臺灣博碩士論文加值系統

阿塔卡瑪 (Atacama) 大型毫米及次毫米波陣列是史上最大規模的地面天文台計畫，預定於智利北部興建12米陣列及Atacama緻密陣列望遠鏡。對章動器 (Nutator) 來說，主要的設計目標是快速切換，大波束偏向及一個無反作用力的機構。Nutator系統的控制器架構具有耦合的鏡子及搖擺機構平行迴路，兩者皆採用PID控制，整個Nutator動作近似為兩個耦合的諧波振盪器。Nutator系統控制是透過一個專用控制器及放大器裝置來執行，兩個主線性音圈馬達操作在一種推拉式結構來驅動次反射鏡，指令的操作模式是兩位置轉換其需要極高性能，對這種尺寸的反射望遠鏡它是不尋常的。天文台反射望遠鏡的控制系統必須在天線遭受外來干擾與其內部的不確定受控體動態之時，仍能使天線精確指向目標，其所需的技術規範是非常地講求精密，比起一般的系統更具挑戰。在控制上應用PID演算法並不能保證得到該系統之最佳控制，PID控制器常透過其他方法而得以增強，類神經模式參考控制也被提出作為控制系統之設計。本論文之目的在於Nutator動態模式分析及其控制系統設計，針對系統內部與外界的擾動，同時考慮到系統穩定與性能的強健性，從計算機模擬結果以期符合性能規範。為了消弭PID控制器須經調整程序的缺點，在非線性的Nutator交叉耦合系統上，應用基因式的進化演算法來求得最佳的控制器參數值，該自動調整演算法是強健的搜尋及具最佳化技術以利提供適當的控制參數，而不須經由試誤法來得到這些參數值。在本論文中亦提供相關模擬數據來驗證此法所得到的定位及追蹤性能是非常優越。

The ALMA is the largest scale ground observatory project in history scheduled to build a 12 m Array and Atacama Compact Array in Northern Chile. For the nutator, the principal design aims are swift switching, large beam deflection and a reactionless mechanism. The nutator system controller architecture has coupled mirror and rocker parallel loops, both adopting PID control. The entire nutator actions are approximated as two coupled harmonic oscillators. Nutator system control is performed through a dedicated controller and amplifier device. Two main linear voice coil motors, operating in a push-pull organization drive the nutator subreflector. The mandatory operation mode for the nutator system is two position switching. This mode requires extremely high performance, which is unusual for reflectors of this size. The observatory reflector control system must be always pointed to a target for undergoing external disturbance forces at antenna and internal uncertain plant dynamics. The required technical specifications for the nutator control system are precise requirement, system tracking control with a disturbance force more challenging than that in ordinary systems. Application of the PID algorithm for control does not guarantee optimal control of the system. The PID controllers are often enhanced by other methods; a neural network model reference control is also proposed to act as the control system design. The purpose of this dissertation is to analyze nutator dynamics modes and control system design for the ALMA nutator. The dissertation will also take account of stability and robustness for system to meet performance requirements via computer simulation under the internal and external disturbances conditions. To overcome the main drawback of tuning procedure for a PID controller, we present a method for using evolutionary algorithms to search for the optimal parameter values in cross-coupling actuators for a nonlinear nutator system. The autotune algorithms are robust search and optimization techniques that provide adequate control parameters without a trial and error method. To verify the merits of the proposed methodology in positioning and tracking performance, in this dissertation some related simulation data are provided.

Chinese Acknowledgments i

Chinese Abstract ii

Abstract iii
Table of Contents v

List of Figures viii
List of Tables xiii
Nomenclatures and Acronyms xiv

Chapter 1 Introduction 1
1.1 General Background Information 1
1.2 Literature Review 4
1.3 Research Hypothesis 8
1.4 Problem Statement 9
1.5 Contributions of the Dissertation 11
1.6 Overview 14
Chapter 2 Observatory Reflector System 17
2.1 Nutating Subsystem 19
2.1.1 Nutating Mechanism 19
2.1.2 Subreflector 24
2.1.3 Actuator and Drive Amplifier 29
2.1.4 Control Electronics 34
2.2 Nutator Operation and Control 36
2.3 Reflector System Requirements 38
Chapter 3 Nutator Dynamic Model Analysis 44
3.1 Mathematical Foundations 44
3.2 Internal and Auxiliary Excitation 46
3.3 Balanced and Unbalanced Mechanism 48
3.4 Uncertainty and Robustness 51
3.4.1 Plant Uncertainty 52
3.4.2 Robust Performance 55
Chapter 4 Analysis and Design of Nonlinear MIMO Control Systems 61
4.1 System Architecture 61
4.1.1 Mirror Loop Analysis 66
4.1.2 Rocker Loop Analysis 70
4.2 Nonlinear MIMO PID Control Loop Analysis 72
4.2.1 Design of the PID Control Loop 73
4.2.2 The Control System of Neural Network 76
4.3 Twin VCM Controller for Mirror and Rocker Systems 78
4.3.1 Gain-Schedualing Design 78
4.3.2 Sensitivity Analysis 81
4.4 Decoupling Control System Design 83
4.5 Computer Simulation 85
4.5.1 The PID controller simulation 85
4.5.2 The model reference controller simulation 93
4.5.3 The decoupling control simulation 95
4.6 Concluding Remarks 98
Chapter 5 Genetics-Based PID Control Loop Analysis and Design 99
5.1 GA-based Evolutionary Algorithms 99
5.2 Evolutionary Algorithms for Optimal Design of Nutator Systems 100
5.2.1 Genetic Algorithms and the Design Method 100
5.2.2 Genetics-Based Optimal PID Controller Design 103
5.3 Simulation Results and Discussions 107

Chapter 6 Residual Torque Measurement 112
6.1 Measurement Methodology 112
6.2 Measurement Results 114
6.3 Concluding Remarks 119
Chapter 7 Conclusions and Prospects 120
7.1 Conclusions 120
7.2 Prospects 121
References 123
Appendix A H2W Voice Coil Actuator Test Data Sheet 136
Appendix B Dynamic Signal Analyzer 139
Publication List 142

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