斜轴式望远镜动力学建模与鲁棒控制

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.

Dynamic Modeling and Robust Control for Slant-Axis Telescope

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 flexibility of the driver system and disturbance, a mathematical model of the rigid-flexible 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-Differentiation (PID) controller in the case of considering nonlinear external interference of the model.