Azimuth ultra low speed tracking control for direct driving brushless motor

In order to realize high precision control of the mount servo system for modern large-scale optical astronomical telescopes, direct drive control technology was adopted, motor was directly coupled to the load together, it saves the transmission part between them. The torsional stiffness of giant telescopes tracking axis was improved, simplified telescope structure, improved tracking telescope precision, it can effectively inhibit nonlinear factors influence of pitch play, static friction torque, and increase reliability of system, as well as reduce the maintenance and maintenance costs. Experimental results showed that such driving servo system has effectively resisted inside and outside disturbance signals and tracked input signals, which meet the needs of telescope high precise tracking, and satisfy astronomical observation exact observation, wide modulating velocity parameter requirement.