设计了一种基于软件的力促动器控制系统,并进行了实验测试.控制器的设计由上位机软件实现,采用了外环力环与内环位置环的双闭环控制策略,内环位置环能抑制其内部各个环节扰动的影响,增强了外环力环的抗扰动能力,控制算法采用PID算法实现.根据项目要求,设计了由直流电机驱动谐波减速器,带动精密丝杆转动,力传感器实现闭环控制的力促动器结构.通过上位机软件控制电机的转动,产生较正主镜的力.实际测试结果表明:该控制系统动态响应快,超调量小,具有较好的动态特性;在±200N测量行程内,抗干扰能力强,精度优于0.05N,具有良好的线性度和响应特性,满足主动光学支撑系统的要求.%A control system for the force actuator based on software is designed and tested. The controller is imple-mented by software. Double closed loop in the system is adopted to control strategy of outer force loop and inner posi-tion loop. The disturbance of internal links in position loop can be inhibited and the anti-disturbance ability of the outer force loop will be enhanced. The control algorithm is realized by PID algorithm. Based on the requirements of the proj-ect,a set of force actuator is designed. A DC motor integrated with a harmonic reducer is used to drive the precision screw rotation,and the closed loop control is realized by the force sensor. The rotation of the motor is controlled by the software to output the correction force of the primary mirror. Experimental results show that the control system has great dynamic response characteristics,and the overshoot is small. The accuracy is better than 0.05N and the anti-inter-ference ability is strong in measurement stroke ± 200 N. Also,it has good linearity and response characteristics to sat-isfy the requirements of active optics support system.
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