变结构PID在大型望远镜速度控制中的应用  

Application of variable structure PID in velocity control for large telescope

作　　者：张斌[1,2] 李洪文[1] 郭立红[1] 孟浩然[1] 王建立[1] 阴玉梅[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院研究生院,北京100039

出　　处：《光学精密工程》2010年第7期1613-1619,共7页Optics and Precision Engineering

基　　金：中国科学院长春光学精密机械与物理研究所三期创新工程资助项目;国家863高技术研究发展计划资助项目(No.2008AA8080202)

摘　　要：为了满足大型望远镜对于速度控制响应快、超调量小、稳态精度高、低速运行平稳的要求,在分析经典PID控制算法的基础上,提出了一种变结构PID控制器。通过构造以控制误差为自变量的比例增益、积分增益、积分变增益和微分增益等函数,变结构PID能够根据瞬时误差实时改变其结构和参数。针对某大型望远镜的传递函数模型,仿真验证了变结构PID的作用,并比较了经典PID与变结构PID的控制性能。实验结果表明,该望远镜能够以最大加速度达到期望速度,且无速度超调,以20(°)/s运行时的最大稳态误差为0.0167(°)/s,以10(″)/s运行时的最大稳态误差为0.7(″)/s。仿真和实验结果均证明:基于变结构PID控制器的速度控制系统能够满足大型望远镜的要求。In order to meet the requirements of velocity control systems of large telescopes for the fast response,small overshoot,high steady-state accuracy and smooth running,a Variable Structure PID（VSPID） controller was proposed based on analyzing of classical PID control algorithm.By constructing the functions of control errors,such as proportional gain,integral gain,integral variable gain and differential gain,the VSPID was able to modify its structure and parameters according to the instantaneous error.Based on the transfer function model of certain large telescope,the function of VSPID was verified and the performance of classical PID was compared with that of the VSPID by simulation.A velocity control experiment was performed on this telescope,which shows that the telescope can reach the desired velocity with maximum acceleration and without overshoot.The steady-state error is less than 0.016 7 （°）/s at 20 （°）/s,and the maximum steady-state error is 0.7 （″）/s at 10 （″）/s.Simulation and experimental results prove that the velocity control system based on VSPID can meet the requirements of large telescopes.

关 键 词：大型望远镜 速度控制 变结构PID控制器 控制误差 

分 类 号：TH751[机械工程—仪器科学与技术] TP273.5[机械工程—精密仪器及机械]