引用本文:訾斌, 段宝岩, 杜敬利.超大型天线馈源舱柔索支撑结构动力学分析与跟踪控制[J].控制理论与应用,2007,24(6):938~942.[点击复制]
ZI Bin, DUAN Bao-yan, DU Jing-li.Dynamic analysis and tracking control of the cable-suspended system for the five-hundred-meter aperture spherical telescope[J].Control Theory and Technology,2007,24(6):938~942.[点击复制]
超大型天线馈源舱柔索支撑结构动力学分析与跟踪控制
Dynamic analysis and tracking control of the cable-suspended system for the five-hundred-meter aperture spherical telescope
摘要点击 1512  全文点击 1384  投稿时间：2006-05-16  修订日期：2006-11-29
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DOI编号  10.7641/j.issn.1000-8152.2007.6.014
  2007,24(6):938-942
中文关键词  柔索支撑系统  非线性动力学分析  自适应模糊控制  模糊切换
英文关键词  cable-suspended system  nonlinear dynamic analysis  adaptive fuzzy control  fuzzy switching
基金项目  国家自然科学基金重点资助项目(10433020), 国家自然科学基金面上资助项目(50475171)
作者单位
訾斌, 段宝岩, 杜敬利 西安电子科技大学机电工程学院, 陕西西安710071 
中文摘要
      根据悬链线解析表达式推导出柔索两端固定时索端拉力与索长之间的关系, 用于求解特定长度的驱动柔索对处于某一位姿的馈源舱作用力, 在此基础上应用Newton-Euler法建立了超大型射电望远镜馈源舱柔索支撑系统的简化动力学模型. 采用具有二次收敛性的Newton-Raphson迭代法进行求解, 得到较快的求解速度以满足实时控制要求. 针对该系统的非线性、慢时变、多变量耦合等特点, 提出了一种自适应双模糊控制器来实现馈源舱轨迹跟踪. 该控制器采用模糊推理完成两组控制器的平稳过渡. 最后, 通过仿真计算结果验证了该控制策略的有效性.
英文摘要
      The relation between end forces and cable length is derived based on the analytical equation of catenary of a cable with two endpoints fixed. So the actuating forces on the cabin locating at a certain position and taking a certain posture can be solved with the given driving cable lengths. A simplified dynamic model of cabin-cable system for the five-hundredmeter aperture spherical telescope was established according to Newton-Euler formulation. The equations can be solved by Newton-Raphson method possessing the quadratic convergence property, which can guarantee a higher computation speed to meet the requirement of real time control algorithm. Considering the characteristics of nonlinearity, slow time-variant and multivariable coupled flexible structure, an adaptive bi-fuzzy control method with proportional-integral-tuning unit is then employed to realize the trajectory tracking of the feed cabin, which optimizes the control rules by adjusting factors. Smooth actions of the controller during switching are guaranteed by using fuzzy inference. At the end of this paper, the effectiveness of the proposed control strategy is verified by simulation results.