中国科学院南京天文光学技术研究所机构知识库

This paper presents an in-depth study of the application of Active Disturbance Rejection Control(ADRC)in the high-precision motion control system of the“WeHoST”2.5-meter large aperture telescope using a Programmable Multi-Axis Controller(PMAC).The goal is to enhance the telescope’s tracking accuracy and stability under complex environmental conditions.In response to disturbances encountered during the telescope’s observation process,an optimized solution based on ADRC was designed and implemented.At first,based on ADRC theory,a controller architecture was constructed,incorporating an Extended State Observer(ESO)and a Nonlinear State Error Feedback(NLSEF)control law.Subsequently,the key parameters of the controller were determined according to the specific parameters and performance requirements of the“WeHoST”telescope to ensure the controller’s fast response and stability.The ADRC was then implemented in the PMAC control system,and the telescope’s position was monitored in real-time using high-precision encoders. Experimental data show that the positioning accuracy of the“WeHoST”telescope was significantly improved after the introduction of ADRC.In dynamic tracking tests,the tracking error decreased from 0.01817′ ′ to 0.01261′ ′ ,a reduction of approximately 30.59%.The PP(Peak to Peak)value decreased from 0.04585′ ′ to 0.03201′ ′ ,a reduction of approximately 30.18%,significantly enhancing the telescope’s tracking accuracy and stability.The study successfully applied ADRC to the main axes of the“WeHoST”telescope.demonstrating its effectiveness in improving the tracking accuracy and stability of the telescope.It provides valuable insights and references for instruments requiring high-precision motion control.