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Friction compensation for an m-Level telescope based on high-precision LuGre parameters identification
Su, Yan-Rui1,2; Wang, Qiang3; Yan, Fa-Bao1,2,4; Huang, Yong-Mei3
2021
Source PublicationRESEARCH IN ASTRONOMY AND ASTROPHYSICS
ISSN1674-4527
Volume21Issue:1Pages:13
AbstractFriction torque severely weakens the tracking accuracy and low-speed stability of an m-level TCS (telescope control system). To solve this problem, a friction compensation method is proposed, based on high-precision LuGre friction model parameters identification. Together with dynamometer calibration, we first design a DOB (disturbance observer) to acquire high-accuracy TCS friction value in real time. Then, the PSO-GA (a hybrid algorithm combined particle swarm optimization algorithm and genetic algorithm) optimization algorithm proposed effectively and efficiently realizes the LuGre model parameters identification. In addition, we design a TCS controller including DOB and LuGre model parameters identification based on double-loop PID controller for practical application. Engineering verification tests indicate that the accuracy of DOB calibrated can reach 96.94%of the real measured friction.When azimuth axis operates in the speed cross-zero work mode, the average positive peak to tracking error reduces from 0.8926 '' to 0.2252 '' and the absolute average negative peak to tracking error reduces from 0.8881 '' to 0.3984 ''. Moreover, the azimuth axis tracking MSE reduces from 0.1155 '' to 0.0737 '', which decreases by 36.2%. Experimental results validate the high precision, facile portability and high real-time ability of our approach.
Keywordtelescopes instrumentation: detectors methods: analytical
Funding OrganizationNational Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Postdoctoral Science Foundation ; CAS Key Laboratory of Solar Activity ; CAS Key Laboratory of Solar Activity ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Postdoctoral Science Foundation ; CAS Key Laboratory of Solar Activity ; CAS Key Laboratory of Solar Activity ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Postdoctoral Science Foundation ; CAS Key Laboratory of Solar Activity ; CAS Key Laboratory of Solar Activity ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Postdoctoral Science Foundation ; CAS Key Laboratory of Solar Activity ; CAS Key Laboratory of Solar Activity ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai
DOI10.1088/1674-4527/21/1/19
Language英语
Funding ProjectNational Natural Science Foundation of China (NSFC)[11803017] ; National Natural Science Foundation of China (NSFC)[41904158] ; National Natural Science Foundation of China (NSFC)[41774180] ; China Postdoctoral Science Foundation[2019M652385] ; CAS Key Laboratory of Solar Activity[KLSA201907] ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai[20820201005]
Funding OrganizationNational Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Postdoctoral Science Foundation ; CAS Key Laboratory of Solar Activity ; CAS Key Laboratory of Solar Activity ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Postdoctoral Science Foundation ; CAS Key Laboratory of Solar Activity ; CAS Key Laboratory of Solar Activity ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Postdoctoral Science Foundation ; CAS Key Laboratory of Solar Activity ; CAS Key Laboratory of Solar Activity ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Postdoctoral Science Foundation ; CAS Key Laboratory of Solar Activity ; CAS Key Laboratory of Solar Activity ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai ; National Astronomical Observatories and Young Scholars Program of Shandong University, Weihai
WOS Research AreaAstronomy & Astrophysics
WOS SubjectAstronomy & Astrophysics
WOS IDWOS:000616089200001
PublisherNATL ASTRONOMICAL OBSERVATORIES, CHIN ACAD SCIENCES
Citation statistics
Document Type期刊论文
Identifierhttp://ir.bao.ac.cn/handle/114a11/79361
Collection中国科学院国家天文台
Corresponding AuthorSu, Yan-Rui
Affiliation1.Shandong Univ, Sch Mech Elect & Informat Engn, Weihai 264209, Peoples R China
2.Shandong Univ, Inst Space Sci, Lab ElectromAgnet Detect, Weihai 264209, Peoples R China
3.Chinese Acad Sci, Inst Opt & Elect, Chengdu 610209, Peoples R China
4.Chinese Acad Sci, CAS Key Lab Solar Act, Natl Astron Observ, Beijing 100101, Peoples R China
Recommended Citation
GB/T 7714
Su, Yan-Rui,Wang, Qiang,Yan, Fa-Bao,et al. Friction compensation for an m-Level telescope based on high-precision LuGre parameters identification[J]. RESEARCH IN ASTRONOMY AND ASTROPHYSICS,2021,21(1):13.
APA Su, Yan-Rui,Wang, Qiang,Yan, Fa-Bao,&Huang, Yong-Mei.(2021).Friction compensation for an m-Level telescope based on high-precision LuGre parameters identification.RESEARCH IN ASTRONOMY AND ASTROPHYSICS,21(1),13.
MLA Su, Yan-Rui,et al."Friction compensation for an m-Level telescope based on high-precision LuGre parameters identification".RESEARCH IN ASTRONOMY AND ASTROPHYSICS 21.1(2021):13.
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