【摘要】 正在研制的14.5 m光学红外望远镜的驱动系统采用永磁同步电机（permanent magnet synchronous machine,PMSM），其传感器会发生反馈信号延时的情况。为了解决上述问题，该文提出一种预测PI(proportion integral)控制器延时补偿的方法，补偿传感器在读数、传输时的延迟。预测PI控制器通过当前和历史的观察数据来估算未来的控制命令，从而改善反馈信号出现延时望远镜驱动系统的性能。该方法与已建成的Subaru望远镜方位轴控制系统进行对比实验，在3 ms延时情况下，该方法相较于Subaru方位轴控制系统，稳态时间减少2.844 s，且稳态误差为0；在5 ms延时情况下，该方法稳态时间为0.049 s，而Subaru方位轴控制系统不再稳定。在不同延时情况下验证了提出的方法具有更优越的控制性能，能够在超低速下保证电机稳定运行。更多还原

【Abstract】 The drive system of the 14.5 m 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 controller 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 effectively improve the performance of the telescope drive system with feedback signal delay and ensure its stability. Under a delay of 3 ms, compared to the Subaru azimuth axis control system, the proposed method reduces the steady-state time by 2.844 s, and the steady-state error is 0. Under a delay of 5 ms, the steady-state time of the method proposed in this paper is 0.049 s, while the Subaru azimuth axis control system is no longer stable. The proposed method has been validated to have superior control performance under different delay conditions, ensuring stable motor operation at ultra-low speeds.更多还原