基于自适应自抗扰控制技术的2 m望远镜K镜的速度控制研究  

Speed control for K mirror of 2 m telescope based on adaptive active disturbance rejection-controller

作　　者：夏培培 王志乾[1] 李洪文[1] 邓永停[1] 王显军[1] Xia Peipei;Wang Zhiqian;Li Hongwen;Deng Yongting;Wang Xianjun(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;University of Chinese Academy of Sciences,Beijing 100049,China)

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]中国科学院大学,北京100049

出　　处：《红外与激光工程》2018年第7期223-230,共8页Infrared and Laser Engineering

基　　金：国家自然科学基金(11603024)

摘　　要：为了满足2 m望远镜系统中消旋K镜伺服系统的速度控制性能,提出一种基于控制律参数自适应的自抗扰控制新方法。首先,基于速度回路被控对象,设计了二阶线性扩张状态观测器,以实现对扰动的实时观测;然后,为了提高速度环动态和稳态性能,采用回归分析方法,设计了控制律参数基于输入速度变化而自适应调整的比例控制器;最后,搭建了消旋K镜伺服控制实验系统,在速度阶跃信号激励下开展实验研究。结果显示:与传统PI和自抗扰控制器相比,系统以0.001(°)/s速度运行时,稳定时间从7.3 s、3.2 s减少至0.9 s;以10(°)/s速度运行时,系统超调量从8%、62%降低至无超调;在中低频段的扰动抑制能力最大提高了23 dB,性能得到了提高,可满足K镜伺服系统高精度的速度控制性能要求。In order to meet the requirements of velocity control performance of servo system for K mirror in the 2 m telescope system, a new active disturbance rejection-controller（ADRC） based on adaptive control law para meter was proposed. Firstly, the second-order linear extended state observer based on first-order velocity model was designed; And then, in order to improve the dynamic and steady-state performance of speed-loop, proportion controller′ s parameter based on regression analysis method was designed into a function and it will be automatically adjusted with the variation of input speed. Finally, experiment system based on K mirror servo control was set up, the experiment was performed under the excitation of step signal.Actual results show that compared with the PI and ADRC controller, the regulation time for 0.001（°）/s step response is reduced from 7.3 s, 3.2 s to 0.9 s. The overshoot for 10（°）/s step response is reduced from 8%,62% to 0; The best disturbance inhibition ability is increased 23 dB among the low and middle frequency band, satisfying the high accuracy speed control performance requirements of K mirror servo system.

关 键 词：望远镜K镜 速度控制 自抗扰控制 自适应控制器律参数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]