{"title":"Active Disturbance Rejection-based Double-loop Control Design for Large Antenna's Servo System","authors":"Ning Li, Na Wang, Zhiyong Liu, Lei Yang","doi":"10.1088/1538-3873/acff86","DOIUrl":null,"url":null,"abstract":"Abstract Radio astronomical observations put stringent requirements on the tracking and pointing accuracy of radio telescope antennas. High inertia, low stiffness, underdamped, and multi-resonant frequencies of a large aperture radio telescope’s antenna make the high-accuracy control difficult. It is not easy to satisfy control performance using only conventional PID controllers. A low-order Active Disturbance Rejection-based double-loop controller for large antenna is designed in this paper and tested on the Green Bank Telescope model. First, the first-order Linear Active Disturbance Rejecting Controller (LADRC) cascading a first-order low-pass filter and a notch filter is designed for the antenna’s velocity loop to achieve the dual-objective optimal velocity tracking. Second, the position loop controller is designed to realize the antenna’s position-tracking control by combining the PD controller and a low-pass filter. Further optimization of the position-loop controller helps improve the dynamic performance of the system. The simulation results indicate that the response curves of the proposed PD-LADRC control are smother than those of the Quantitative Feedback Theory (QFT) based controller; the settling time of the PD-LADRC system is 10.1 s and reduces by about 8.2 s than that of the QFT. While using a better position controller reduces settling time to 5 s. The PD-LADRC system also has better wind-disturbance rejection; the worst disturbance response reduces at the gearbox by 68.3% and 60% at the dish, and the recovery time reduces by more than 15 s than the QFT-based controller. In addition, besides easier parameter tuning, the proposed PD-LADRC has better robustness to systematic parameter perturbations and minor tracking error rms in position tracking.","PeriodicalId":20820,"journal":{"name":"Publications of the Astronomical Society of the Pacific","volume":null,"pages":null},"PeriodicalIF":3.3000,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Publications of the Astronomical Society of the Pacific","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1088/1538-3873/acff86","RegionNum":3,"RegionCategory":"物理与天体物理","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ASTRONOMY & ASTROPHYSICS","Score":null,"Total":0}
引用次数: 0
Abstract
Abstract Radio astronomical observations put stringent requirements on the tracking and pointing accuracy of radio telescope antennas. High inertia, low stiffness, underdamped, and multi-resonant frequencies of a large aperture radio telescope’s antenna make the high-accuracy control difficult. It is not easy to satisfy control performance using only conventional PID controllers. A low-order Active Disturbance Rejection-based double-loop controller for large antenna is designed in this paper and tested on the Green Bank Telescope model. First, the first-order Linear Active Disturbance Rejecting Controller (LADRC) cascading a first-order low-pass filter and a notch filter is designed for the antenna’s velocity loop to achieve the dual-objective optimal velocity tracking. Second, the position loop controller is designed to realize the antenna’s position-tracking control by combining the PD controller and a low-pass filter. Further optimization of the position-loop controller helps improve the dynamic performance of the system. The simulation results indicate that the response curves of the proposed PD-LADRC control are smother than those of the Quantitative Feedback Theory (QFT) based controller; the settling time of the PD-LADRC system is 10.1 s and reduces by about 8.2 s than that of the QFT. While using a better position controller reduces settling time to 5 s. The PD-LADRC system also has better wind-disturbance rejection; the worst disturbance response reduces at the gearbox by 68.3% and 60% at the dish, and the recovery time reduces by more than 15 s than the QFT-based controller. In addition, besides easier parameter tuning, the proposed PD-LADRC has better robustness to systematic parameter perturbations and minor tracking error rms in position tracking.
期刊介绍:
The Publications of the Astronomical Society of the Pacific (PASP), the technical journal of the Astronomical Society of the Pacific (ASP), has been published regularly since 1889, and is an integral part of the ASP''s mission to advance the science of astronomy and disseminate astronomical information. The journal provides an outlet for astronomical results of a scientific nature and serves to keep readers in touch with current astronomical research. It contains refereed research and instrumentation articles, invited and contributed reviews, tutorials, and dissertation summaries.