针对空间目标动态光学特性模拟器,设计并实现一套完整的多轴运动控制系统,满足模拟器对各轴低速运动下的平稳性与控制精度要求.采用5个电机分别与减速器相联驱动各输出轴以模拟太阳和空间目标的运动,基于运动控制器TurboPMAC2采用PID+陷波滤波器算法实现各轴独立运动和多轴联动控制,在实际构建的系统上通过最优参数配置验证算法的有效性和系统的可靠性.实验结果表明,五轴同步在1°/s的低速运行状态下速度控制精度均优于0.05°/s,角位置重复定位精度0.008°,充分满足各项运动功能和性能指标要求.为空间目标动态光学特性模拟器的研制提供了重要的技术支撑,促进空间目标探测的理论研究、技术认知和应用扩展.%According to the simulator of spatial targets' dynamic optical properties requirements, a complete set of multi-axis coordinated control system is designed and implemented to meet the axis' requirements of the good stability and high precision at low speeds. Based on the multi-axis controller named TurboPMAC2 using PID control strategy and a notch filter algorithm, a simulator using 5 servomotors that is connected with speed reducers to drive the output axis was implemented to simulate the motion of both the sun and the space target. On the actual system, the validity of the algorithm and the reliability of the system are verified by the parameters configuration. Experiment results indicate that the velocity control precision is higher than 0.05°/s and the repetitive positioning precision is better than 0.008°when it is running at a low-speed of 1°/s. The system fully meets the performance index and achieves the motion control functions. Besides, it provides an important technical support for the simulator of the dynamic optical properties and promotes the theoretical research, the technology learning and the expansion of the application for detecting spatial targets.
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