The performance of on telescope depend strongly on its operating conditions. During pointing the telescope can move at a relatively high velocity, and the system can tolerate trajectory position errors higher than during tracking. On the contrary, during tracking Alt-Az telescopes generally move slower but still in a large dynamic range. In this case, the position errors must be as close to zero as possible. Tracking is one of the essential factors that affect the quality of astronomical observations. In this paper, a hybrid Genetic-Fuzzy approach to control the movement of a two-link direct-drive Celestron telescope is introduced. The proposed controller uses the Genetic algorithm (GA) for optimizing a fuzzy logic controller (FLC) to improve the tracking of the 14-inches Celestron telescope of the Kottamia Astronomical Observatory (KAO). The fuzzy logic input is a vector of the position error and its rate of change, and the output is torque. The GA objective function used here is the Integral Time Absolute Error (ITAE). The proposed method is compared with a conventional Proportional-Differential (PD) controller, an optimized PD controller with a GA, and a Fuzzy controller. The results show the effectiveness of the proposed controller to improve the dynamic response of the overall system.

中文翻译：

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用于 14 英寸天文望远镜跟踪的混合遗传模糊控制器

望远镜的性能很大程度上取决于它的工作条件。在指向期间，望远镜可以以相对较高的速度移动，并且系统可以容忍比跟踪期间更高的轨迹位置误差。相反，在跟踪 Alt-Az 望远镜期间，通常移动速度较慢，但​​仍处于较大的动态范围内。在这种情况下，位置误差必须尽可能接近于零。跟踪是影响天文观测质量的重要因素之一。在本文中，介绍了一种用于控制双连杆直驱 Celestron 望远镜运动的混合遗传模糊方法。所提出的控制器使用遗传算法 (GA) 来优化模糊逻辑控制器 (FLC)，以改进 Kottamia 天文台 (KAO) 的 14 英寸 Celestron 望远镜的跟踪。模糊逻辑输入是位置误差及其变化率的矢量，输出是扭矩。这里使用的 GA 目标函数是积分时间绝对误差 (ITAE)。所提出的方法与传统的比例微分 (PD) 控制器、带有 GA 的优化 PD 控制器和模糊控制器进行了比较。结果表明，所提出的控制器在改善整个系统的动态响应方面是有效的。