Direct adaptive control for position drive of the prototype's axis of telescope's rotational support device with elastic deformations

To the optical mechanical complexes of tracking and positioning, strict requirements are produced on the dynamics and permissible errors under such conditions as external and internal nonstationary disturbances, as well as presence of elastic deformations in the links of the driven mechanism. In modern systems, adaptive control algorithms have proven themselves as complementary to the main control loops. The article is devoted to the self-adaptive system for controlling of the servo electric drive of prototype's axis of telescope's rotational support device. It's shown that such system has low sensitivity to variations of object's parameters and lets to eliminate vibration in the mode of movement with infralow speed.