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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...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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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. |
format | Online Article Text |
id | pubmed-10346561 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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