大惯量超低速高精度伺服系统的H∞控制  

H-Infinity Control for a super inertia, ultra-low speed and high precision servo System

作　　者：董志明[1] 徐欣圻[1] 周旺平[1] 

机构地区：[1]中国科学院南京天文光学技术研究所

出　　处：《微计算机信息》2008年第19期19-21,共3页Control & Automation

基　　金：国家九五重大科学工程

摘　　要："LAMOST"独特的光学设计给望远镜的跟踪导星控制系统提出了极大的挑战。简述了LAMOST跟踪导星系统的工作原理,建立了机架伺服系统的数学模型,分析了系统的非线性干扰。为了克服风对伺服系统跟踪性能的影响和超低速跟踪造成的爬行现象,提出了一种H∞控制方案。该方案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系统对模型摄动的鲁棒性;把克服风的扰动转化为系统的干扰抑制能力。根据系统的性能指标确定了相关的评价信号及加权函数,将上述问题转化为标准H∞控制问题,并确定了广义被控对象。通过MATLAB仿真,证明了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。Based on an unconventional optics design concept the LAMOST telescope will become the world＇s most powerful meterclass level ground astronomical optical survey telescope when it is completed. The price of such a novel design philosophy is an extraordinary technical challenge to its tracking-guiding control system. Based on the theoretical framework of H-Infinity control： （1） Mathematical model of Ah-Azimuth servo system is built. （2） Non-linear friction torque and wind loading is regarded as model output multiplicative perturbation and external disturbance respectively. （3） A generalized plant is established to meet the requirements of control system. （4） A suitable H-Infinity controller is obtained by programming in MATLAB ？, Computer simulation result shows that the controller which is designed by H-Infinity control theory improves 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]