DOI 10.17586/0021-3454-2015-58-8-645-652

DOI 10.17586/0021-3454-2015-58-8-645-652

**UDC 681.5.11**

## SYNTHESIS OF A SPEED SUBSYSTEM OF TWO-MOTOR SERVO DRIVE OF A TELESCOPE WITH THREE-MASS ACTUATING AXLE

Saint-Petersburg State University of Information Technologies, Mechanics and Optics; Associate professor

M. Nikitina

Saint-Petersburg State University of Information Technologies, Mechanics and Optics; Associate professor

M. E. Kononova

ITMO University, Department of Electrical Engineering and Precision Electromechanical Systems; Post-Graduate Student

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**Abstract.**The structural solution and speed subsystem synthesis method for 4-loop control system for angle of twin-motor servo drive of biaxial telescope elevation axle are presented. A parametric method of the system synthesis is developed for the case when the executive axle may be represented with a three-mass unbranched mathematical model. A vector-matrix mathematical model of speed subsystem suitable for the dynamic processes analysis is proposed. A comparative analysis of the transient characteristics of speed subsystems designed with the use of the described method and mathematical model is carried out for one- and two-motor servo drive of the telescope. Results of simulation demonstrate that with the two-motor speed, the frequency bandwidth determining its speed, may be twice as large as with the one-motor subsystem. The difference is achieved due to higher resonant frequency of the two-motor mechanism, and halved the mass ratio defining the regulators parameters. The second factor is the most important, as it allows to double the speed even with close values of the three-mass mechanism resonance frequencies.

**Keywords:**servo drive, speed subsystem, actuating axle, three-mass mechanism, structural solution, mathematical model, method of synthesis, comparative analysis