摘要
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。
To meet the vibration control requirement of a large radio telescope which is a fivehundredmeter aperture spherical telescope (FAST), a speeddifference method was developed to predict the movement of a general Stewart platform. Analysis of interpolation in the work space and in the joint space showed that interpolation in the joint space was simpler than that in the work space which will simplify optimization of the dynamic performance of vibration control systems. A joint space interpolation scheme was then developed with direct and inverse kinematics used to analyze the interpolation error. The simulation and experimental results show that the interpolation scheme can satisfy the needs of the FAST control.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2002年第11期1473-1476,共4页
Journal of Tsinghua University(Science and Technology)
基金
中国科学院知识创新工程重大项目(FAST(预)-B-06)
清华大学机械工程学院重点基金资助项目(091202001)
清华大学基础研究基金资助项目(092502006)
