2 m级望远镜跟踪架控制系统动态性能分析
|
摘要
为了增强望远镜的抗风载扰动能力,提高望远镜跟踪架的跟踪精度,本文对2m望远镜跟踪架伺服控制系统的动态性能进行了测试和分析。首先,采用正弦扫描信号对望远镜跟踪架的结构和伺服系统进行了频率特性测试;其次,采用基于观测器/卡尔曼滤波器的辨识算法,对跟踪架控制系统的频率特性进行了模型辨识;最后,依据辨识获得的控制模型设计了位置和速度控制器,然后对2m望远镜跟踪架伺服控制系统进行了目标观测实验,实验结果表明:当跟踪最大速度为3.5(°)/s,最大加速度为1(°)/s~2的目标时,方位轴和俯仰轴的最大跟踪误差均小于4.5",跟踪误差的RMS值分别为0.378 6"和0.151 6",实验验证了跟踪架控制系统的良好性能。
In order to enhance the ability of disturbance rejection for the telescope,and improve the tracking accuracy of the telescope mount control system,this paper analysis the dynamic of mount control system for the two meters telescope.Firstly,the frequency response of telescope mount control system is test using swept sine.Secondly,the Observer/Klaman filter algorithm is employed to identify the model for the mount control system.Finally,the position controller and speed controller are designed based on the mount control model.The experimental results of target observation show that max tracking errors of the azimuth and elevation axis are less than 4.5",and the tracking error RMS are 0.378 6" and 0.151 6",when the target moving with the max speed 3.5(°)/s and the max acceleration 1(°)/s~2.The experiments verify the good dynamic of telescope mount control system.
In order to enhance the ability of disturbance rejection for the telescope,and improve the tracking accuracy of the telescope mount control system,this paper analysis the dynamic of mount control system for the two meters telescope.Firstly,the frequency response of telescope mount control system is test using swept sine.Secondly,the Observer/Klaman filter algorithm is employed to identify the model for the mount control system.Finally,the position controller and speed controller are designed based on the mount control model.The experimental results of target observation show that max tracking errors of the azimuth and elevation axis are less than 4.5",and the tracking error RMS are 0.378 6" and 0.151 6",when the target moving with the max speed 3.5(°)/s and the max acceleration 1(°)/s~2.The experiments verify the good dynamic of telescope mount control system.
引文
[1]邓永停,李洪文,王建立.大型望远镜交流伺服控制系统综述[J].中国光学,2015,8(6):895-908.DENG Y T,LI H W,WANG J L.Overview of AC servo control system for the large telescope[J].Chinese Optics,2015,8(6):895-908.
[2]RANKA T M,GARCIA-SANZ M,SYMMES A,et al..Dynamic analysis of the Green Bank Telescope structure and servo system[J].Journal of Astronomical Telescopes,Instruments,and Systems,2016,2(1):014001.
[3]RANKA T,GARCIA-SANZ M,WEADON T L,et al..System identification and interval analysis of the Green Bank Telescope structure and servo system[J].Proceedings of SPIE,2014,9145:914554.
[4]GAWRONSKI W.Control and pointing challenges of large antennas and telescopes[J].IEEE Transactions on Control Systems Technology,2007,15(2):276-289.
[5]RACHO C S,GAWRONSKI W K.Experimental modification and identification of the DSS-13antenna control system model[J].The Telecommunications and Data Acquisition Progress Report,1993,42(115):42-53.
[6]JUANG J N,PAPPA R S.Effect of Noise on Modal Parameters Identified by the Eigensystem Realization Algorithm[J].Journal of Guidance,Control,and Dynamics,1986,9(3):294-303.
[7]Gawronski W.Advanced Structural Dynamics and Active Control of Structures[M].Springer Science&Business Media,2004.
[8]JUANG J N.Applied System Identification[M].Englewood Cliffs,NJ:Prentice Hall,1994.
[9]邓永停,李洪文,王建立,等.2m望远镜主轴交流伺服控制系统设计[J].光学精密工程,2017,25(1):163-171.DENG Y T,LI H W,WANG J L,et al..Main axes AC servo control system for 2mtelescope[J].Opt.Precision Eng.,2017,25(1):163-171.
[10]LEW J S,KEEL L H,JUANG J N.Quantification of parametric uncertainty via an interval model[J].Journal of Guidance,Control,and Dynamics,1994,17(6):1212-1218.
[11]JUANG J-N,PAPPA R S.An eigensystem realization algorithm for modal parameter identification and model reduction[J].Journal of Guidance,Control,and Dynamics,1985,8(5):620-627.
[12]GAWRONSKI G.Design and performance of the H-infinity controller for the beam-waveguide antennas[J].The Interplanetary Network Progress Report,2011,42:1-22.
[13]李洪文,邓永停,王建立.永磁同步电机速度控制器的全数字化集成[J].光学精密工程,2015,23(4):1106-1113.LI H W,DENG Y T,WANG J L.Digital integration of PMSM speed controller based on FPGA[J].Opt.Precision Eng.,2015,23(4):1106-1113.(in Chinese)
[14]SUáREZ M,ROSICH J,ORTEGA J,et al..The GTC main axes servos and control system[J].Proceedings of SPIE2008,7019:70190J.
[15]ANDERSEN T,ENMARK A.Integrated Modeling of Telescopes[M].New York:Springer,2011.
[16]邓永停,李洪文,王建立,等.结构滤波器在望远镜主轴控制系统中的应用[J].光学精密工程,2017,25(4):900-909.DENG Y T,LI H W,WANG J L,et al..Application of structural filter to principal axis system of telescope[J].Opt.Precision Eng.,2017,25(4):900-909.
[2]RANKA T M,GARCIA-SANZ M,SYMMES A,et al..Dynamic analysis of the Green Bank Telescope structure and servo system[J].Journal of Astronomical Telescopes,Instruments,and Systems,2016,2(1):014001.
[3]RANKA T,GARCIA-SANZ M,WEADON T L,et al..System identification and interval analysis of the Green Bank Telescope structure and servo system[J].Proceedings of SPIE,2014,9145:914554.
[4]GAWRONSKI W.Control and pointing challenges of large antennas and telescopes[J].IEEE Transactions on Control Systems Technology,2007,15(2):276-289.
[5]RACHO C S,GAWRONSKI W K.Experimental modification and identification of the DSS-13antenna control system model[J].The Telecommunications and Data Acquisition Progress Report,1993,42(115):42-53.
[6]JUANG J N,PAPPA R S.Effect of Noise on Modal Parameters Identified by the Eigensystem Realization Algorithm[J].Journal of Guidance,Control,and Dynamics,1986,9(3):294-303.
[7]Gawronski W.Advanced Structural Dynamics and Active Control of Structures[M].Springer Science&Business Media,2004.
[8]JUANG J N.Applied System Identification[M].Englewood Cliffs,NJ:Prentice Hall,1994.
[9]邓永停,李洪文,王建立,等.2m望远镜主轴交流伺服控制系统设计[J].光学精密工程,2017,25(1):163-171.DENG Y T,LI H W,WANG J L,et al..Main axes AC servo control system for 2mtelescope[J].Opt.Precision Eng.,2017,25(1):163-171.
[10]LEW J S,KEEL L H,JUANG J N.Quantification of parametric uncertainty via an interval model[J].Journal of Guidance,Control,and Dynamics,1994,17(6):1212-1218.
[11]JUANG J-N,PAPPA R S.An eigensystem realization algorithm for modal parameter identification and model reduction[J].Journal of Guidance,Control,and Dynamics,1985,8(5):620-627.
[12]GAWRONSKI G.Design and performance of the H-infinity controller for the beam-waveguide antennas[J].The Interplanetary Network Progress Report,2011,42:1-22.
[13]李洪文,邓永停,王建立.永磁同步电机速度控制器的全数字化集成[J].光学精密工程,2015,23(4):1106-1113.LI H W,DENG Y T,WANG J L.Digital integration of PMSM speed controller based on FPGA[J].Opt.Precision Eng.,2015,23(4):1106-1113.(in Chinese)
[14]SUáREZ M,ROSICH J,ORTEGA J,et al..The GTC main axes servos and control system[J].Proceedings of SPIE2008,7019:70190J.
[15]ANDERSEN T,ENMARK A.Integrated Modeling of Telescopes[M].New York:Springer,2011.
[16]邓永停,李洪文,王建立,等.结构滤波器在望远镜主轴控制系统中的应用[J].光学精密工程,2017,25(4):900-909.DENG Y T,LI H W,WANG J L,et al..Application of structural filter to principal axis system of telescope[J].Opt.Precision Eng.,2017,25(4):900-909.