斜轴式望远镜动力学建模与鲁棒控制  

Dynamic Modeling and Robust Control for Slant-Axis Telescope

作　　者：梁静思 王海仁[1] 左营喜[1] 张明珠 高婧婧 程文胜 王博铖 张天哲 LIANG Jing-si;WANG Hai-ren;ZUO Ying-xi;ZHANG Ming-zhu;GAO Jing-jing;CHENG Wen-sheng;WANG Bo-cheng;ZHANG Tian-zhe(Purple Mountain Observatory,Chinese Academy of Sciences,Nanjing 210023;School of Astronomy and Space Science,University of Science and Technology of China,Hefei 230026)

机构地区：[1]中国科学院紫金山天文台,南京210023 [2]中国科学技术大学天文与空间科学学院,合肥230026

出　　处：《天文学报》2023年第6期36-46,共11页Acta Astronomica Sinica

基　　金：国家自然科学基金项目(11873100);国家重点研发专项(2018YFA0404702);中国科学院基础前沿科学研究计划(ZDBS-LY-SLH019);中国科学院青年创新促进会会员(2019315);中国科学院国际合作交流重点项目(114332KYSB20190009)资助。

摘　　要：斜轴式望远镜是一种新颖的望远镜结构,其独特的结构设计更适合南极等极端气候环境,但目前国内外缺乏针对斜轴式望远镜详细的动力学建模与控制研究.提出一套斜轴式望远镜动力学建模与鲁棒控制方法,首先,对斜轴式望远镜进行了动力学分析,采用拉格朗日法建立望远镜2自由度刚体模型;接着,结合望远镜驱动系统的柔性和所受干扰,完成了斜轴式望远镜的干扰情况下刚柔耦合系统数学模型的推导;然后,针对抗干扰问题,根据所建数学模型,设计了基于干扰观测器的滑模控制器,对于所受干扰进行抑制,实现了斜轴式望远镜的鲁棒控制;最后,仿真结果显示,在考虑模型的非线性外部干扰的情况下,相比于传统的比例-积分-微分控制器,基于干扰观测器的滑模控制器使得系统具有更好的动态性能和抗干扰特性.The slant-axis telescope has a novel structure and its unique structural design is more suitable for extreme environment such as the South Pole.However,there is a lack of research on the dynamic modeling and the controller design of slant-axis telescopes at home and abroad.Firstly,the dynamical analysis of the slant-axis telescope is carried out.The 2-degree-of-freedom rigid body model of the telescope is established by the Lagrange method.Next,combining the exibility of the driver system and disturbance,a mathematical model of the rigid-exible coupling system of the slant-axis telescope is completed.Then,according to the mathematical model,a sliding mode controller based on the disturbance observer is designed to suppress the disturbance and realize the robust control of the slant-axis telescope.Finally,the simulation results show that the disturbance observer based sliding mode controller gets better dynamic performance and anti-disturbance characteristics than the traditional Proportion-Integration-Di erentiation(PID)controller in the case of considering nonlinear external interference of the model.

关 键 词：技术 高角分辨率 指向控制 非线性控制 其他诸多方面 

分 类 号：P111[天文地球—天文学]