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A Decoupling Synchronous Control Method of Two Motors for Large Optical Telescope.

IEEE Transactions on Industrial Electronics(2022)SCI 1区

Chinese Acad Sci

Cited 8|Views20
Abstract
Aiming at the problem of two motors system of a large optical telescope, a feedforward friction compensated linear active disturbance rejection control (FFLADRC) algorithm is proposed in this article. The algorithm consists of a friction compensated linear active disturbance rejection control (FLADRC) and two nonlinear tracking differentiators (NTDs). The FLADRC realizes the control of the two motors system by decoupling and compensates the friction. The NTDs are used to generate reference position, velocity, and acceleration signals. First, a mathematical model of the two motors system is established. Second, the FFLADRC algorithm is derived using the idea of decoupling. Third, the parameters tuning method of the FFLADRC is given. Fourth, the stability and synchronization mechanisms of the algorithm are analyzed. Finally, the experiments are carried out on a large optical telescope. In the experiments, single motor control, master–slave control, cross-coupling control, and FFLADRC are compared. The results show that FFLADRC has the minimum synchronization error and tracking error, which verifies the effectiveness of the proposed algorithm.
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Key words
Active disturbance rejection control (ADRC),decoupling control,friction compensation,mechanical vibration,two motors system
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要点】:本研究针对大型光学望远镜双电机系统提出了一种前馈摩擦补偿线性主动扰动抑制控制(FFLADRC)算法,实现了系统的解耦控制和摩擦补偿,提高了同步精度和跟踪性能。

方法】:通过建立双电机系统的数学模型,并基于解耦思想推导出FFLADRC算法,其中包括摩擦补偿线性主动扰动抑制控制(FLADRC)和非线性跟踪微分器(NTDs)。

实验】:在大型光学望远镜上进行了实验,对比了单电机控制、主从控制、交叉耦合控制和FFLADRC的性能,实验结果显示FFLADRC算法同步误差和跟踪误差最小,验证了算法的有效性。数据集名称在文中未提及。