Changchun Institute of Optics,Fine Mechanics and Physics,CAS
Low-speed control of large telescope based on disturbance torque observer | |
Deng, Y.-T.; H.-W. Li; J. Liu and J.-L. Wang | |
2017 | |
发表期刊 | Guangxue Jingmi Gongcheng/Optics and Precision Engineering |
卷号 | 25期号:10 |
摘要 | To improve the anti-disturbance performance and following tracking accuracy for the servo system in a large telescope, a torque compensation method based on a disturbance observer was proposed. With the method, the revised acceleration/deceleration control method was adopt to guide the telescope turntable oscillating in a little angle. Through measuring the velocity and current of a motor, the rotation inertia of the telescope turntable was indentified. Then, an acceleration estimator was designed to estimate the low-acceleration based on encoder feedback data by using the double integration and PD control method. Finally, based on the inertia identification and acceleration estimation, a disturbance observer was designed to estimate the external torque according to the motor current and turntable acceleration. Furthermore, the estimated disturbance torque was used to compensate the current input to correct reference currents. Experiment results demonstrate that after the observer is added, the following error RMS is reduced from 0.012 7 to 0.0073 at the sloop position of servo system to be 0.36 ()/s. Compared with that without the disturbance torque observer, the following tracking jitter is reduced and the tracking accuracy is improved. 2017, Science Press. All right reserved. |
收录类别 | ei |
语种 | 中文 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ciomp.ac.cn/handle/181722/58876 |
专题 | 中科院长春光机所知识产出 |
推荐引用方式 GB/T 7714 | Deng, Y.-T.,H.-W. Li,J. Liu and J.-L. Wang. Low-speed control of large telescope based on disturbance torque observer[J]. Guangxue Jingmi Gongcheng/Optics and Precision Engineering,2017,25(10). |
APA | Deng, Y.-T.,H.-W. Li,&J. Liu and J.-L. Wang.(2017).Low-speed control of large telescope based on disturbance torque observer.Guangxue Jingmi Gongcheng/Optics and Precision Engineering,25(10). |
MLA | Deng, Y.-T.,et al."Low-speed control of large telescope based on disturbance torque observer".Guangxue Jingmi Gongcheng/Optics and Precision Engineering 25.10(2017). |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Low-speed control of(609KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论