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为满足大射电望远镜FAST(five-hundred-meteraperturesphericaltelescope)馈源指向跟踪系统的减振控制要求,在通用Stewart平台机构上,利用速度差分预测控制算法获得了控制轨迹;研究了操作空间和关节空间的插补实现,推导了具体公式;根据关节空间插补计算简单以及易于控制动态特性的特点,提出了减振控制中在关节空间插补的策略;进一步结合运动学正逆解,给出了关节空间插补精度的分析流程。仿真计算及实验结果表明,关节空间插补能够满足FAST的控制要求。
In order to meet the requirement of vibration control of FAST (five-hundred-meteraperturesphericaltelescope) feed-oriented tracking system, the control trajectory was obtained by using the speed differential predictive control algorithm on the general Stewart platform mechanism. The operation space and joint space According to the simple calculation of joint space interpolation and the characteristics of easy control of dynamic characteristics, the strategy of interpolation in joint space in vibration control is put forward. Combined with the positive and inverse solution of kinematics, the joint Spatial interpolation accuracy analysis process. Simulation results and experimental results show that joint space interpolation can meet the control requirements of FAST.