Dynamic analysis and tracking control of the cable-suspended system for the five-hundred-meter aperture spherical telescope
超大型天线馈源舱柔索支撑结构动力学分析与跟踪控制

The relation between end forces and cable length is derived based on the analytical equation of catenary of a cable with two endpoints fixed. So the actuating forces on the cabin locating at a certain position and taking a certain posture can be solved with the given driving cable lengths. A simplified dynamic model of cabin-cable system for the five-hundred-meter aperture spherical telescope was established according to Newton-Euler formulation. The equations can be solved by Newton-Raphson method possessing the quadratic convergence property, which can guarantee a higher computation speed to meet the requirement of real time control algorithm. Considering the characteristics of nonlinearity, slow time-variant and multivariable coupled flexible structure, an adaptive bi-fuzzy control method with proportional-integral-tuning unit is then employed to realize the trajectory tracking of the feed cabin, which optimizes the control rules by adjusting factors. Smooth actions of the controller during switching are guaranteed by using fuzzy inference. At the end of this paper, the effectiveness of the proposed control strategy is verified by simulation results.