Model And Control Of Flexible Cable Support System For Large Radio Telescope Feed Cabin

Based on a completely new design project of next generation large radio telescope (LT) integrating tectonics and optics technologies, the paper analyze its athletic and dynamic model of six-DOF flexible Cable Support System, and the novel independent control strategy is proposed to the 50m model of flexible cable support system of the feed Cabin, emulation and experiment is executed to demonstrate the feasibility of the methodology.In the next generation LT,the rough adjustment system drives the feed cabin to track some radio source in six-DOF through the cooperative variation of lengths of six long cables. since the operation is similar to a cable-supported parallel robot (CPR),the cable cabin flexible structure for the new generation LT is viewed as a CPR .The dynamic model of CPR is established using Lagrange's Equations. Through the model the inverse dynamic problem of CPR is solved and a foundation is made for CPR control used for LT50m.In the paper, considering the shortcoming of nonlinearity, large delay, inform rigidity, intense coupling ect. of flexible cable system, a kind of fuzzy adaptive robust control strategy is presented, which using the first kind of fuzzy logic system as the controller for nonlinear system. Robust compensation is added based on original control proposal,the stable condition is further broaden to minimum approximation error bound. The effectiveness and easy engineering implementation of this novel independent control strategy is verified by the experimental results of a scaled model of the LT with the diameter of 50m.