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针对110m大射电望远镜结构柔性大、固有频率低的特点,本文在传统伺服控制的基础上进一步考虑副反射面支撑结构对指向精度的影响,提出了一种两自由度复合控制器.该控制器由内外两环构成,外环是基于广义比例积分(Generalized Proportional Integral,GPI)的鲁棒控制器,其以副反射面支撑结构的振动量为输入,确定伺服的参考指令;内环利用线性二次型高斯(Linear Quadratic Gaussian,LQG)控制器以外环输出为参考,对天线伺服驱动部分进行控制.与目前已有的大口径天线控制方法相比,该控制器既可以有效抑制驱动部分的柔性振动,又能抑制副反射面的振动,进而提高大口径天线的指向精度.本文以等效天线模型为控制对象.通过数值仿真验证了该方法的可行性.
In view of the large flexibility and low natural frequency of the 110-m radio telescope, this paper proposes a two-degree-of-freedom composite controller based on the traditional servo control to further consider the influence of the sub-reflector support structure on the pointing accuracy. The outer ring is a robust controller based on Generalized Proportional Integral (GPI). The input of the vibration of the supporting structure of the secondary reflector is used as the reference to determine the servo reference. The inner loop uses the linear two The linear Quadratic Gaussian (LQG) controller uses the output of the outer loop as a reference to control the antenna servo-driven part, which can effectively restrain the flexibility of the driving part compared with the existing large-diameter antenna control method Vibration, but also can suppress the vibration of the secondary reflective surface, and then improve the pointing accuracy of the large aperture antenna.In this paper, the equivalent antenna model is taken as the control object.The feasibility of this method is verified by numerical simulation.