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...
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