| 英文摘要 | Five-hundred-meter aperture spherical radio telescope, known as the FAST program, is one of the mega-science programs of China. Started up in 1999 and approved in 2007, FAST is under engineering construction. With estimated date of completion in 2016, it will be the largest and most precise single dish radio telescope then. This work is supported by the project Optimal and Simulation Research of Control on FAST Feed-Cabin-Support (FCS) system, and focus on the fine tuning subsystem, which is a 6-DOF Stewart manipulator, of the FCS system. This article is mainly concerning the following issues. First, the background information of FAST is presented, and the research status both in China and abroad of FAST and the 6-DOF parallel manipulator, i.e. Stewart manipulator, are summarized. Outline of this work is then introduced. Second, as basic knowledge, forward and reverse kinematics equations of Stewart manipulator are derived. In order to research the task space issue, force output is mapped to force input, and polar coordinates search method based on reverse kinematics is given. Third, composite control scheme of the FCS system is proposed. Concerning predictive control, Taylor series is used as the ideal kinematic model of the feed cabin. As regards this model, applications of differential estimation and Kalman filter estimator are developed. Fourth, upon a reduced-scale model of the FAST fine tuning system, a control system with industrial PC and motion coordinator is designed and realized, and the modular design of software is fulfilled, a test platform is established. Last, referring the proposed control scheme and methods, simulation study and experimental research are conducted on the test platform, and the results are illustrated in detail and analyzed. |
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