复杂环境下多余度望远镜跟踪驱动技术与控制算法研究

项目名称： 复杂环境下多余度望远镜跟踪驱动技术与控制算法研究

项目编号： No.11273039

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 数理科学和化学

项目作者： 任长志

作者单位： 中国科学院国家天文台南京天文光学技术研究所

项目金额： 95万元

中文摘要： 目前，天文观测开始转向太空、南极等天文观测条件极为优越但环境非常复杂的地区，望远镜的使用模式也从传统的人工操作向自主式、网络化、远程控制的工作模式转变，这使得多余度望远镜跟踪驱动及其控制成为未来天文望远镜研制中必须解决的核心支撑技术之一。本研究拟通过设计的多余度力矩电机建立多余度望远镜跟踪系统，同时，提出了一种与多余度力矩电机集成的高精度位置反馈系统并对其信息处理技术进行开发。在此基础上，首先对多余度力矩电机内电机单元之间的同步控制算法进行研究，进而探索了两个多余度力矩电机同轴驱动大跨度高度轴时的同步控制方法。接着研究了多余度电机中某个电机单元出现故障时，其他电机单元及其控制系统继续运行的冗余控制算法，确保整个系统在出现局部故障时仍能够正常地运行，以提高系统的可靠性。最后，集成阶段性研究成果，开发了复杂环境下多余度的望远镜跟踪控制系统,通过建立的实验平台对研究成果的性能进行分析与评价。

中文关键词： 天文望远镜；双余度六相力矩电机；冗余控制；同步控制；望远镜实验平台

英文摘要： At present, the astronomical observations are began to be built in the places where the observation conditions are very well and the environment is extremely complex and bad such as the spatial, the Antarctic area. The telescope work mode is also changed from the traditional manual operation mode to autonomous, network, remote controlled way, which makes redundant telescope tracking drive and control technology to be one of the core support technologies for the development of future astronomical telescope. This study proposed to establish a redundant telescope tracking system by the design one the extra degrees torque motor, at the same time, a kind high precision position feedback device integrated with the redundant torque motor is developed and its information processing technology is also studied. On this basis, firstly, synchronous control algorithm between motor units within one redundancy torque motor is studied. Secondly, synchronous control method is explored in the condition that big span altitude shaft is coaxially driven by two extra degrees torque motors. Then redundant control algorithm is explored when one of the motor units is broken down in the redundant motor while other motor units and its control system continue working on to ensure that the whole system can still work normal with local fault

英文关键词： astronomical telescope；double redundant six phase torque motor；redundant control；synchronic control；redundant telescope experiment platform