引用本文:苏玉鑫, 段宝岩, 张永芳, 南仁东, 彭　勃.大射电望远镜馈源指向系统轨迹跟踪自抗扰控制[J].控制理论与应用,2004,21(6):956~960.[点击复制]
SU Yu-xin, DUAN Bao-yan, ZHANG Yong-fang, NAN Ren-dong, PENG Bo.Auto-disturbances rejection control of the feed-supporting system for the square kilometre array[J].Control Theory and Technology,2004,21(6):956~960.[点击复制]
大射电望远镜馈源指向系统轨迹跟踪自抗扰控制
Auto-disturbances rejection control of the feed-supporting system for the square kilometre array
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DOI编号  10.7641/j.issn.1000-8152.2004.6.025
  2004,21(6):956-960
中文关键词  宏-微机器人系统  轨迹跟踪  自抗扰控制  机电一体化
英文关键词  macro-micro manipulators  tracking control  auto-disturbance rejection control  mechatronics
基金项目  国家自然科学基金项目 (50075065 ); 中国科学院知识创新工程重大项目“大射电望远镜FAST工程预研究”项目; 中国科学院机器人学重点实验室基金项目 (RL200104); 陕西省自然科学基金项目 (2000C22).
作者单位
苏玉鑫, 段宝岩, 张永芳, 南仁东, 彭　勃 西安电子科技大学 机电工程学院,陕西 西安 710071
中国科学院 国家天文台,北京 100012 
中文摘要
      采用独立控制策略实现新一代大射电望远镜馈源指向跟踪系统的高精度轨迹跟踪 .将两组成子系统之间的动力学耦合及其他扰动视为对精调Stewart平台子系统的未知扰动 ,设计了强鲁棒自抗扰控制器实现扰动补偿 .大射电望远镜馈源指向系统 5 0m缩比模型实验 ,验证了独立控制策略和自抗扰控制器的工程有效性和可行性 .为将来建造新一代大射电望远镜工程奠定了坚实的基础
英文摘要
      An independent control strategy is proposed to realize the high-precision tracking control of the feed-supporting system for the square kilometre array (SKA).The dynamic couplings between the two comprised subsystems along with any (other) disturbances are considered as the unknown disturbances to the fine tuning subsystem.A high robust auto-disturbance rejection controller (ADRC) is designed to realize the disturbances compensation,which consists of a tracking differentiator (TD) in the feedforward path,an extended state observer (ESO) and a nonlinear proportional-derivative (NPD) control in the feedback path.The TD solves the difficulties posed by low-order reference trajectories which are quantized at the sensor resolution,and the ESO provides the estimate of the unmeasured system's state and the real action of the unknown disturbances only based on a measurement output of the system.The effectiveness and engineering feasibility of this independent control strategy and ADRC are verified by the experimefntal results of a scaled model of SKA with the diameters of 50?m.The superior tracking precision has laid a solid base for the engineering accomplishment of SKA.