doi: 10.17586/2226-1494-2015-15-2-253-259


V. N. Drozdov, K. Zawirski, A. A. Plotitsyn

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For citation: Drozdov V.N., Zawirski K., Plotitsyn A.A. Two-motor elevation drive of the precision twin telescope. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2015, vol.15, no. 2, pp. 253–259.

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.

Keywords: four-mass object, twin telescope, Hankel singular values, dual motor drive, controller algorithm.

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