大射电望远镜馈源柔索支撑系统的建模与控制

根据柔索精确的悬链线解析表达式，推导出了两端固定时柔索初始长度与拉力之间的关系，从而能够精确而高效地获得柔索对两端节点的拉力，在此基础上应用牛顿-欧拉法建立了大射电望远镜馈源柔索支撑系统的动力学简化模型．针对该系统的非线性、慢时变、多变量耦合等特点，提出了一种带有自调整因子和比例积分校正环节的双模糊控制器来实现馈源轨迹跟踪．采用双模糊控制器对所建立的动力学模型进行了系统控制仿真实验．结果表明，该控制系统不仅能较好地跟踪期望信号，而且能满足馈源柔索支撑系统轨迹跟踪精度要求．

Modeling and Control of the Feed Cable-Supporting System for Large Spherical Radio Telescope

The relationship between initial length and tension of the cable is developed based on the analytical expression of catenary, so the forces applied to the end nodes can be solved exactly and efficiently. The simplified dynamic model of cabin-cable system for large spherical radio telescope is established with Newton-Euler formulation. Aiming at the characteristics of nonlinearity, slow time-variant and multivariable coupling, a novel bi-fuzzy control method with proportional-integral-tuning unit, which optimizes the control rules by adjusting factors, is utilized to realize the trajectory tracking of the feed. The dynamic system is simulated with expected signal input via the hi-fuzzy controller. The results show satisfactory tracking performance and higher trajectory tracking accuracy of the feed cable-supporting system.