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中文摘要：
新一代大射电望远镜（LT）粗调系统是通过6根索长的协调变化驱动馈源舱跟踪射电源的六自由度运动，其工作特点类似Stewart平台，因此被看作大柔性Stewart平台。针对该系统变结构、非线性、大滞后、强耦合等特点，提出一种卡尔曼滤波和基于优化神经网络结构的PID控制器（PID-NNC）相结合的控制算法来实现馈源轨迹跟踪控制。这种新方法通过构造卡尔曼滤波来抑制随机干扰对系统的影响，同时采用PID-NNC来实现馈源舱轨迹跟踪。理论分析和仿真实验表明，该控制算法不仅能满足对轨迹跟踪精度要求，而且具有较强的鲁棒性。
英文摘要：
In the new- generation large spherical radio telescope （LT）, the rough adjustment system drives the feed cabin to track some radio source in six - DOF through the cooperative variation of lengths of six long cables. since the operation is similar to a Stewart platform, the cable- cabin flexible structure for the new generation LT is viewed as a huge flexible Stewart platform. Considering its characteristics of variable structure, nonlinearity, slow time - variant, large delay, intense coupling etc., we put forward a new control method to realize the trajectory tracking of the feed, which combines Kalman Filtering with PID controller based on improved neural network （PID - NNC）. Kalman Filtering is used for suppressing the effect of random disturbances on the flexible structural system, and PID - NNC is used for realizing trajectory tracking. The results of theoretical analysis and simulation experiments obtained from the huge flexible Stewart platform control system show that the tracking accuracy is much better and the cable - cabin control system has strong robustness.
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