中文摘要：

针对中德亚毫米波望远镜的高性能指标要求，经过大量的调研和仿真分析，天线伺服系统采用了基于德国Rexroth交流伺服的两轴设计方案。系统以运动逻辑控制器和全数字交流驱动器为主体框架，并附加了安全保护措施装置。方位轴和俯仰轴均采用对力矩差值进行PID控制的双电机消隙技术，提高了天线运动的精度和天线转向时的平稳性。利用运动逻辑控制器强大的性能设计了轨迹跟踪功能，解决了天线软件部分的关键技术难题。

英文摘要：

According to the high performance specification requirement of Sino-German Sub-millimeter Wave Radio Telescope,after a mass of research and simulation analysis,the two axes design schemebased on German Rexroth AC servo is selected for antenna servo system. The main framework of this system is based on motion logical controller and full digital AC drive,and reinforced by security protection device. Azimuth and elevation axis both adopt PID controlled force moment difference anti-backlash technique, improving antenna motion accuracy and stability. This design utilizes the powerful performance of the motion logical controller to realize trajectory tracking function,which solvesa key technical problem of antenna software.