大射电望远镜精调系统的自抗扰控制及实验研究  

EXPERIMENTAL STUDY AND AUTO-DISTURBANCES REJECTION CONTROL OF THE FINE TUNING PLATFORM FOR LARGE RADIO TELESCOPE

作　　者：张永芳[1] 张安[1] 段宝岩[2] 

机构地区：[1]西北工业大学电子信息学院,西安710072 [2]西安电子科技大学机电工程学院,西安710071

出　　处：《机械强度》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

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.

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 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP214.2[自动化与计算机技术—控制科学与工程]