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首页> 外文会议>IEEE International Conference on Mechatronics and Automation >Design and Tests of Muti-motors Hydromantic Position Control System of Primary Mirror Based on Large Telescope
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Design and Tests of Muti-motors Hydromantic Position Control System of Primary Mirror Based on Large Telescope

机译：基于大望远镜的初级镜子湿式电机湿式位置控制系统的设计与试验

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摘要

The primary mirror hydromantic position control system requires multi-motors and hydromantic components are controlled synchronously, and the control forces of different motors are changed with the position of primary mirror changing. At the same time, the control system also be required to support the mirror weight. According to the requirement of the hydromantic position control system of the large telescope. This paper provides a high integrated level control system based on open embedded controller and Ether cat technology, in order to control five different hydromantic Oil Volume Adjustment Component(OVAc)which is driven by five linear Actuator, constituting five permanent magnet synchronous motors and Roller screws. The whole control system including correction mode (CM), close-loop control using displacement sensors mode (CLDM), close-loop control using encoder position mode (CLCPM), close-loop control using encoder velocity mode (CLCVM), monitoring mode (MM), and halting mode (HM), in order to satisfy different working requirements. Position control strategy adopts three close-loop structures, including the inner current loop is PI controller with fiction compensation, the speed closed-loop is PI controller with two-order filter and the position closed-loop is P controller with Speed feed forward compensation in order to guarantee the accuracy of control system. Experiments are carried on the OVAC of 4m telescope and hydromantic position control system of 1.23m mirror. The results show that the accuracy of OVAC can achieve 1um when it bears 2700N load which equivalent each OVAC should bear of 4m mirror. At same time, the accuracy of 1.23m mirror at different pitch angle and different velocity can be always controlled less than 4.4um. This control system play an important role in the active optics correction, it can guarantee the image to stabilize one image unit in the field of view, so the control system meets the requirement the image accuracy.
机译：主要镜湿式位置控制系统需要同步控制多电动机和液体部件，并且不同电动机的控制力随着主镜改变的位置而改变。同时，控制系统也需要支撑镜子重量。根据大望远镜的湿式位置控制系统的要求。本文提供了一种基于开放式嵌入式控制器和醚CAT技术的高集成电平控制系统，以控制五种不同的液体油体积调节部件（OVAC），该部件由五个线性执行器驱动，构成五个永磁同步电动机和滚子螺钉。整个控制系统包括校正模式（cm），闭环控制使用位移传感器模式（CLDM），使用编码器位置模式（CLCPM）的闭环控制，使用编码器速度模式（CLCVM）的闭环控制，监控模式（ mm）和停留模式（HM），以满足不同的工作要求。位置控制策略采用三个闭环结构，包括内部电流回路是具有小说补偿的PI控制器，速度闭环是PI控制器，具有单级滤波器，位置闭环是P控制器，具有速度前进补偿的P控制器为了保证控制系统的准确性。 4M望远镜的OVAC和1.23m镜子的湿式位置控制系统进行实验。结果表明，当它承受2700N负载时，OVAC的精度可以实现1UM，这相当于每个OVAC应该承受4M镜子。同时，可以始终控制不同俯仰角和不同速度的1.23M镜子的精度小于4.4um。该控制系统在主动光学校正中发挥着重要作用，可以保证图像在视野中稳定一个图像单元，因此控制系统满足图像精度的要求。

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