一种索支撑柔性结构轨迹跟踪控制方法

Tracking Control Method for a Cable-Supported Flexible Structure

大型射电望远镜馈源支撑结构采用六根柔索驱动馈源舱完成大范围高精度扫描跟踪的创新设计方案。针对该柔性结构非线性、大滞后、多变量耦合的特点,提出了一种双模糊控制和干扰观测器相结合的控制算法来实现馈源轨迹跟踪策略。这种新方法通过构造干扰观测器来观测柔性结构的各种干扰,并根据观测到的干扰信息进行补偿以抑制干扰对系统的影响;同时引入带有比例积分校正环节的双模糊控制器来实现馈源舱轨迹跟踪,通过调整因子来优化控制规则。仿真结果表明,该控制算法不仅能满足对轨迹跟踪精度要求,而且具有较强的鲁棒性。

A new design scheme of the feed source supporting system for a large spherical radio telescope was introduced, in which six large span flexible cables were used to drive the cabin to implement large scope high-precision trajectory tracking. Due to the inherent characteristics of nonlinearity, large delay and multivariable coupled flexible structure, a novel control method combining bi-fuzzy control with disturbance observer was developed to realize the trajectory tracking of the feed. Through observation of a variety of disturbances by using disturbance observer, the disturbances acting on the flexible structural system can be compensated; as a result, the effect of disturbance was suppressed. Combining a practical project, an algorithm of bi-fuzzy controller with self-tuning factor and proportional-integral-tuning unit, which optimizes the control rule by adjusting factors, was introduced to approximate optimal control. Simulation results show that the tracking accuracy is much better and the cable-cabin control system has strong robustness.