摘要
针对大射电望远镜精调Stewart平台系统具有非线性、时变、受扰动等特点,并充分考虑易于实现的工程要求,提出自抗扰控制方案,采用分散控制策略和自抗扰控制算法,实现精调Stewart平台系统的高精度轨迹跟踪控制。实验结果证明方案的可行性与有效性。
A disturbance auto-rejection control strategy is proposed to realize the high-precision path tracking of large radio telescopes by taking account of the eharaeteristles of nonlinearity, time-varying and disturbances of their fine tuning Stewart platforms,and the readiness of en- gineering implementation.A disturbance auto-rejection control algorithm and a decentralized control law are developed for this.Experimental resuhs show the feasibility and effectiveness of the presented control strategy and algorithm for high precision path tracking.
出处
《机械强度》
EI
CAS
CSCD
北大核心
2005年第6期748-751,共4页
Journal of Mechanical Strength
基金
国家自然科学基金(59675040)
国家天文观测中心大射电望远镜实验资助项目
关键词
非线性系统
大射电望远镜
自抗扰控制器
精调Stewart平台
并联机器人
Nolinear system
Large spherical radio telescope
Auto-disturbances rejection controller
Fine tuning Stewartplatform
Parallel robot
