Design Of Arc Permanent Magnet Motor Adaptive Control System For Telescope

Arc permanent magnet motor(APMM)has been widely used in the driving system of large astronomical telescope,which has a simple structure and is easy to drive.In this paper,an adaptive servo control strategy based on characteristic model theory is proposed for APMM.In addition,some researches about load torque ripple and controller parameters optimization are carried out.The basic structure and mathematical model of APMM are described,then,a common?-u_q second-order characteristic model is presented,and a?-i_q second-order characteristic model is proposed with an improved gradient method for characteristic model parameter identification.Various characteristic model-based control laws of APMM are designed for the servo control system.Through the combination of different control laws,the control system can achieve accurate speed tracking and position tracking.An improved maintaining/tracking control law considering load torque fluctuation is proposed.A torque observer is established to improve the output of controller and reduce the motor speed fluctuation.In the meanwhile,a hybrid brain storm optimization(HBSO)algorithm is presented to optimize the parameters of controller.The effectiveness of the HBSO algorithm is verified through several experiments of different test functions.Furthermore,a simulation model is built in MATLAB/Simulink environment,and the improved control strategy and parameter optimization method are simulated.The driving circuit is designed with digital signal processor as the control core,the hardware experiment platform is built,the controller code is written,and the upper computer interface is programmed.The software and hardware are combined to test tracking performance of the proposed control system.The experimental results show that the proposed adaptive control strategy can effectively simplify determination process of controller parameters and enhance control performance of driving system.