CAJ | 학술논문

研制53 cm双筒激光测距望远镜的快速平稳伺服控制系统，以实现快速空间目标的跟踪测量。模块化设计并构建望远镜的控制系统，伺服驱动器完成电流和速度的闭环，运动控制器实现位置环和复合PID算法。对控制机箱进行集成，并对控制器进行嵌入式开发，由控制器负责实时的运动控制，而上位机软件进行任务管理和人机交互。自定义通信协议以克服通信延时和VC++定时精度不高的问题，并提出位置二次闭环与混合PID的控制策略以提高望远镜的跟踪精度。实验结果表明：该望远镜在以3（°）/s的匀速运动和低轨卫星跟踪过程中，精度在5″内；在低速运动和中高轨卫星的跟踪中，能够达到角秒量级的精度，经测试该望远镜能快速平稳地跟踪400 km以上空间目标，并满足指标要求。
연제53 cm쌍통격광측거망원경적쾌속평은사복공제계통，이실현쾌속공간목표적근종측량。모괴화설계병구건망원경적공제계통，사복구동기완성전류화속도적폐배，운동공제기실현위치배화복합PID산법。대공제궤상진행집성，병대공제기진행감입식개발，유공제기부책실시적운동공제，이상위궤연건진행임무관리화인궤교호。자정의통신협의이극복통신연시화VC++정시정도불고적문제，병제출위치이차폐배여혼합PID적공제책략이제고망원경적근종정도。실험결과표명：해망원경재이3（°）/s적균속운동화저궤위성근종과정중，정도재5″내；재저속운동화중고궤위성적근종중，능구체도각초량급적정도，경측시해망원경능쾌속평은지근종400 km이상공간목표，병만족지표요구。
The rapid and steady control system of the 53 cm binocular laser ranging telescope is constructed to realize the tracking and measurement of fast space targets. The modularized control system of the telescope was designed,in which the closed-loops of current and velocity are achieved by the servo driver,and the composite PID algorithm and feedback of position are realized by the motion controller. The control case is integrated and the controller is embedded. The controller is arranged to take charge of the real-time motion control,while the task management and human-computer interaction are realized by the host computer. Additionally,the user-defined communication protocol is formulated to overcome the communication delay and low timing precision of VC++. The control strategies of the 2th position closed-loop and the mixture PID are proposed to improve the tracking precision of the telescope. Experimental results indicate that the telescope can satisfy the precision of 5″ at the uniform speed of 3(°)/s and in the tracking process of low orbit satellites. Meanwhile,it reaches the precision of arc-second scale in the tracking of medium and high orbit satellites. The telescope has been proved that it is able to realize the rapid and steady tracking of space targets which are beyond 400 km far from the ground station,and can satisfy the demand of the property index.