CAJ | 학술논문

针对交流永磁同步电机驱动的大型望远镜的高精度、低速平稳运行问题，研制了一套基于浮点数字信号处理器（DSP）和现场可编程逻辑门阵列（FPGA）的驱动控制器。该控制器以DSP作为主控制器，FPGA作为协控制器，主控制器完成控制算法、接受指令等功能，协控制器实现PWM产生、电流采集、速度检测等功能。根据永磁同步电机矢量控制原理建立了永磁同步电机的数学模型，进行了永磁同步电机控制器的硬件设计；在硬件设计的基础上，采用自适应PI对望远镜的低速控制性能进行了研究。实验结果表明：当望远镜以32.4(″)/s匀速运行时，速度波动范围为±0.648(″)/s；当对望远镜做最大速度为1(°)/s，最大加速度为1(°)/s2的正弦引导时，最大引导误差为9.72″，引导误差RMS值为3.24″；该驱动控制系统能够实现望远镜的低速平稳运行，满足大型望远镜伺服控制系统的性能要求。
침대교류영자동보전궤구동적대형망원경적고정도、저속평은운행문제，연제료일투기우부점수자신호처리기（DSP）화현장가편정라집문진렬（FPGA）적구동공제기。해공제기이DSP작위주공제기，FPGA작위협공제기，주공제기완성공제산법、접수지령등공능，협공제기실현PWM산생、전류채집、속도검측등공능。근거영자동보전궤시량공제원리건립료영자동보전궤적수학모형，진행료영자동보전궤공제기적경건설계；재경건설계적기출상，채용자괄응PI대망원경적저속공제성능진행료연구。실험결과표명：당망원경이32.4(″)/s균속운행시，속도파동범위위±0.648(″)/s；당대망원경주최대속도위1(°)/s，최대가속도위1(°)/s2적정현인도시，최대인도오차위9.72″，인도오차RMS치위3.24″；해구동공제계통능구실현망원경적저속평은운행，만족대형망원경사복공제계통적성능요구。
A digital controller based on digital signal processor (DSP) and field programmable gate array (FPGA) was designed to solve the problem of high precision and low velocity of large telescope ac servo system drove by permanent magnet synchronous motor (PMSM). A DSP was used as primary controller to perform the function such as computing control algorithm and receiving instructions. A FPGA was used as secondary controller to achieve the function such as PWM generation, current sampling and speed acquisition. Mathematic model of PMSM was found based on vector control, and hardware of PMSM digital controller was designed. The large telescope table was tested at low speed through employing adaptive PI controller after completing the controller hardware design. The experiment results demonstrate that when the large telescope table run at 32.4 (″)/s, the range of velocity fluctuation is ±0.648 (″)/s; when the large telescope run in the mode of sine guide, which is with the maximum velocity 1 (° )/s and maximum acceleration 1 (° )/s2. The maximum guide error is 9.72 ″, and the value of RMS error is 3.24″. The drive control system can realize high precision control of large telescope and meet the need of system performance.