摘要
为了降低各种内外干扰对大型光电设备成像精度的影响,对控制回路进行了扰动观测补偿器设计。首先,通过开环实验方法估计出设计观测器所需要的控制量增益b;其次,通过仿真建模给出控制器的参数设计,并进行性能分析。结果表明,该控制方法能够在不增加系统闭环带宽的前提下,将系统在中低频段的扰动抑制能力提高10dB。最后,在直流有刷力矩转台上进行了性能对比实验。实验结果表明,与PI控制器相比,系统性能在低、中、高速3种状态下都得到了明显改善。0.1°/s的阶跃响应下调节时间减少3.7s;1°/s的阶跃响应下调节时间减少0.25s,且稳态误差从0.025 7°/s减小至0.018 9°/s;10°/s的阶跃响应下稳态误差从0.113°/s减小至0.061 7°/s。可见,使用同一组控制参数,该控制方法能实现在中低、中、高速运行下的高性能控制,且只需调试2个参数,简单易实现。
In order to reduce the effect of image accuracy caused by various internal and external disturbances, a disturb- ance observer and compensator was designed in the control loop. Firstly, the control loop gain b which will be used in the observer design was estimated based on the open loop experiments. Then the controller parameters were designed accord- ing to the simulation modeling. The simulations results show that, the control method can improve the disturbance inhi bition capability to about 10 dB among the low and middle frequency band without improve the closed-loop bandwidth. Finally, the performance comparison experiments were conducted on a DC brush torque turntable. The experimental re- suits show that compared with the PI controller, the system performance has been obviously improved under low, medi- um and high speed. The regulation time for 0.1°/s step response reduced 3.7 s° the regulation time for l°/s step re sponse reduced 0.25 s, and the steady-state error is reduced from 0. 025 7°/s to 0. 018 9°/s. As for the 10°/s step re sponse, the steady-state error is reduced from 0. 113°/s to 0. 061 7°/s. With the same control parameters, the control method can achieve high performance under low, medium and high speed operation control, and only two parameters need to be adjusted, so it is simple and easy to be implemented.
出处
《国外电子测量技术》
2014年第11期56-61,共6页
Foreign Electronic Measurement Technology
基金
中国科学院三期创新项目资助
关键词
光电望远镜
主轴控制
状态观测器
扰动补偿
opto-electronic telescope
mount control
disturbance observer
disturbance compensationl
