巨型望远镜的鲁棒控制策略研究  

Study on Robust Control Methods for Giant Telescope

作　　者：董志明[1] 徐欣圻[1] 

机构地区：[1]中国科学院国家天文台南京天文光学技术研究所

出　　处：《南京师大学报（自然科学版）》2007年第3期44-47,共4页Journal of Nanjing Normal University(Natural Science Edition)

基　　金：国家九五重大科学工程项目

摘　　要：介绍了大望远镜机架控制系统的特异性,分析了影响控制系统性能的非线性干扰.比较了两种鲁棒控制理论,指出H∞控制更适用于望远镜的机架伺服系统.基于H∞控制理论,将非线性摩擦转矩处理为标称系统的输出端乘法摄动,把克服非线性摩擦转矩的影响转化为提高系统对模型摄动的鲁棒性;同时也考虑了系统对风扰力矩的抑制能力.通过MATLAB编程得到了一个H∞速度控制器,仿真结果表明,该控制方案相比传统的PID控制有更高的鲁棒性及可以实现更高精度的跟踪与校正.This paper introduces the specialties of giant telescope mount control system, analyses the nonlinear disturbance which reduces the performance of control system, compares two robust control theory and points out that H-infinity control theory is more suitable for telescope mount control system. Based on the theoretical framework of H-infinity control ： Non-linear friction torque is regarded as model output multiplicative perturbation. The problem is transformed into how to improve system robustness on model perturbation and wind load disturbance. A suitable H-infinity velocity controller is obtained by programming in MATLAB. Computer simulation result shows that the controller which is designed by H-infinity control theory improves system robustness and the precision of tracking.

关 键 词：跟踪 超低速 H∞控制 望远镜 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]