基于拼接弧线电机的大口径天文望远镜机架合成控制方法研究

The tracking control system of large aperture telescope is one of the key technologies because of its complicated structure and nonlinear disturbance. The project intends to optimize the large aperture telescope’s structure of mount and tracking control system. The method of modeling and simulation are used to design and test the synthetic control system of the telescope. Firstly, the digital virtual prototype of large telescope mount tracking system is established, then, the nonlinear interference system modeling and the simulation are analyzed, so does the analysis of its dynamics and statics. Secondly, the electromagnetic FEA (Finite Element Analysis) of the segmented arc PMSM (Permanent Magnet Synchronous Motor) is carried out and its optimization scheme for the large aperture telescope is determined. Finally, the synthetic control system of large aperture telescope mount is researched. In order to verify the synthetic control method of the large aperture telescope, modeling and simulation are used to optimize FOC (Field Oriental Control) and DTC (Direct Torque Control) algorithm of the unit motor, also, the modern synthetic control theories are applied to the multi-unit motor. Altogether, wiht the increasing of aperture of the telescope, the difficult problems , such as the tracking control and the all kinds of serious nonlinear load disturbance, can be solved. And the basic theories are provided for the design of the mount and control system of the Chinese large aperture telescope.

大口径天文望远镜机架由于其复杂的结构和系统非线性干扰等使其跟踪控制成为望远镜建造的技术难点之一。项目拟采用建模、模拟仿真的方法开展大口径望远镜机架及其跟踪控制系统的优化，进而设计、验证望远镜跟踪合成控制方法。首先，建立大口径望远镜机架跟踪系统的数字化虚拟样机，对系统非线性干扰建模、仿真、分析，对其开展动力学、静力学分析。然后，开展拼接弧线电机电磁有限元分析，确定大口径望远镜拼接弧线电机优化方案。最后研究大口径望远镜机架合成控制系统，通过建模和仿真优化单元电机磁场定向和直接转矩控制算法，并应用现代控制理论实现多单元电机组成的拼接式弧线电机的合成控制，完成大口径望远镜机架合成控制方法的实验验证。通过本项目的研究，解决望远镜口径增大给机架跟踪控制及驱动带来各种特大非线性负载扰动等难题，为我国设计大口径天文望远镜的跟踪机架及其控制系统提供理论依据。

本项主要解决前期开展的拼接弧线电机驱动大口径望远镜机架跟踪控制系统中的问题。首先，用有限元设计了大口径望远镜具有轴承及驱动功能的方位轴机架装置，并对其开展了动力学及静力学仿真分析；其次，对现有拼接弧线电机开展了静态和瞬态等有限元仿真分析；再次，用MATLAB建立了拼接弧线电机模型，分析了矢量控制和直接转矩控制；最后研究了PID、比例谐振、自抗扰、分数阶等先进控制理论算法并做了仿真分析，最终选取设计了分数阶、比例谐振的合成控制方法，并通过CCS在DSP上实现了拼接弧线电机的合成控制方法。本项目对于我国自主开展10-100米级望远镜机架及驱动跟踪建造具有积极意义，可推动我国在大口径望远镜机架设计及驱动控制方面向新的台阶迈进。