基于软件设计的空间望远镜主镜力促动器控制系统
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摘要
设计了一种基于软件的力促动器控制系统,并进行了实验测试。控制器的设计由上位机软件实现,采用了外环力环与内环位置环的双闭环控制策略,内环位置环能抑制其内部各个环节扰动的影响,增强了外环力环的抗扰动能力,控制算法采用PID算法实现。根据项目要求,设计了由直流电机驱动谐波减速器,带动精密丝杆转动,力传感器实现闭环控制的力促动器结构。通过上位机软件控制电机的转动,产生较正主镜的力。实际测试结果表明:该控制系统动态响应快,超调量小,具有较好的动态特性;在±200N测量行程内,抗干扰能力强,精度优于0.05N,具有良好的线性度和响应特性,满足主动光学支撑系统的要求。
A control system for the force actuator based on software is designed and tested. The controller is implemented by software. Double closed loop in the system is adopted to control strategy of outer force loop and inner position loop. The disturbance of internal links in position loop can be inhibited and the anti-disturbance ability of the outer force loop will be enhanced. The control algorithm is realized by PID algorithm. Based on the requirements of the project,a set of force actuator is designed. A DC motor integrated with a harmonic reducer is used to drive the precision screw rotation,and the closed loop control is realized by the force sensor. The rotation of the motor is controlled by the software to output the correction force of the primary mirror. Experimental results show that the control system has great dynamic response characteristics,and the overshoot is small. The accuracy is better than 0.05 N and the anti-interference ability is strong in measurement stroke ± 200 N. Also,it has good linearity and response characteristics to satisfy the requirements of active optics support system.
A control system for the force actuator based on software is designed and tested. The controller is implemented by software. Double closed loop in the system is adopted to control strategy of outer force loop and inner position loop. The disturbance of internal links in position loop can be inhibited and the anti-disturbance ability of the outer force loop will be enhanced. The control algorithm is realized by PID algorithm. Based on the requirements of the project,a set of force actuator is designed. A DC motor integrated with a harmonic reducer is used to drive the precision screw rotation,and the closed loop control is realized by the force sensor. The rotation of the motor is controlled by the software to output the correction force of the primary mirror. Experimental results show that the control system has great dynamic response characteristics,and the overshoot is small. The accuracy is better than 0.05 N and the anti-interference ability is strong in measurement stroke ± 200 N. Also,it has good linearity and response characteristics to satisfy the requirements of active optics support system.
引文
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[10]吴小霞,李剑锋,宋淑梅,等.4m Si C轻量化主镜的主动支撑系统[J].光学精密工程,2014,22(9):2451-2457.
[11]李国平,苗新利.一种微位移促动器的设计和检测[J].光学精密工程,2005,13(3):332-338.
[2]Gerard T B.The scaling relationship between telescope cost and aperture size for very large telescopes[J].SPIE,2004(5489):563-568.
[3]戴晓霖,鲜浩,唐金龙,等.8m能动薄主镜侧支撑设计[J].光学学报,2015,35(6):622004-1-622004-6.
[4]胡佳宁,董吉洪,周平伟.地基大口径望远镜主镜主动支撑系统综述[J].激光与红外,2017,47(1):5-12.
[5]李剑锋,吴小霞,邵亮.大口径Si C主镜主动支撑研究及促动器设计[J].红外与激光工程,2016,45(7):13-18.
[6]余正洋,李国平.用于主动光学的气体力促动器设计[J].液压与气动,2011(1):80-85.
[7]彭尧,张景旭,杨飞,等.基于主动光学的大口径反射镜硬点定位技术[J].激光与红外,2016,46(2):139-144.
[8]Richard Bennett,Fred Baine.Active Mirror Support Using Pneumatic Actuators[J].SPIE,2004(5497):91-102.
[9]张丽敏,张斌,杨飞,等.主动光学系统力促动器的设计和测试[J].光学精密工程,2012,20(1):38-44.
[10]吴小霞,李剑锋,宋淑梅,等.4m Si C轻量化主镜的主动支撑系统[J].光学精密工程,2014,22(9):2451-2457.
[11]李国平,苗新利.一种微位移促动器的设计和检测[J].光学精密工程,2005,13(3):332-338.