大射电望远镜AB轴与精调平台运动控制系统研究

发布时间：2018-05-05 03:00

本文选题：FAST + AB轴平台　；参考：《西安电子科技大学》2012年硕士论文

【摘要】：本文根据新一代大射电望远镜光机电一体化创新设计方案，在分析大射电望远镜（FAST）三级调整系统的需求和运动控制技术的研究现状和发展趋势的基础上，针对馈源指向跟踪系统高精度轨迹跟踪的要求，从工程实际出发，设计并实现了大射电望远镜AB轴平台和Stewart平台控制系统硬件和软件，为三级复合控制的研究提供了实验平台。具体工作可归纳为以下三个方面。分析了原有两级调整系统的优缺点，在原有系统基础上设计了新的三级调整系统，并对新设计的三级调整系统的控制策略进行了详细介绍。对AB轴平台的角度分配方程进行了推导，找出了一种较好的AB轴转角求解方式。并通过MATLAB仿真模拟了几种情况下的角度分配，接着对Stewart平台的运动轨迹规划原理进行了分析，建立了Stewart平台的运动学模型。对两种Stewart平台典型轨迹下各腿长进行了规划，，并用MATLAB进行了数据仿真，验证了规划的可行性。根据项目对运动控制的要求，设计了基于SynqNet运动控制现场总线技术的大射电望远镜AB轴和Stewart平台的控制系统。并对AB轴和Stewart平台控制硬件和软件进行了设计和开发，通过实验验证了新的控制软件的可行性。
[Abstract]:According to the innovative design scheme of the new generation large radio telescope opto-electromechanical integration, this paper analyzes the demand of the three-stage adjustment system of the large radio telescope and the research status and development trend of the motion control technology. According to the requirement of high precision trajectory tracking for feed pointing tracking system, the hardware and software of AB axis platform and Stewart platform control system for large radio telescope are designed and implemented, which provides an experimental platform for the research of three-stage compound control. Specific work can be summarized into the following three aspects. This paper analyzes the advantages and disadvantages of the original two-stage adjustment system, designs a new three-level adjustment system on the basis of the original system, and introduces the control strategy of the new three-stage adjustment system in detail. In this paper, the angle distribution equation of AB axis platform is deduced, and a better way to solve AB axis rotation angle is found. The angle distribution in several cases is simulated by MATLAB simulation. Then the motion trajectory planning principle of Stewart platform is analyzed and the kinematics model of Stewart platform is established. In this paper, the leg length of two typical Stewart platforms is planned and simulated with MATLAB to verify the feasibility of the planning. According to the requirements of motion control, the control system of AB axis and Stewart platform for large radio telescope based on SynqNet motion control fieldbus technology is designed. The control hardware and software of AB axis and Stewart platform are designed and developed, and the feasibility of the new control software is verified by experiments.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：P111.44

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