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摘要: 为了提高永磁同步电机驱动的大型望远镜转台的低速跟踪性能，设计了自适应滑模控制器以实时抑制系统的参数不确定性和外部扰动对系统的影响。为了优化控制器参数和缩短控制系统的调试周期，辨识出了转台控制系统的控制模型，同时建立了系统内部的非线性因素模型，综合上述模型对系统进行了集成仿真。仿真和实验结果证明了所设计的自适应滑模控制器对系统参数不确定性、外部扰动和噪声具有较好的鲁棒性，对望远镜转台的低速控制效果良好。Abstract: In order to improve the low speed performance of large telescope drived by permanent magnet synchronous motor(PMSM), an adaptive sliding mode controller(ASMC) is designed to suppress the uncertainty of system parameters and external disturbance. In order to optimize the parameters of the ASMC and shorten the system test period, an integrated model is built, which is based on the identified plant model and system inner nonlinear factor models. System simulation and experimental results show that the ASMC has the advantages of better robustness to the uncertainty of system parameters, external disturbance and noise, and has better performance for low speed control of large telescope.
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Key words:
- large telescope /
- PMSM /
- ASMC /
- integrated modeling and simulation
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图 2 采用ERA辨识的望远镜转台传递函数幅值曲线
Figure 2. Magnitude curves of the telescope transfer function identified through ERA
图 3 望远镜控制系统仿真模型框图
Figure 3. Simulation model block diagram of the control system of telescope
表 1 控制系统仿真参数
Table 1. Simulation parameters of control system
参数名称 参数值 库伦摩擦力矩 Fc/(N·m) 34 最大静摩擦力矩 Fs/(N·m) 40 速度阈值 vt/(arcsec·s-1) 5 力矩波动最大幅值/(N·m) 7.5 系数 k 65 编码器采样周期 tenc/Hz 1 000 编码器分辨率 qenc/marcsec 0.3 
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