多电机同步驱动的大口径望远镜主轴伺服性能分析

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关键词：地基望远镜;永磁同步电机；同步驱动;EtherCAT总线；抗饱和；扩张状态观测器；力矩波动中图分类号：TP273 文献标识码：Adoi：10.37188/OPE.20253321.3403 CSTR：32169.14.OPE.20253321.3403

Abstract： To satisfy the servo requirements of main axes for next-generation ultra-large ground-based telescopes，a multi-motor synchronous drive control method and corresponding experimental validation are presented.Using a 4m telescope as the platform，the control-system hardware is described and an EtherCAT-based multi-motor synchronous control architecture is developed.Parameter calibration procedures and test results are reported for the azimuth segmented-arc permanent-magnet synchronous motors （SAPMSM）and the assembled elevation motors. The speed controller is synthesized as an optimal second-order system；a structural filter and an anti-windup scheme are incorporated to achieve rapid，overshoot-free speed response. To quantify torque ripple，a torque-current-based analysis method is introduced，demonstrating that torque ripple can be mitigated by matching motor electrical phases. An extended state observer （ESO） is further employed to enable torque feedforward compensation. Experimental results indicate that direct drive of the mount attains a first natural frequency of 20Hz . The elevation dualdrive architecture exhibits superior dynamic characteristics，with a velocity closed-loop bandwidth of 6Hz The telescope produces rapid，overshoot-free speed responses in both the linear （low-speed） and nonlinear （high-speed） regimes.After application of the torque-fluctuation feedforward compensation on the elevation axis，speed fluctuation was reduced from 0.000868（∘）/s to 0.000341（∘）/s ， significantly enhancing speed stability. These results demonstrate that the proposed multi-motor synchronous drive system meets the high-precision demands of the telescope and offers a valuable reference for control-system design of larger-aperture telescopes.

Key words： ground-based telescope； Permanent Magnet Sychronous Motor （PMSM）； synchronousdrive；EtherCAT bus；anti-windup；ESO;torque ripple

1引言

望远镜的口径越大，其探测能力和成像分辨率就越高。（剩余20777字）