CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
邓赛1,2; 景奉水1,2; 梁自泽1,2; 杨国栋1; 于东俊3
Source Publication光学精密工程
Other AbstractIn order to realize the high precision trajectory tracking and prevent the cables’ force out of limit for the Five-hundred-meter Aperture Spherical radio Telescope (FAST), the pose distribution algorithms, which realize the receiver’s pose by using the star-frame and A-B rotator, is studied. Firstly, considering the mechanism characteristic of the feed support system, and synthesizing the change of the feed cabin’s barycenter and the feed cabin’s back illuminate strategy, the article builds the mechanical model of the cable-driven parallel system. Secondly, in order to solve the motion coupling between the A-B rotator and the star-frame, two kinds of the pose distributions algorithms of the feed support system is designed: the pose distribution algorithm which gives priority to ensure the cables’ force uniform distribution, and the pose distribution algorithm which gives priority to ensure the receiver’s positioning accuracy. Finally, through simulation, the performance of the designed algorithms in the receiver’s positioning accuracy and the distribution of the cables’ force is analyzed. The simulation results indicate that the former algorithm can make the cables’ force distribute uniformly, but it leads to the receiver’s pointing error, which up to 1.2°, it is beyond the scope of the designed pointing accuracy of the project. The second algorithm makes a little big fluctuation of the cables’ force, but the cables’ force are not out of limit and the cables are not virtual pull, and this algorithm hasn’t the receiver’s pointing error, it meets the engineering requirements.
KeywordFast 射电望远镜 位姿分配 重心时变 回照
Document Type期刊论文
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
邓赛,景奉水,梁自泽,等. FAST馈源支撑系统位姿分配方法研究[J]. 光学精密工程,2017,25(2):375-384.
APA 邓赛,景奉水,梁自泽,杨国栋,&于东俊.(2017).FAST馈源支撑系统位姿分配方法研究.光学精密工程,25(2),375-384.
MLA 邓赛,et al."FAST馈源支撑系统位姿分配方法研究".光学精密工程 25.2(2017):375-384.
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