應用於智慧型望遠鏡雲台控制之嵌入式模糊PID雙軸馬達控制系統設計

天文望遠鏡雲台，是提供觀星者架設望遠鏡觀星的重要輔助工具。而隨著科技之日新月異，望遠鏡雲台也整合了馬達控制系統，並藉由嵌入式系統來實現導星和追星之功能。若要穩定實現此兩種功能，其馬達的控制系統是非常重要的。本研究應用於模糊PID控制器，控制雲台內的馬達，以提高響應速度、穩定度及精確度，並依據模糊規則中誤差與誤差的變化量，來做為修正控制核心間的規則庫，設計出具備自適應控制的功能。並在自動初始校正中，採用加速度感測器和電子羅盤來做兩軸水平與對北的校正，且再經由GPS所得到的當地時間、日期和經緯度推算出北極星的座標位置。最後，可由控制系統來將望遠鏡移至北極星，作為智慧定位整個天體的基準方式。此外，我們亦將智慧型望遠鏡雲台控制系統設計應用於智慧型追日功能上，讓整體系統更為完整。透過本系統的設計，將有助於一般無專業背景的天文愛好者或使用者在操作天文望遠鏡時，能快速地定位與追蹤。而此系統的設計方式也透過智慧化的設計方式，大幅改善使用者的友善的操作介面，增加相關產品突破性的發展與應用。

關鍵字

望遠鏡雲台；模糊PID控制；加速度感測器；電子羅盤；追日系統

並列摘要

Telescope mount is an essential assistant tool for astronomical observation. With the advanced technology, telescope mount is combined with motor control system that with the help of the embedded system, the telescope can further carry the GoTo and tracking functions. Therefore, the motor control system plays an important role to perform these two functions. This study applies the fuzzy PID control to control the motor on the telescope mount so that the response rate, stability and precision can be accelerated. Based on the error (e) and error rate (△e) regulated by the fuzzy rule, the study modifies the rule base of the motor control system to design an intelligent control. Moreover, in the initial auto calibration, the accelerometer and magnetometer are utilizes in the study to generate two horizontal axes for the calibration. Then assessing data of time, date, and latitude and longitude from GPS, the system can generate the coordinate position of the Polaris. And finally, with smart positioning function, the telescope control system locates Polaris as the datum reference point in the whole celestial body. Furthermore, the smart telescope mount in this study applies auto tracking sun system to create a better design. The system design in this study will help the amateurs efficiently do the work of positioning and tracking while using the telescope. With a smarter way of design, the study creates a more user-friendly operational interface to develop a breakthrough for other relevant applications.

並列關鍵字

Telescope mount ； Fuzzy PID control ； Accelerometer ； Magnetometer ； Tracking sun

參考文獻

[1]. Chemishkian, S.Y. and Meroyan, E.H., 1994, “Robust control design for a spaceborne telescope guidance system.”, Control Applications, 1994., Proceedings of the Third IEEE Conference on, vol.3, pp.1591-1594, 24-26 Aug.

[5]. Huhai Jiang, et al., 2011, “Analysis of zenith pass problem in a roll-pitch optics seeker.”, Electronics and Optoelectronics (ICEOE), 2011 International Conference on, vol.1, pp.72-74, 29-31 July.

[6]. SynScan Hand Control, Instruction Manual.

[7]. Kelly, R. and Moreno, J., 2002, “Learning PID structures in an introductory course of automatic control.”, Education, IEEE Transactions on, vol.44, pp.373-376, 06 Aug.

[8]. Xiu Jie and Xia Changliang, 2007, “Fuzzy Logic Based Adaptive PID Control of Switched Reluctance Motor Drive.”, Control Conference, 2007. CCC 2007. Chinese, pp. 41-45, 26 July-31 June.

國際替代計量

應用於智慧型望遠鏡雲台控制之嵌入式模糊PID雙軸馬達控制系統設計

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