CAJ | 학술논문

为了降低各种内外干扰对大型光电设备成像精度的影响，对控制回路进行了扰动观测补偿器设计。首先，通过开环实验方法估计出设计观测器所需要的控制量增益 b；其次，通过仿真建模给出控制器的参数设计，并进行性能分析。结果表明，该控制方法能够在不增加系统闭环带宽的前提下，将系统在中低频段的扰动抑制能力提高10 dB。最后，在直流有刷力矩转台上进行了性能对比实验。实验结果表明，与PI控制器相比，系统性能在低、中、高速3种状态下都得到了明显改善。0．1°／s的阶跃响应下调节时间减少3．7s；1°／s的阶跃响应下调节时间减少0．25s，且稳态误差从0．0257°／s减小至0．0189°／s；10°／s的阶跃响应下稳态误差从0．113°／s减小至0．0617°／s。可见，使用同一组控制参数，该控制方法能实现在中低、中、高速运行下的高性能控制，且只需调试2个参数，简单易实现。
위료강저각충내외간우대대형광전설비성상정도적영향，대공제회로진행료우동관측보상기설계。수선，통과개배실험방법고계출설계관측기소수요적공제량증익 b；기차，통과방진건모급출공제기적삼수설계，병진행성능분석。결과표명，해공제방법능구재불증가계통폐배대관적전제하，장계통재중저빈단적우동억제능력제고10 dB。최후，재직류유쇄력구전태상진행료성능대비실험。실험결과표명，여PI공제기상비，계통성능재저、중、고속3충상태하도득도료명현개선。0．1°／s적계약향응하조절시간감소3．7s；1°／s적계약향응하조절시간감소0．25s，차은태오차종0．0257°／s감소지0．0189°／s；10°／s적계약향응하은태오차종0．113°／s감소지0．0617°／s。가견，사용동일조공제삼수，해공제방법능실현재중저、중、고속운행하적고성능공제，차지수조시2개삼수，간단역실현。
In order to reduce the effect of image accuracy caused by various internal and external disturbances ,a disturb‐ance observer and compensator was designed in the control loop .Firstly ,the control loop gain b which will be used in the observer design was estimated based on the open loop experiments .Then the controller parameters were designed accord‐ing to the simulation modeling .The simulations results show that ,the control method can improve the disturbance inhi‐bition capability to about 10 dB among the low and middle frequency band without improve the closed‐loop bandwidth . Finally ,the performance comparison experiments were conducted on a DC brush torque turntable .The experimental re‐sults show that compared with the PI controller ,the system performance has been obviously improved under low ,medi‐um and high speed .The regulation time for 0 .1°/s step response reduced 3 .7 s ;the regulation time for 1°/s step re‐sponse reduced 0 .25 s ,and the steady‐state error is reduced from 0 .025 7°/s to 0 .018 9°/s .As for the 10°/s step re‐sponse ,the steady‐state error is reduced from 0 .113°/s to 0 .061 7°/s .With the same control parameters ,the control method can achieve high performance under low ,medium and high speed operation control ,and only two parameters need to be adjusted ,so it is simple and easy to be implemented .