的速度响应特性。介绍了自抗扰控制器的工作原理和基本结构

给出了控制器参数的选择依据

并仿真分析了各个参数的作用效果。最后

在实际望远镜转台上和常规PID控制器进行了对比实验。结果表明

采用自抗扰控制器

既可以实现大速度阶跃响应快速无超调

又可以缩短低速阶跃响应时间、改善低速平稳性。在以0.005 ()/s速度运行时

系统稳定时间为1 s

速度波动标准差为0.000 082 ()/s

最大值为0.000 42 ()/s

性能明显优于传统的PID控制系统。实验结果证明自抗扰控制器对摩擦、饱和等非线性因素具有抑制能力

可以提高望远镜伺服系统的调速性能。

Abstract

According to the characteristics of a large optical telescope by large inertia and nonlinear frictions

an Active Disturbance Rejection Controller (ADRC) was designed to improve the response speed of the servo system. The working principle and basic structure of the ADRC was introduced

the regulation of parameters for the ADRC was given

and each parameter was analyzed imitatively. Finally

the ADRC was compared with conventional PID controllers. Actual results show that the ADRC can not only achieve a higher response speed without a overshoot

and its low-speed step response time can be shortened and the low-speed smoothness be improved.When it runs in 0.005 ()/s

the system settling time is 1 s

the standard deviation of velocity fluctuation is 0.000 082 ()/s (maximum in 0.000 42 ()/s).The results demonstrate that the performance of the ADRC is better than that of the traditional PID controller. Experimental results show that the ADRC can inhibit friction

saturation and other nonlinear factors

and can improve the speed performance of the telescope servo system.

关键词

Keywords

references

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