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ADRC control of a 6-DOF parallel manipulator for telescope secondary mirror
Y. Ye1,2,3; Z. Yue1,2; B. Gu1,2
2017-03
Source PublicationJournal of Instrumentation
Volume12Issue:3Pages:1-10
Abstract
In view of the special requirements of the secondary mirror control system on large
aperture telescopes,an improved 6-DOF parallel manipulator is designed and used to replace the traditional hexapod used in telescope secondary mirror position dynamic compensation。A highly robust active disturbance rejection controller (ADRC) is designed, which consists of a nonlinear tracking differentiator (NTD),an extended state observer (ESO),a nonlinear state error feedback law (NLSEF),and disturbance compensation。The ESO can track the all-order state variables,as well as estimate and compensate for unmodeled dynamics and total external disturbance of the system。The results of simulation indicate that theADRC can improve tracking precision and control performance when it is compared with the proportion integration differentiation (PID) controller。The test results show that the absolute accuracy of the three dimensional parallel motions is about ±4µm,and the two dimensional tilts’ is about 10µrad。The control precision meets the system
design for a telescope secondary mirror。
KeywordControl Systems Instrument Optimisation Simulation Methods And Programs
Subject Area天文技术与方法
Language英语
Document Type期刊论文
Identifierhttp://ir.niaot.ac.cn/handle/114a32/1440
Collection中国科学院南京天文光学技术研究所_期刊论文
望远镜工程中心_期刊论文
Affiliation1.南京天文光学技术研究所
2.中科院天文光学技术重点实验室
3.中国科学院大学
Recommended Citation
GB/T 7714
Y. Ye,Z. Yue,B. Gu. ADRC control of a 6-DOF parallel manipulator for telescope secondary mirror[J]. Journal of Instrumentation,2017,12(3):1-10.
APA Y. Ye,Z. Yue,&B. Gu.(2017).ADRC control of a 6-DOF parallel manipulator for telescope secondary mirror.Journal of Instrumentation,12(3),1-10.
MLA Y. Ye,et al."ADRC control of a 6-DOF parallel manipulator for telescope secondary mirror".Journal of Instrumentation 12.3(2017):1-10.
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