基于内模PID控制的大型望远镜伺服系统

Servo system of large telescope based on internal model PID control method

针对目前大型望远镜伺服系统调试参数较多的现状,基于内模PID控制方法对大型望远镜伺服系统进行了研究。介绍了内模控制设计思路,讨论了速度回路内模控制算法。分析和仿真结果证明了该算法在高精度应用场合的可实现性和较强的鲁棒性,简化了调试过程。根据一个具体项目验证了该算法的实用性,应用结果表明,该方法调试简单,一个控制环路只需要调整一、两个参数即能满足要求;高速运行时无超调,低速平稳运行达到15″,具有一定的实用性和推广价值。

On the basis of internal model PID control method,this paper researches further the servo system of a large telescope for reducing its adjusting parameters in servo control loop. The design ideals of internal model control are introduced and the algorithm of internal model control is discussed. Analysis and simulation results verify that the algorithm simplifies the debug process; and it is feasibility and robustability for high precision application fields. The practicability of this algorithm is verified in an actual project. The application shows that this system runs stably and accurately, and has a few adjusting parameters in servo control system. Also, there is no overshoot while the speed is high and the lowest speed can reach 15＂ in stable operation. The technology and methods adopted in the system are practical and worthy to be used.