斜轴式望远镜机架运动建模与解耦

Modeling and Decoupling of Rack Motion of Slant Mount Telescopes

斜轴式望远镜机架的斜轴运动造成了垂直与水平位移之间存在耦合问题,加大了机架控制和目标追踪的难度。为解决上述问题,首先推导出机架运动轨迹的精确数学模型,然后根据控制系统中输入参数类型和解耦位置的不同,分别设计了控制中前馈补偿解耦算法(FCDA)和控制前参数转换解耦算法(PCDA)。并基于两种算法设计了相应的PID控制器对机架进行运动控制,仿真结果表明:两种解耦算法均能有效解决运动耦合问题,提高控制性能,较好地实现目标跟踪。但就平稳性而言,FCDA优于PCDA。

The slant rotation of slant mount telescopes cause the coupling problem between the vertical and hori- zontal displacement which enhances difficulty of controlling and tracking. After deducing the precise mathematical model of rack trajectory, two kinds of decoupling algorithms are designed based on different types of the control sys- tem input parameters and different positions of decoupling, Feed-forward Compensation Decoupling Algorithm （ FC- DA） and Parameter Conversion Decoupling Algorithm （PCDA） , as the prior one works during the control and the other one works before the control. Then, PID controllers are designed for these decoupling algorithms to eontrol the motion of slant mount. The simulation results show that both decoupling algorithms can solve the problem of coupling movement effectively, improve the control skill and track the target in good performance. However, in terms of stability, FCDA is superior to PCDA.