Kinematies,Real-time Measurement And Control Of Cable And Cabin System For Large Radio Telescope

Study on kinematics, real-time measurement, control structure and method, and experiment of cable and cabin system utilized in large radio telescope (FAST project) has been described. From viewpoint of mechanism, it belongs to a kind of parallel mechanism. So far, there is still open about this parallel mechanism. The dissertation presents a concept called parallel macro-micro robot Ibr the first time. And more, the inverse kinematics model on this cable and cabin system is developed according to the kinematics theory of robot; Since the cable and cabin structure is a parallel mechanism instead of series system, both cable length and speed are required to be controlled. For the sake of this, a new interpolation method is utilized. In the method, a hybrid algorithm by combining 3~ and 4~?interpolation is applied to produce the route and speed between the route points. The result has shown that this algorithm is better than the classic methods. The distributed control system with a host computer and six subordinate computers is put forward. Considering the different requirements of the tracking and searching the radio source, the Fuzzyæ¡­uzzyPD control method is proposed too. Three kinds of usable measurement technologies (GPS, Laser Ranger and CCD) are proposed. A 5m model has been constructed to correct the related theories and technologies. In order to enhance the stiffness of cable and cabin system, two downward cables are added. The following eight chapters are divided in the dissertation.Chapter 1 is Preface. The background and target of the large radio telescope FAST are introduced. The study condition of cable structure is reviewed. The studied works of this dissertation are given at the end.Chapter 2 is Inverse Kinematics Model of Parallel Macro-Micro Robot System. The concept called parallel macro-micro robot is presented. Two kinds of optimal disposing methods of the cables?tensions are used to build the inverse kinematics model of cable and cabin system. The error compensation model of the fine tuning Stewart platform is deduced.Chapter 3 is Kinematics Planning of Parallel Cable Structure. The speed control strategy of parallel cable structure is introduced. The heuristic method is used to produce the speed of six cables. Then a hybrid algorithm by combining 31d and 4æ•€ interpolation is applied to produce the mute and speed between the route points.Chapter 4 is Control Structure and Control Strategy of Cable and Cabin System. The distnbuted control structure and Fuzzyæ¡­uzzyPID control method are proposed. Two kinds of communication methods are introduced. Finally, the monitoring project for the cables?tensions is givenChapter 5 is Real-time Position and Orientation Measurement System for Cabin.ThreeIII1~~~usable technologies for measuring the position and orientation of cabin (GPS, Laser Ranger, CCD) are introduced. The technological design and the mathematical model have been built.Chapter 6 is 5 Meter Experimental Model. The total structure, control system and expeiimental results of Sm model are introduced in this chapter.Chapter 7 is 50 Meter Outdoor Experimental Model. The total structure and control system of 50m model in constn.icting are described in this chapter.Chapter 8 is Conclusion and Expectation. The conclusion of studied works in this dissertation and the future works are given in this chapter.