CN113489385A - Large-scale optical telescope pitch axis double-motor synchronous control method and system - Google Patents
Large-scale optical telescope pitch axis double-motor synchronous control method and system Download PDFInfo
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- CN113489385A CN113489385A CN202110763724.1A CN202110763724A CN113489385A CN 113489385 A CN113489385 A CN 113489385A CN 202110763724 A CN202110763724 A CN 202110763724A CN 113489385 A CN113489385 A CN 113489385A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
- H02P5/56—Speed and position comparison between the motors by electrical means
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Abstract
The invention discloses a method and a system for synchronously controlling double motors of a pitch axis of a large-scale optical telescope. The method can effectively control the synchronous error of the double-end motor, thereby reducing the deformation of the middle frame of the pitching axis of the optical telescope and the vibration of the axis system, and being simpler and more convenient when considering more influence factors compared with the prior art.
Description
Technical Field
The invention relates to the technical field of double-motor synchronous control, in particular to a method and a system for synchronously controlling double motors of a pitch axis of a large optical telescope.
Background
A large-scale optical telescope based on foundation is a high-precision device for astronomical observation. Generally, the field of view of the telescope is small, and the optical telescope has higher requirements on the vibration and deformation of the structure and the tracking precision of the system. In order to observe a far, weak and small target, the caliber of the optical telescope is made larger. As the aperture of the optical telescope increases, the size of the intermediate frame of the telescope becomes large, and the rigidity of the structure further decreases. This causes the telescope pitch axis to decelerate during movement or to undergo vibration and large structural deformations under the influence of external disturbing moments (such as wind, friction, unbalanced moments, etc.), which affect the imaging quality of the optical telescope.
In order to reduce the deformation of the middle frame of the pitching shaft of the optical telescope and the vibration of the shaft system, the pitching shaft of the optical telescope is synchronously driven by double motors to ensure the synchronism of the double-end motors. The existing dual-motor synchronous control method comprises a cross coupling control method, wherein a coupling compensator is added in a system to achieve the effect of reducing synchronous errors, but the method adds coupling torque from the outside to achieve synchronization of motors at two ends, does not consider flexible connection between loads and the characteristic of internal coupling of a controlled object, and only carries out forced coupling from the outside. In order to solve the problem, some current systems adopt an adaptive coupling compensator to realize synchronous control, but the complexity of a control algorithm is increased, and the engineering implementation is inconvenient.
Disclosure of Invention
In order to solve the problems, the invention provides a method and a system for synchronously controlling double motors of a pitch axis of a large-scale optical telescope.
The invention provides a method for synchronously controlling double motors of a pitch axis of a large optical telescope, which comprises the following steps:
step A, inputting expected positions of the double motors into a synchronous command generator for planning to obtain planned expected positions, expected speeds and expected accelerations of the double motors;
b, the linear extended state observer obtains the observation position, the observation speed and the total disturbance of the double motors according to the existing inertia position output by the double-motor encoder;
step C, after error evaluation is carried out on the expected position and the expected speed obtained in the step A and the observation position and the observation speed obtained in the step B respectively, adjusted data are generated and output to a controller;
d, summing the adjusted data output in the step C and the expected acceleration obtained in the step A, subtracting a total disturbance and a friction compensation term to obtain a virtual control quantity, and outputting the virtual control quantity to a static decoupling unit;
e, decoupling the virtual control quantity by the static decoupling unit and outputting the actual control quantity to the double motors;
step F, after the double motors are adjusted according to actual control quantity, the double motor encoders output the adjusted existing inertia positions to the linear extended state observer, and the linear extended state observer calculates according to the adjusted existing inertia positions and the observation positions obtained in the step B to obtain new observation positions, observation speeds and total disturbance;
and G, repeating the step C, D, E, F, and performing a new round of control adjustment on the double motors until the double motors are adjusted to the optimal control quantity.
Wherein the step A comprises the following steps:
inputting the expected position into a synchronous command generator, and obtaining a planned expected position value and an expected speed through a first nonlinear differentiator in the synchronous command generator; and inputting the obtained expected speed into a second nonlinear differentiator to obtain the re-planned expected speed and the re-planned expected acceleration. In the step, the expected position is input into a nonlinear differentiator for smoothing, and a signal which is relatively high-frequency and exceeds the system capacity is filtered.
Wherein, the step B specifically comprises:
obtaining an error value between an observed position value and the existing inertia position value according to the existing inertia positions at two ends of the double motors output by the double-motor encoder;
obtaining total disturbance at two ends of the double motors according to the error value;
obtaining the observation speeds of the two ends of the double motors according to the obtained total disturbance;
obtaining the observation positions of the two ends of the double motors according to the observation speeds and the error values of the two ends of the double motors;
in the first running calculation, the observation position is an initial test value and is zero; in the subsequent operation calculation, the observed position value is the observed position value calculated in the previous operation.
Wherein, in the step D:
when the virtual control quantity is calculated, the total disturbance and a friction compensation term are excluded, and the friction compensation term is obtained by the following formula:
wherein: c. Cv1And cv2Respectively representing the coulomb friction coefficients of two ends of the double motor; j. the design is a squareM1And JM2Respectively representing the corresponding rotational inertia of the double motors; z12And Z22Respectively representing the observation speeds of two ends of the double motors; c. Cf1And cf2Respectively representing the corresponding viscous friction coefficients of the two ends of the double motor. In order to reduce the burden of the linear extended state observer, the Coulomb friction model is adopted for compensation by combining the known friction torque part in the telescope pitch axis model.
The invention also provides a system for synchronously controlling the double motors of the pitch axis of the large optical telescope, which comprises the following components:
the system comprises a dual-motor system, a synchronous command generator and a linear active disturbance rejection controller;
the dual-motor system comprises dual motors;
the synchronization command generator includes: two serially connected nonlinear differentiators for planning the input double-motor expected position and outputting the planned expected position, expected speed and expected acceleration to the linear active disturbance rejection controller;
the linear active disturbance rejection controller includes: the system comprises a linear extended state observer, a controller and a static decoupling unit; the linear extended state observer is used for acquiring the observation position, the observation speed and the total disturbance of the double motors; the controller adjusts based on adjusted data, and the adjusted data are obtained by evaluating the errors of the expected position and the expected speed and the errors of the observed position and the observed speed respectively; the static decoupling unit is used for statically decoupling the virtual control quantity to obtain an actual control quantity and then outputting the actual control quantity to the double-motor system, and the virtual control quantity is obtained based on the adjusted data, the total disturbance and the friction compensation item.
The expected positions of the double motors are subjected to planning by a first nonlinear differentiator in the synchronous command generator to obtain a planned expected position value and an expected speed; the resulting desired velocity is input to a second non-linear differentiator in the synchronous command generator to obtain a re-programmed desired velocity and desired acceleration.
Wherein the linear active disturbance rejection controller comprises: 2 controllers, 2 linear extended state observers and 1 static decoupling unit.
According to the technical scheme, the invention provides a friction compensation feedforward linear active disturbance rejection controller and a method thereof. The device and the method can effectively control the synchronous error of the double-end motor, thereby reducing the deformation of the middle frame of the pitching axis of the optical telescope and the vibration of the axis system, and being simpler and more convenient when considering more influence factors compared with the prior art.
Drawings
FIG. 1 is a dual-motor synchronous control system for a pitch axis of a large optical telescope according to the present invention;
FIG. 2 is a flow chart of a method for synchronously controlling two motors of a pitch axis of a large optical telescope according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples. This should not be understood as limiting the scope of the above-described subject matter of the present invention to the following examples. Various substitutions and alterations according to the general knowledge and conventional practice in the art are intended to be included within the scope of the present invention without departing from the technical spirit of the present invention as described above.
Fig. 1 shows a system for synchronously controlling two motors of a pitch axis of a large optical telescope, which is disclosed by the invention:
the system comprises a dual-motor system, a synchronous command generator and a linear active disturbance rejection controller;
the dual-motor system comprises dual motors;
the synchronization command generator includes: two serially connected nonlinear differentiators for planning the input double-motor expected position and outputting the planned expected position, expected speed and expected acceleration to the linear active disturbance rejection controller; referring to fig. 1, a given signal θ is inputrefTo a synchronous command controller comprising two non-linear differentiators connected in series, where a given signal thetarefI.e. the desired position of the double motor; for a given signal theta via a non-linear differentiatorrefAfter planning, outputting the planned expected position
Desired speed ωrefAnd a desired acceleration afInto a linear active disturbance rejection controller. The expected positions of the double motors are subjected to planning by a first nonlinear differentiator in the synchronous command generator to obtain a planned expected position value and an expected speed; the resulting desired velocity is input to a second non-linear differentiator in the synchronous command generator to obtain a re-programmed desired velocity and desired acceleration.
The linear active disturbance rejection controller includes: the system comprises a linear extended state observer, a controller and a static decoupling unit; the linear extended state observer is used for acquiring the observation position, the observation speed and the total disturbance of the double motors; the controller adjusts based on adjusted data that passes through the desired position, the desiredThe speed is obtained after being evaluated with the errors of the observed position and the observed speed respectively; the static decoupling unit is used for statically decoupling the virtual control quantity to obtain an actual control quantity and then outputting the actual control quantity to the double-motor system, and the virtual control quantity is obtained based on the adjusted data, the total disturbance and the friction compensation item. Referring to fig. 1, the linear active disturbance rejection controller includes: 2 controllers, 2 linear extended state observers and 1 static decoupling unit; data Z of operation output in linear extended state observer11、Z12(indicating the observed position and observed velocity, respectively, of the 1 st end of the motor) and Z21、Z22(respectively representing the observed position and the observed speed of the 2 nd end of the double motors) and the data output by the synchronous command generator are calculated and then respectively output to the controller, the result is output after the operation is carried out in the controller, and a friction force compensation term f is added on the basis1And f2Obtaining a virtual control quantity, decoupling the virtual control quantity by the static decoupling unit B to obtain an actual control quantity, and outputting the actual control quantity to the double-motor system; and the linear extended state observer outputs data in a new round according to the feedback of the dual-motor system.
FIG. 2 shows a flow chart of a method for synchronously controlling two motors of a pitch axis of a large optical telescope according to the present invention:
the method comprises a step A. obtaining a planned desired position, a desired velocity and a desired acceleration from the desired position:
inputting the expected position into a synchronous command generator, and obtaining a planned expected position value and an expected speed through a first nonlinear differentiator in the synchronous command generator; and inputting the obtained expected speed into a second nonlinear differentiator to obtain the re-planned expected speed and the re-planned expected acceleration.
B, obtaining the observation position, the observation speed and the total disturbance of the double motors through a linear extended state observer:
the operation procedures of the two linear extended state observers are the same, and only one of the two linear extended state observers is taken as an example for explanation;
B1. solving the error between the two motors according to the existing inertia positions and the observation positions at the two ends of the two motors; the specific expression is as follows:
e＝Z11-θM1
wherein: e represents the error between the observed position and the actual measured existing inertia position of the double-motor encoder;
Z11represents the observed position, which is the initial value and equal to zero in the first calculation round;
θM1representing the measured existing position of inertia of the dual-motor encoder.
B2. Obtaining the total disturbance at two ends of the double motors according to the error value; the specific expression is as follows:
wherein: z13Represents the total perturbation; beta is a03Representing the parameters that the observer needs to debug.
B3. Calculating the observation speeds of the two ends of the double motors according to the obtained total disturbance;
wherein: beta is a02Parameters representing the observer needing debugging; z12Represents the observation speed;
B4. obtaining the observation positions of the two ends of the double motors according to the observation speeds and the error values of the two ends of the double motors; in the first round of calculation, the expression is:
wherein: z11Representing an observation location; beta is a01Representing the parameters that the observer needs to debug.
In the following calculation, the specific expression is as follows:
wherein U is(1)Representing the virtual control quantity obtained in the previous calculation; z(12)Representing the observed speed obtained in the previous round of calculation; c. Cv1Representing the coulomb friction coefficient of the motor; j. the design is a squareM1Representing the moment of inertia of the motor; z12Representing the observed speed of the motor; c. Cf1The corresponding viscous friction coefficient of the motor.
And C, performing error evaluation according to the data obtained in the step A and the step B:
respectively carrying out error evaluation on the expected position and the expected speed obtained in the step A and the observation position and the observation speed obtained in the step B, and then outputting the error evaluation values to a controller for further adjustment; the specific expression is as follows:
wherein:
representing the expected position obtained in the step A; omegarRepresenting a desired speed; kp、KDParameters representing the controller, parameters that need to be debugged.
And D, eliminating the friction compensation item on the basis of the step C to obtain a virtual control quantity:
and C, summing the adjusted data output in the step C and the expected acceleration in the step A, and subtracting a total disturbance and a friction compensation term to obtain a virtual control quantity, wherein the specific expression is as follows:
wherein: a isrIndicating a desired acceleration; f. of1Representing a friction torque, i.e. a friction compensation term;
further, the expression of the friction compensation term is:
wherein: c. Cv1And cv2Respectively representing the coulomb friction coefficients of two ends of the double motor; j. the design is a squareM1And JM2Respectively representing the corresponding rotational inertia of the double motors; z12And Z22Respectively representing the observation speeds of two ends of the double motors; c. Cf1And cf2Respectively representing the corresponding viscous friction coefficients of the two ends of the double motor.
Step E, carrying out static decoupling on the virtual control quantity to obtain an actual control quantity, and outputting the actual control quantity to a double-motor system for adjustment, wherein the specific expression is as follows:
wherein:
wherein JM1And JM2Respectively corresponding to the rotational inertia k of the two motorsT0Representing the torque moment coefficient of the motor.
F, after the double motors are adjusted according to actual control quantity, outputting the adjusted existing inertia position to a linear extended state observer, carrying out error calculation on the linear extended state observer according to the existing inertia position and the observation position in the step B, and correcting according to the obtained error to obtain a new observation position, an observation speed and total disturbance;
and G, repeating the step C, D, E, F again according to the obtained new observation position, observation speed and total disturbance, and performing new round of control adjustment of the double motors until the double motors are adjusted to the optimal control quantity.
The system and the method can effectively control the synchronous error of the double-end motor, thereby reducing the deformation of the middle frame of the pitching axis of the optical telescope and the vibration of the axis system, and being simpler and more convenient when considering more influence factors compared with the prior art.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and these examples are only for illustrative purpose and are not intended to limit the scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the invention, and these alternatives and modifications are intended to fall within the scope of the invention.
Claims (7)
1. A method for synchronously controlling double motors of a pitch axis of a large optical telescope is characterized by comprising the following steps:
step A, inputting expected positions of the double motors into a synchronous command generator for planning to obtain planned expected positions, expected speeds and expected accelerations of the double motors;
b, the linear extended state observer obtains the observation position, the observation speed and the total disturbance of the double motors according to the existing inertia position output by the double-motor encoder;
step C, after error evaluation is carried out on the expected position and the expected speed obtained in the step A and the observation position and the observation speed obtained in the step B respectively, adjusted data are generated and output to a controller;
d, summing the adjusted data output in the step C and the expected acceleration obtained in the step A, subtracting a total disturbance and a friction compensation term to obtain a virtual control quantity, and outputting the virtual control quantity to a static decoupling unit;
e, decoupling the virtual control quantity by the static decoupling unit and outputting the actual control quantity to the double motors;
step F, after the double motors are adjusted according to actual control quantity, the double motor encoders output the adjusted existing inertia positions to the linear extended state observer, and the linear extended state observer calculates according to the adjusted existing inertia positions and the observation positions obtained in the step B to obtain new observation positions, observation speeds and total disturbance;
and G, repeating the step C, D, E, F, and performing a new round of control adjustment on the double motors until the double motors are adjusted to the optimal control quantity.
2. The method for synchronously controlling the two motors of the pitch axis of the large-scale optical telescope according to claim 1, wherein the step A comprises the following steps:
inputting the expected position into a synchronous command generator, and obtaining a planned expected position value and an expected speed through a first nonlinear differentiator in the synchronous command generator; and inputting the obtained expected speed into a second nonlinear differentiator to obtain the re-planned expected speed and the re-planned expected acceleration.
3. The method for synchronously controlling the double motors of the pitch axis of the large-scale optical telescope according to claim 1, wherein the step B specifically comprises the following steps:
obtaining an error value between an observed position value and the existing inertia position value according to the existing inertia positions at two ends of the double motors output by the double-motor encoder;
obtaining total disturbance at two ends of the double motors according to the error value;
obtaining the observation speeds of the two ends of the double motors according to the obtained total disturbance;
obtaining the observation positions of the two ends of the double motors according to the observation speeds and the error values of the two ends of the double motors;
in the first running calculation, the observation position is an initial test value and is zero; in the subsequent operation calculation, the observed position value is the observed position value calculated in the previous operation.
4. The method for synchronously controlling the two motors of the pitch axis of the large-scale optical telescope according to claim 1, wherein in the step D:
when the virtual control quantity is calculated, the total disturbance and a friction compensation term are excluded, and the friction compensation term is obtained by the following formula:
wherein: c. Cv1And cv2Respectively representing the coulomb friction coefficients of two ends of the double motor; j. the design is a squareM1And JM2Respectively representing the corresponding rotational inertia of the double motors; z12And Z22Respectively representing the observation speeds of two ends of the double motors; c. Cf1And cf2Respectively representing the corresponding viscous friction coefficients of the two ends of the double motor.
5. A large-scale optical telescope pitch axis bi-motor synchronous control system which is characterized by comprising:
the system comprises a dual-motor system, a synchronous command generator and a linear active disturbance rejection controller;
the dual-motor system comprises dual motors;
the synchronization command generator includes: two serially connected nonlinear differentiators for planning the input double-motor expected position and outputting the planned expected position, expected speed and expected acceleration to the linear active disturbance rejection controller;
the linear active disturbance rejection controller includes: the system comprises a linear extended state observer, a controller and a static decoupling unit; the linear extended state observer is used for acquiring the observation position, the observation speed and the total disturbance of the double motors; the controller adjusts based on adjusted data, and the adjusted data are obtained by evaluating the errors of the expected position and the expected speed and the errors of the observed position and the observed speed respectively; the static decoupling unit is used for statically decoupling the virtual control quantity to obtain an actual control quantity and then outputting the actual control quantity to the double-motor system, and the virtual control quantity is obtained based on the adjusted data, the total disturbance and the friction compensation item.
6. The large-scale optical telescope pitch axis double-motor synchronous control system according to claim 5,
the expected positions of the double motors are subjected to planning by a first nonlinear differentiator in the synchronous command generator to obtain a planned expected position value and an expected speed; the resulting desired velocity is input to a second non-linear differentiator in the synchronous command generator to obtain a re-programmed desired velocity and desired acceleration.
7. The large-scale optical telescope pitch axis double-motor synchronous control system according to claim 5,
the linear active disturbance rejection controller includes: 2 controllers, 2 linear extended state observers and 1 static decoupling unit.
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