The Design And Realization Of New Control System For Stewart Fine Tuning Platform Based On SynqNet

Based on a completely new design project of next generation large radio telescope(FAST) integrating mechtronics and optics technologies, the control strategies and control methods of trajectory tracking of the feed-supporting system with large span cable are researched for realizing high requirement of trajectory tracking, which is enable the trajectory tracking system to realize the high precise tracking by using the Stewart platform as a fine tuning platform. Software and hardware of control system of the Stewart platform are reasonably developed from engineering application. All these can be summarized as follows :For the specialty of the parallel platform, the control strategies is researched for realizing high requirement of trajectory tracking, the distributed control strategy adopt in the joint space,Laid the foundation for position control by analyze inverse problems on Kinematics of fine tuning Stewart platform, then The smoothly moving trapezoidal mode was adopted to plan and realize the typical trajectory.A high-precision control of adaptive fuzzy PID controller was designed in the joint space, combination with the forecast of the next time cabin pose to achieve high-precision tracking.Based on a new Network-based servo motion controller-SynqNet, the software and hardware control system of the fine tuning Stewart platform was development and designed.A lot of experiments and tests are carried to verify the control algorithm, the control strategy, the engineering feasibility and effectiveness of the software and hardware system. From the theoretical and engineering aspects laid a solid foundation for the actual construction of the next generation large radio telescope.