摘要
基于Stewart平台的馈源位姿主动减振定位机构的控制是五百米口径球面射电天文望远镜(FAST)项目实现的关键。考虑到控制系统对重量、体积和精度的要求,提出了在RTLinux环境下,采用工业计算机上下位机主从控制,配合PMAC运动控制卡对机构进行控制的软硬件控制方案。RTLinux对中断处理的强实时性及PMAC运动控制卡强大的运动控制功能,保证了控制精度。实验取得了较好的减振控制效果,满足了FAST的指标要求。同时,PMAC运动控制卡提供了开放性的底层伺服环控制算法,这给今后的控制算法研究改进预留了方便的软硬件接口。
Active vibration control of the feed support system based on Stewart platform is essential for constructing five-hundred-meter aperture spherical telescope （FAST） successfully. A control scheme based on RTLinux is implemented. Considering the weight, volume and precision requirements of the control system, a client and server system is designed, together with a PMAC motion control card controlling the servo system. The system accuracy is acquired by real time property of RTLinux＇ s interrupt handler and PMAC＇ s powerful motion control functions. Meanwhile, PMAC＇ s open servo algorithm property provides a convenience software and hardware interface for the improvement of the control algorithm in future.
出处
《测控技术》
CSCD
2006年第10期33-36,40,共5页
Measurement & Control Technology
基金
国家自然科学基金跨学科重点项目"巨型射电天文望远镜(FAST)总体设计与关键技术研究"基金资助(10433020)
