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FAST馈源支撑系统建模与协调控制研究
其他题名Research on Modeling and Coordinated Control of the Focus Cabin Suspension of FAST
郝建林
学位类型工学博士
导师梁自泽
2015-05-27
学位授予单位中国科学院大学
学位授予地点中国科学院自动化研究所
学位专业控制理论与控制工程
关键词Fast馈源支撑系统 运动学建模 三级平台期望位姿规划 滚动优化方法 接收机二次误差模型 Focus Cabin Suspension Of Fast Kinematics Modeling Expected Pose Planning Of Three Platforms Receding Horizon Optimization Method The Quadric Error Model Of Receiver
摘要馈源支撑系统作为FAST工程的三项自主创新之一,采用轻型索驱动馈源支撑将接收机天顶角提高到 的工作极限,以光学动态检测与现代控制技术保障望远镜的跟踪指向控制精度。但同时FAST馈源支撑系统机械结构特点使其成为大尺度、强耦合的非线性系统,这将对接收机高精度控制带来严峻考验,因此必须对FAST馈源支撑系统进行建模与协调控制研究,才能保障FAST工程目标的顺利实现。 本文在相关研究基础上主要进行了馈源支撑三级平台运动学建模与期望位姿规划、基于运动学模型的馈源舱调整量滚动优化、基于接收机二次误差模型的Stewart机构精调控制等研究;并设计、开发了密云缩尺模型控制软件,进行了换源、天文跟踪等实验研究,论文的具体工作包括: 1.介绍了FAST馈源支撑系统的研究背景,从馈源支撑系统机构设计方案、相关理论国内外研究进展两个方面对馈源支撑系统关键技术进行了综述,总结了研究过程中的难点,并阐明了本文的选题意义和主要研究内容。 2.针对密云缩尺模型馈源支撑系统,首先建立了三级平台运动学模型,尤其考虑了绳索自重及弹性形变因素,建立单索悬链线模型求解绳索长度;其次在静力学分析的基础上,采用索力优化原则合理地分配天文跟踪角度分别由索并联机构与A-B转台实现,以保障馈源舱在具有拉力条件的可控工作空间内运行,并设计加减速连续运动轨迹规划以降低换源过程中馈源舱抖动;最后通过分析密云缩尺模型实验数据可以看出:基于索力优化的索并联机构姿态规划方法有效地解决了绳索虚牵问题,保障馈源舱在具有拉力条件的可控工作空间内运行;本文中的三级平台运动学建模方法可以有效地完成馈源支撑系统协调控制,满足密云缩尺模型控制精度要求;且加减速连续运动轨迹规划降低了换源过程中的馈源舱抖动。 3.针对FAST馈源支撑系统索并联机构原型时滞问题,首先建立了馈源舱运动学模型,并定义滚动优化目标函数用于求解控制输入最优调整量;其次介绍了滚动优化方法参数整定和设计方法,确定了满足滚动优化方法设计要求的可选参数,且通过lyapunov定理证明了运动学模型时变情况下滚动优化方法的鲁棒性;最后通过仿真实验与密云缩尺模型实验数据分析得出:基于运动学模型的馈源舱调整量滚动优化方法能够精确地求解出馈源舱调整量,有效地提高了接收机跟踪控制精度。 4.针对FAST馈源支撑系统原型精调控制问题,根据馈源支撑系统刚-柔运动学耦合特点,在运动学、静力学及馈源支撑重心时变模型的基础上,建立了接收机二次误差模型用于计算刚-柔运动学耦合造成的接收机二次误差值;并建立了考虑接收机二次误差时馈源支撑精调控制输出量模型,通过与不考虑刚-柔运动学耦合造成的接收机二次误差控制方法仿真实验对比,基于接收机二次误差模型的馈源支撑精调控制算法有效地降低了刚-柔运动学耦合对接收机的影响,提高了接收机控制精度。 关键词:FAST馈源支撑系统,运动学建模,三级平台期望位姿规划,滚动优化方法,接收机二次误差模型
其他摘要The focus cabin suspension is one of three independent innovations of FAST. The limit of zenith angle is increased to by using light cable driven focus cabin suspension. However, the character of mechanical structure makes focus cabin suspension large scale, strong coupling and nonlinear, which will bright the huge challenges for the high control accuracy of receiver. Therefore, the modeling and coordinated control of the focus cabin suspension must be researched in order that the target of FAST is realized smoothly. The kinematics modeling and expected pose planning of focus cabin suspension of FAST, the receding horizon optimization method of adjustment amount of focus cabin based on the kinematic equation, the fine adjustment control algorithm based on the quadric error model of receiver are studied in the light of the relative research. The control software is designed and developed for Miyun scale model, as well as the Source-change and Astronomical-Tracking experiments study is conducted. The main contributes of this paper includes: 1.The mechanical structure scheme and the relative theoretical research progress both at home and abroad are summarized for the research background of focus cabin suspension of FAST, and the significance of research topic and main research contents in this paper are pointed out. 2.The kinematics model of the focus cabin suspension of Miyun scale model is built. Firstly, the single cable catenary model of the cable parallel mechanism when considering the impact of the cable weight and elastic deformation is worked out to calculate the length of the cable. Then, the tracking angle is reasonably distributed into the angle made up by the cable parallel mechanism and the angle made up by the A-B turntable on the basis of cable tension optimization principle to keep the focus cabin moves in the controllable workspace with the tension condition. The trajectory planning of continuous acceleration of receiver is designed to reduce the vibration of the cable and enhance the accuracy of the Source-Changing. Finally, the conclusions can be attained according to the experiments data analysis of Miyun scale model: the attitude planning method of star frame based on cable tension optimization makes the focus cabin move in controllable workspace with the tension condition; the algorithm based on the continuous acceleration with attitude planning of the focus cabin can reduce the oscillation of the focus cabin in the process of Sour...
其他标识符201118014628006
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/6711
专题毕业生_博士学位论文
推荐引用方式
GB/T 7714
郝建林. FAST馈源支撑系统建模与协调控制研究[D]. 中国科学院自动化研究所. 中国科学院大学,2015.
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