FAST馈源支撑系统位姿分配方法研究

邓赛; 景奉水; 梁自泽; 杨国栋; 于东俊

doi:10.3788/OPE.20172402.0375

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FAST馈源支撑系统位姿分配方法研究

微纳技术与精密机械 | 更新时间：2020-07-07

- FAST馈源支撑系统位姿分配方法研究
- Research on pose distribution algorithm of FAST feed support system
- 光学精密工程 2017年25卷第2期页码：375-384
- 作者机构：
  
  1.中国科学院自动化研究所复杂系统管理与控制国家重点实验室, 北京 100190
  2.中国科学院大学, 北京 100049
  3.中国科学院国家天文台, 北京 100012
- 作者简介：
  
  [ "邓赛 (1991-), 男, 湖南益阳人, 博士研究生, 2012年于湘潭大学获得学士学位, 主要从事并联机器人运动规划与控制等方面研究。E-mail:dengsai2012@ia.ac.cn" ]
  景奉水 (1969-)，男，山东章丘人，研究员，博士生导师，2002年于中科院自动化所获得博士学位，主要从事机器人运动控制与机器视觉的研究。E-mail: fengshui.jing@ia.ac.cn JING Feng-shui, E-mail: fengshui.jing@ia.ac.cn
- 基金信息：
  
  国家自然科学基金资助项目(61573358)
- DOI：10.3788/OPE.20172402.0375
  中图分类号： TP394.1;TH691.9
- 收稿日期：2016-07-11，
  
  录用日期：2016-8-20，
  
  纸质出版日期：2017-02-25
- 稿件说明：
移动端阅览
邓赛, 景奉水, 梁自泽, 等. FAST馈源支撑系统位姿分配方法研究[J]. 光学精密工程, 2017,25(2):375-384.

Sai DENG, Feng-shui JING, Zi-ze LING, et al. Research on pose distribution algorithm of FAST feed support system[J]. Optics and precision engineering, 2017, 25(2): 375-384.
邓赛, 景奉水, 梁自泽, 等. FAST馈源支撑系统位姿分配方法研究[J]. 光学精密工程, 2017,25(2):375-384. DOI： 10.3788/OPE.20172402.0375.

Sai DENG, Feng-shui JING, Zi-ze LING, et al. Research on pose distribution algorithm of FAST feed support system[J]. Optics and precision engineering, 2017, 25(2): 375-384. DOI： 10.3788/OPE.20172402.0375.

摘要

为实现五百米口径球面射电望远镜（Five-hundred meter Aperture Spherical radio Telescope，FAST）馈源支撑系统馈源终端的高精度轨迹跟踪及防止馈源支撑索力超限，研究了馈源支撑系统星形框架和AB轴机构对目标终端位姿的分配算法。首先，根据馈源支撑系统机构特征，综合馈源舱的重心时变及其采用的回照策略，建立了带有馈源舱回照策略的考虑馈源舱重心时变的悬索牵引并联系统力学模型。然后，为解决AB轴机构与星形框架间的运动耦合问题，设计了两种馈源支撑系统位姿分配算法：优先保障六索索力均衡的位姿分配算法和优先保障馈源接收终端定位精度的位姿分配算法。最后，通过仿真对两种算法在馈源终端定位精度和索力分布情况两个方面的性能进行分析。仿真结果表明：前一算法能使六索索力分配均匀，但是引入了最大1.2°的馈源接收终端指向误差，已超出工程指向精度范围。后一算法的六索索力波动较大，但索力没超限或虚牵，能保证馈源接收终端的位姿，此算法满足工程需求。

Abstract

In order to achieve high-accuracy trajectory tracking at feed end of Five-hundred meter Aperture Spherical radio Telescope (FAST) support system and to prevent the force over-limit of supporting cables

the pose distribution algorithms of target end by the star-frame of feed support system and A-B rotator were studied in the article. Firstly

according to the mechanism characteristic of the feed support system

combining the time-varying barycenter and the back illuminating strategy applied in feed cabin

a mechanical model of cable-driven parallel system which considers the time-varying barycenter of feed cabin and provided with back illuminating strategy was established. Secondly

in order to solve the motion coupling between the A-B rotator and the star-frame

two pose distribution algorithms of the feed support system were designed:the pose distribution algorithm which gives priority on ensuring the balanced cable force of six-cable and the pose distribution algorithm which gives priority on ensuring the positioning accuracy of the feed receiver. Finally the performance of above two algorithms on positioning accuracy of the feed receiver and the distribution of cable force were analyzed. And the results show that the former algorithm is able to balance the cable force on six-cable

however the error due to introduction of maximum 1.2° of the feed receiver has been beyond the scope of the specified accuracy of the project. The second algorithm makes cable force on six-cable fluctuate significantly

but the force was not over the limit or under virtual pull

which means such algorithm meets engineering requirements because it can ensure the pose of the feed receiver.

关键词

Keywords

references

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