为了满足4 m望远镜控制系统的驱动能力和跟踪精度要求, 本文介绍了基于分段弧形永磁同步电机的望远镜伺服控制系统设计方法。首先, 介绍了基于分段弧形永磁同步电机的控制系统组成; 其次, 给出了望远镜伺服系统的控制模型辨识方法; 然后, 为了实现望远镜大角度调转和小角度阶跃过程中, 系统位置响应快速、无超调, 设计了基于系统最大速度和加速度信息的位置指令整形算法; 最后, 介绍了望远镜控制系统的位置和速度控制策略, 并进行了望远镜的跟踪控制实验。实验结果显示, 当望远镜进行10°的大位置调转和0.2°的小位置阶跃时, 伺服系统能够快速、无振荡地到达指定位置; 望远镜在10 (°)/s速度和3 (°)/s2加速度条件下的正弦引导误差最大值为2.636″, 稳态误差RMS值为0673″。实验结果表明, 所设计的基于分段弧形永磁同步电机的伺服控制系统能够满足4 m望远镜驱动和跟踪精度的要求, 为下一代大口径望远镜控制系统的设计提供了参考。

To satisfy the requirement of the drive and tracking accuracy of a 4-m telescope, this paper proposes a design method of a segmented permanent-magnet arc synchronous motor based on the telescope control system. The paper first introduces the construction of the control system and the method for identifying the control model. Next, the position command shaper, which is based on the speed and acceleration information, is designed to rapidly realize the smaller and larger step responses without overshoot. Finally, the position and speed control strategies are designed and experiments are conducted. The experimental results show that when the telescope control system steps 10° and 0.2° signals, the system could reach the command rapidly without overshoot. In the case of a speed of 10 (°)/s and acceleration of 3(°)/s2, the telescope could track an equivalent sine curve, with the maximum tracking error and root mean square error of 2.636″ and 0.673″, respectively. The results demonstrate that the 4-m telescope control system could meet the design requirement, and provides a reference method for the next-generation telescope control system design.