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中文摘要：
大型射电望远镜柔索-馈源舱粗调子系统的改进方案通过8根柔索长度的协调变化来控制馈源舱的6自由度运动。首先进行了该机器人的运动学分析,并分别建立了末端执行器和驱动系统的动力学模型;其次,考虑柔索强度和电机负荷的约束条件,给出了以索力范数为目标实时优化求解索驱动力的方法;在此基础上,针对系统的非线性、强耦合特点以及随机风荷对系统的扰动,提出了一种新的复合控制策略。即利用基于绳长关节空间的PD修正前馈控制器引入非线性状态反馈补偿,通过干扰观测器观测外部扰动对电机跟踪性能的影响,进行振动抑制。数值结果表明方法的有效可行。
英文摘要：
In a modified cable-cabin coarse tuning system of the large radio telescope, eight cables drive the feed cabin with six degrees of freedom cooperatively to track a radio source. Firstly the kinematics analysis of the cable-driven parallel manipulator was processed. The dynamic models of the end-effector and the drive system were established respectively. Secondly, considering the constraints on the cable strengthes and the loads of the motors, the optimum tensions were obtained according to minimizing the norm of cable tensions. Further, in view of nonlinearity characteristics, strong coupling and stochastic wind disturbance, a new hybrid control scheme for the manipulator was developed. The nonlinear state feedback compensation was introduced to a modified PD forward controller in the cable length coordinates. And a disturbance observer was used to estimate the disturbance exerting on the motors to suppress the disturbance effect. Numerical results show the feasibility and validity of the control scheme.
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