Abstract
This contribution considers the design of servo tracking loops for large antennae structures which exhibit lightly damped flexible modes. A cascaded loop control structure employing performance oriented adaptive feedforward in the outer loop is developed. The procedures for designing the inner current (motor drive), rate loop and position loop as well as the adaptive feedforward compensator are presented. It is demonstrated that this constitutes a practical and robust solution to the problem of controlling servo tracking systems in the presence of non trivial resonances. The control structure provides excellent tracking of parabolic trajectories as well as disturbance rejection. The conclusions are supported by analysis, simulation, and experimental results on 22m, 26m and 64m radio-astronomy and telecommunication antennae across Australia.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
L.J. Sciacca, Experiments in Adaptive Control and System Identification - A Case Study, Technical Report EE9044, University of Newcastle, Department of Electrical and Computer Engineering, May 1990.
L.J. Sciacca, Adaptive Servo Control for Tracking Systems, Masters dissertation, Department of Electrical and Computer Engineering, August 1989.
L.J. Sciacca, R. J. Evans, R. E. Betz, D. N. Cooper, An Adaptive Controller for the Australia Telescope, Proceedings of the 11th IF AC World Congress, Tallinn, Estonia, August 1990.
D.R. Wilson, Modern Practice in Servo Design, Pergamon Press, New York, 1969.
B. Wallis, Improvement in Telescope Mounting, Brit. Pat. App. No. 29248/1955, 11 January 1957.
J. Rothwell, The Control of a Radio-Telescope, AEI Engineering, Jan/Feb, pp. 15–21, 1963.
H. C. Minnett, Design Study of Servo Drive System for an Alt-azimuth Radio Telescope, Freeman, Fox and Partners, London, Appendix C of Report Proposed Radio Telescope, September, 1957.
J.A. Macinante, The Dynamic Behaviour of a Large Steerable Radio Telescope, Mechanical and Chemical Transactions, I.E. Aust, November, pp. 147–155, 1967.
D.N. Cooper, N. Gouth, R. J. Evans, The Australia Telescope Antennas: Struc-tural, Mechanical and Servomechanism Features IREECON-85, Melbourne, October 1985.
R.J. Evans, Australia Telescope Project: Servo Design: Preliminary Considerations Technical Report ECE 8311, May 1983, Department of Electrical and Computer Engineering, University of Newcastle.
R.J. Evans, D. N. Cooper, R. A. Kennedy, Servo System Design for the Aus-tralia Telescope, I.E. Aust. Third Conference on Control Engineering, Sydney, 1986.
K.J. Astrom, B. Wittenmark, Computer Control Systems-Theory and Design, Prentice-Hall, 1984.
K.J. Astrom, B. Wittenmark, Adaptive Control Addison-Wesley, 1988.
R.A. Kennedy, Digital Control of a Radio- Telescope, Masters of Engineering, University of Newcastle, Department of Electrical Engineering and Computer Science, 1985.
R.A. Kennedy, R.J. Evans, Digital redesign of continuous controllers based on closed loop performance Proceedings of the 29th IEEE Conf Dec Contr, ppl898–1901, Hawaii, 1990.
L. Ljung, System Identification - Theory for the User, Prentice-Hall, N. J.,1987.
I.M.Y. Mareels, J.W. Polderman, Adaptive Systems: An Introduction, Birkhauser, 1994.
I.M.Y. Mareels, Dynamics of adaptive systems, PhD thesis, Department of Systems Engineering, Australian National University, August 1986.
R.H. Middleton, R. J. Evans, R. E. Betz, Servo-regulator designs for robotic systems with resonances, Proceedings International Robotics Conference, Sydney, pp. 1200–1217, Nov 1998.
C. Scruton, Introduction to wind effects on structures, Oxford University Press, 1980.
P.V. Osburn, H.P. Whitaker, A. Kezer, New developments in the design of model reference adaptive control systems, IAS paper No 61–39, Feb 1961.
B.D.O. Anderson, R.R. Bitmead, C.R. Johnson, P.V. Kokotovic, R. Kosut, I.M.Y. Mareels, L. Praly, B.D. Riedle, Stability of Adaptive Systems: Averaging and Passivity Analysis, MIT Press, Boston, MA, 1986.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2001 Springer-Verlag London Limited
About this chapter
Cite this chapter
Evans, R.J. et al. (2001). Adaptive Servo Control of Large Antenna Structures. In: Goodwin, G. (eds) Model Identification and Adaptive Control. Springer, London. https://doi.org/10.1007/978-1-4471-0711-8_7
Download citation
DOI: https://doi.org/10.1007/978-1-4471-0711-8_7
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1185-6
Online ISBN: 978-1-4471-0711-8
eBook Packages: Springer Book Archive