TWO-MOTOR ELEVATION DRIVE OF THE PRECISION TWIN TELESCOPE

Subject of research. Control system of a four-mass object (twin telescope) with dual motor drive is considered. Method. The reducing ability of an object model to the third order is used for simplification of control system. The synthesis of a discrete controller algorithm is completed based on the...

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Main Authors: V. N. Drozdov, K. Zawirski, A. A. Plotitsyn
Format: Article
Language:English
Published: Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University) 2015-03-01
Series:Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki
Subjects:
Online Access:http://ntv.ifmo.ru/file/article/12862.pdf
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spelling doaj-c9ca21b6ad5b4ecb8b20defb5073b72a2020-11-24T23:33:54ZengSaint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki2226-14942500-03732015-03-0115225325910.17586/2226-1494-2015-15-2-253-259TWO-MOTOR ELEVATION DRIVE OF THE PRECISION TWIN TELESCOPEV. N. DrozdovK. ZawirskiA. A. PlotitsynSubject of research. Control system of a four-mass object (twin telescope) with dual motor drive is considered. Method. The reducing ability of an object model to the third order is used for simplification of control system. The synthesis of a discrete controller algorithm is completed based on the reduced model of the object. Characteristics of the system which consists of four-mass object with dual motor drive and obtained regulator are investigated. Control synthesis based on the modified design method of an optimal control with guaranteed degree of stability is used. Reduced-order observer is used in the control system since only one parameter of the plant can be measured — angular velocity of one lumped inertia. System robustness is verified by changing the nominal parameters of the plant in 10% range. Main results. In case of using a single motor drive a regulator can be built only on the basis of the model of object slow motions. System performance (bandwidth) should be enough low not to excite elastic vibrations. Control rate then is limited by the lowest resonating frequency of the plant. Numerical simulation reveals that transition time of the system with single motor drive significantly exceeds transition time of the system with dual motor drive. Both systems maintain the properties of robustness with changing parameter Practical relevance. The results can be used in the control systems design of the complex electromechanical mechanisms with elastic couplings such as telescope main drive axis. http://ntv.ifmo.ru/file/article/12862.pdffour-mass objecttwin telescopeHankel singular valuesdual motor drivecontroller algorithm
collection DOAJ
language English
format Article
sources DOAJ
author V. N. Drozdov
K. Zawirski
A. A. Plotitsyn
spellingShingle V. N. Drozdov
K. Zawirski
A. A. Plotitsyn
TWO-MOTOR ELEVATION DRIVE OF THE PRECISION TWIN TELESCOPE
Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki
four-mass object
twin telescope
Hankel singular values
dual motor drive
controller algorithm
author_facet V. N. Drozdov
K. Zawirski
A. A. Plotitsyn
author_sort V. N. Drozdov
title TWO-MOTOR ELEVATION DRIVE OF THE PRECISION TWIN TELESCOPE
title_short TWO-MOTOR ELEVATION DRIVE OF THE PRECISION TWIN TELESCOPE
title_full TWO-MOTOR ELEVATION DRIVE OF THE PRECISION TWIN TELESCOPE
title_fullStr TWO-MOTOR ELEVATION DRIVE OF THE PRECISION TWIN TELESCOPE
title_full_unstemmed TWO-MOTOR ELEVATION DRIVE OF THE PRECISION TWIN TELESCOPE
title_sort two-motor elevation drive of the precision twin telescope
publisher Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)
series Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki
issn 2226-1494
2500-0373
publishDate 2015-03-01
description Subject of research. Control system of a four-mass object (twin telescope) with dual motor drive is considered. Method. The reducing ability of an object model to the third order is used for simplification of control system. The synthesis of a discrete controller algorithm is completed based on the reduced model of the object. Characteristics of the system which consists of four-mass object with dual motor drive and obtained regulator are investigated. Control synthesis based on the modified design method of an optimal control with guaranteed degree of stability is used. Reduced-order observer is used in the control system since only one parameter of the plant can be measured — angular velocity of one lumped inertia. System robustness is verified by changing the nominal parameters of the plant in 10% range. Main results. In case of using a single motor drive a regulator can be built only on the basis of the model of object slow motions. System performance (bandwidth) should be enough low not to excite elastic vibrations. Control rate then is limited by the lowest resonating frequency of the plant. Numerical simulation reveals that transition time of the system with single motor drive significantly exceeds transition time of the system with dual motor drive. Both systems maintain the properties of robustness with changing parameter Practical relevance. The results can be used in the control systems design of the complex electromechanical mechanisms with elastic couplings such as telescope main drive axis.
topic four-mass object
twin telescope
Hankel singular values
dual motor drive
controller algorithm
url http://ntv.ifmo.ru/file/article/12862.pdf
work_keys_str_mv AT vndrozdov twomotorelevationdriveoftheprecisiontwintelescope
AT kzawirski twomotorelevationdriveoftheprecisiontwintelescope
AT aaplotitsyn twomotorelevationdriveoftheprecisiontwintelescope
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