为了满足2 m望远镜系统中消旋K镜伺服系统的速度控制性能, 提出一种基于控制律参数自适应的自抗扰控制新方法。首先, 基于速度回路被控对象, 设计了二阶线性扩张状态观测器, 以实现对扰动的实时观测; 然后, 为了提高速度环动态和稳态性能, 采用回归分析方法, 设计了控制律参数基于输入速度变化而自适应调整的比例控制器; 最后, 搭建了消旋K镜伺服控制实验系统, 在速度阶跃信号激励下开展实验研究。结果显示: 与传统PI和自抗扰控制器相比, 系统以0.001 (°)/s速度运行时, 稳定时间从7.3 s、3.2 s减少至0.9 s; 以10 (°)/s速度运行时, 系统超调量从8%、62%降低至无超调; 在中低频段的扰动抑制能力最大提高了23 dB, 性能得到了提高, 可满足K镜伺服系统高精度的速度控制性能要求。

In order to meet the requirements of velocity control performance of servo system for K mirror in the 2 m telescope system, a new active disturbance rejection-controller(ADRC) based on adaptive control law parameter was proposed. Firstly, the second-order linear extended state observer based on first-order velocity model was designed; And then, in order to improve the dynamic and steady-state performance of speed-loop, proportion controller′s parameter based on regression analysis method was designed into a function and it will be automatically adjusted with the variation of input speed. Finally, experiment system based on K mirror servo control was set up, the experiment was performed under the excitation of step signal. Actual results show that compared with the PI and ADRC controller, the regulation time for 0.001 (°)/s step response is reduced from 7.3 s, 3.2 s to 0.9 s. The overshoot for 10(°)/s step response is reduced from 8%, 62% to 0; The best disturbance inhibition ability is increased 23 dB among the low and middle frequency band, satisfying the high accuracy speed control performance requirements of K mirror servo system.