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Precise and Efficient Pointing Control of a 2.5-m-Wide Field Survey Telescope Using ADRC and Nonlinear Disturbance Observer

Linear active disturbance rejection control (LADRC) has been widely used to improve the tracking accuracy and anti-disturbance performance of telescope servo control under disturbances. However, the linear extended state observer (LESO) is sensitive to noise, and its bandwidth is limited by the reso...

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Autores principales: Liu, Yang, Deng, Yongting, Li, Hongwen, Wang, Jianli, Wang, Dejun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10346561/
https://www.ncbi.nlm.nih.gov/pubmed/37447916
http://dx.doi.org/10.3390/s23136068
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author Liu, Yang
Deng, Yongting
Li, Hongwen
Wang, Jianli
Wang, Dejun
author_facet Liu, Yang
Deng, Yongting
Li, Hongwen
Wang, Jianli
Wang, Dejun
author_sort Liu, Yang
collection PubMed
description Linear active disturbance rejection control (LADRC) has been widely used to improve the tracking accuracy and anti-disturbance performance of telescope servo control under disturbances. However, the linear extended state observer (LESO) is sensitive to noise, and its bandwidth is limited by the resonant frequency of the telescope. To enhance the LARDC’s ability to attenuate disturbances, a novel cascade anti-disturbance structure (NCADS) with LADRC on the outer speed loop and a nonlinear disturbance observer (NDOB) on the inner current loop is proposed. The NDOB compensates for the dominant disturbance through feedforwarding the q-axis current reference, and the LESO compensates for the residual disturbance on the outer speed loop. First, the NCADS is introduced in a three-closed-loop control framework of PMSM. Then, the design method of the controller for each loop and the NDOB are presented, the parameter-tuning method based on bandwidth is demonstrated, and the convergence of the NDOB is proved. Furthermore, to improve the searching and tracking efficiency of wide-field survey telescopes, the nonlinear tracking differentiator (NTD) was modified to plan the transition process of the position loop, which only needs to set the maximum speed and acceleration of the telescope. Finally, simulations and experiments were performed on a 2.5-m-wide field survey telescope. The experimental results verify that the proposed NCADS method has a better anti-disturbance performance and higher tracking precision than the conventional method, and the improved NTD method does not need to tune parameters and achieved a fast and smooth transition process of the position loop.
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spelling pubmed-103465612023-07-15 Precise and Efficient Pointing Control of a 2.5-m-Wide Field Survey Telescope Using ADRC and Nonlinear Disturbance Observer Liu, Yang Deng, Yongting Li, Hongwen Wang, Jianli Wang, Dejun Sensors (Basel) Article Linear active disturbance rejection control (LADRC) has been widely used to improve the tracking accuracy and anti-disturbance performance of telescope servo control under disturbances. However, the linear extended state observer (LESO) is sensitive to noise, and its bandwidth is limited by the resonant frequency of the telescope. To enhance the LARDC’s ability to attenuate disturbances, a novel cascade anti-disturbance structure (NCADS) with LADRC on the outer speed loop and a nonlinear disturbance observer (NDOB) on the inner current loop is proposed. The NDOB compensates for the dominant disturbance through feedforwarding the q-axis current reference, and the LESO compensates for the residual disturbance on the outer speed loop. First, the NCADS is introduced in a three-closed-loop control framework of PMSM. Then, the design method of the controller for each loop and the NDOB are presented, the parameter-tuning method based on bandwidth is demonstrated, and the convergence of the NDOB is proved. Furthermore, to improve the searching and tracking efficiency of wide-field survey telescopes, the nonlinear tracking differentiator (NTD) was modified to plan the transition process of the position loop, which only needs to set the maximum speed and acceleration of the telescope. Finally, simulations and experiments were performed on a 2.5-m-wide field survey telescope. The experimental results verify that the proposed NCADS method has a better anti-disturbance performance and higher tracking precision than the conventional method, and the improved NTD method does not need to tune parameters and achieved a fast and smooth transition process of the position loop. MDPI 2023-06-30 /pmc/articles/PMC10346561/ /pubmed/37447916 http://dx.doi.org/10.3390/s23136068 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Liu, Yang
Deng, Yongting
Li, Hongwen
Wang, Jianli
Wang, Dejun
Precise and Efficient Pointing Control of a 2.5-m-Wide Field Survey Telescope Using ADRC and Nonlinear Disturbance Observer
title Precise and Efficient Pointing Control of a 2.5-m-Wide Field Survey Telescope Using ADRC and Nonlinear Disturbance Observer
title_full Precise and Efficient Pointing Control of a 2.5-m-Wide Field Survey Telescope Using ADRC and Nonlinear Disturbance Observer
title_fullStr Precise and Efficient Pointing Control of a 2.5-m-Wide Field Survey Telescope Using ADRC and Nonlinear Disturbance Observer
title_full_unstemmed Precise and Efficient Pointing Control of a 2.5-m-Wide Field Survey Telescope Using ADRC and Nonlinear Disturbance Observer
title_short Precise and Efficient Pointing Control of a 2.5-m-Wide Field Survey Telescope Using ADRC and Nonlinear Disturbance Observer
title_sort precise and efficient pointing control of a 2.5-m-wide field survey telescope using adrc and nonlinear disturbance observer
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10346561/
https://www.ncbi.nlm.nih.gov/pubmed/37447916
http://dx.doi.org/10.3390/s23136068
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