14.5m光学红外望远镜预测PI控制器延迟补偿研究

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中图分类号：TB9 文献标志码：A 文章编号：1674-5124（2026）02-0075-07

Abstract： The drive system of the 14.5m optical infrared telescope being developed uses a permanent magnet synchronous motor （PMSM）， and the sensor will have a feedback signal delay. In order to solve the above problems，this paper proposes a method based on predictive PI controler delay compensation，which compensates for the delay of the sensor during reading and transmission.The predictive PI controller estimates future control commands based on current and historical observations，which can efectively improve the performance of the telescope drive system with feedback signal delay and ensure its stability. Under a delay of （20号 3ms ，compared to the Subaru azimuth axis control system，the proposed method reduces the steady-state time by 2.844s. ，and the steady-state error is O. Under a delay of 5 ms，the steady-state time of the method proposed

in this paper is ， while the Subaru azimuth axis control system is no longer stable. The proposed method has been validated to have superior control performance under diferent delay conditions，ensuring stable motor operation at ultra-low speeds.

Keywords： PMSM; predictive PI controller; delay compensation; 14.5m optical infrared telescope

0 引言

随着光学技术、自动控制技术的发展，特别是自适应光学技术和主动光学技术的发展，使得建成大口径光学望远镜成为可能。（剩余11133字）