|Application of Combined Controller Based on CMAC and Nonlinear PID in Dual Redundant Telescope Tracking System|
|LiHeng; RenChangzhi; SongLibin; Wujun|
|Source Publication||Software and Cyberinfrastructure for Astronomy III|
|Conference Place||Montréal, Quebec, Canada|
The direct drive tracking system of Telescope is one multivariable, nonlinear and strong coupling complex mechanical control system which is disturbed by some nonlinear disturbance such torque ripple, wind disturbance during the tracking process. the traditional PID control cannot fundamentally solved the contradiction between static and dynamic performance, tracking data and disturbance .This paper explores a kind of CMAC with nonlinear PID parallel composite control method for dual redundant telescope tracing servo system. The simulation result proves that combined algorithm based on CMAC and PID realizes the servo system without overshoot and accelerates the response of the system. What’s more, CMAC feedforward control improves anti-disturbance ability and the control precision of the servo system.
|Keyword||Direct Drive Nonlinear – Pid Cmac Dual Redundant Telescope Tracking System Dual-redundant Six Phase Direct Drive Motors|
|LiHeng,RenChangzhi,SongLibin,et al. Application of Combined Controller Based on CMAC and Nonlinear PID in Dual Redundant Telescope Tracking System[C]:SPIE,2014:Vol.9152 1V-1-8.|
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