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A Method on Error Analysis for Large-aperture Optical Telescope Control System

机译：大口径光学望远镜控制系统的误差分析方法

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摘要

For large-aperture optical telescope, compared with the performance of azimuth in the control system, arcsecond-level jitters exist in elevation under different speeds' working mode, especially low-speed working mode in the process of its acquisition, tracking and pointing. The jitters are closely related to the working speed of the elevation, resulting in the reduction of accuracy and low-speed stability of the telescope. By collecting a large number of measured data to the elevation, we do analysis on jitters in the time domain, frequency domain and space domain respectively. And the relation between jitter points and the leading speed of elevation and the corresponding space angle is concluded that the jitters perform as periodic disturbance in space domain and the period of the corresponding space angle of the jitter points is 79.1" approximately. Then we did simulation, analysis and comparison to the influence of the disturbance sources, like PWM power level output disturbance, torque (acceleration) disturbance, speed feedback disturbance and position feedback disturbance on the elevation to find that the space periodic disturbance still exist in the elevation performance. It leads us to infer that the problems maybe exist in angle measurement unit. The telescope employs a 24-bit photoelectric encoder and we can calculate the encoder grating angular resolution as 79.1016", which is as the corresponding angle value in the whole encoder system of one period of the subdivision signal. The value is approximately equal to the space frequency of the jitters. Therefore, the working elevation of the telescope is affected by subdivision errors and the period of the subdivision error is identical to the period of encoder grating angular. Through comprehensive consideration and mathematical analysis, that DC subdivision error of subdivision error sources causes the jitters is determined, which is verified in the practical engineering. The method that analyze error sources from time domain, frequency domain and space domain respectively has a very good role in guiding to find disturbance sources for large-aperture optical telescope.
机译：对于大口径光学望远镜，与控制系统中的方位角性能相比，在不同速度的工作模式下，特别是在低速工作模式下，其捕获，跟踪和指向过程中仰角存在弧秒级抖动。抖动与标高的工作速度密切相关，导致望远镜的准确性降低和低速稳定性降低。通过收集大量的高程测量数据，我们分别分析了时域，频域和空间域的抖动。并得出了抖动点与仰角超前速度和相应的空间角之间的关系，即抖动在空间域中表现为周期性扰动，并且抖动点的相应空间角的周期大约为79.1“。然后我们进行了仿真，对PWM功率电平输出扰动，转矩（加速度）扰动，速度反馈扰动和位置反馈扰动等干扰源对标高的影响进行了分析比较，发现标高性能中仍存在空间周期性扰动。导致我们推断出角度测量单元中可能存在问题。该望远镜使用24位光电编码器，我们可以计算出编码器光栅的角分辨率为79.1016“，这是一个完整的编码器系统中对应的角度值细分信号的周期。该值大约等于抖动的空间频率。因此，望远镜的工作高度受到细分误差的影响，细分误差的周期与编码器光栅角的周期相同。通过综合考虑和数学分析，确定了细分误差源的直流细分误差引起的抖动，并在实际工程中得到了验证。从时域，频域和空域分别分析误差源的方法在指导寻找大口径光学望远镜的干扰源方面具有很好的指导作用。

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