Feedback control of a cable-driven Gough-Stewart platform
文献类型：期刊论文
| 作者 | Lu, YJ ; Zhu, WB; Ren, GX
|
| 刊名 | IEEE TRANSACTIONS ON ROBOTICS
 |
| 出版日期 | 2006-02-01 |
| 卷号 | 22期号:1页码:198-202 |
| 关键词 | cable-drive architecture feedback control Gough-Stewart platform radio telescope |
| 英文摘要 | This paper introduces control tests on a feed positioning system for a large radio telescope. The system is an integration of three subsystems, including a cable trolley subsystem, with a two-degrees-of-freedom orienting mechanism mounted on the trolley, which points a Gough-Stewart mechanism, the third subsystem. The first two subsystems provide a coarse control of the motion of the upper platform of the Gough-Stewart mechanism, while the Gough-Stewart mechanism gives a finer control of the feed-mounted lower platform by actively isolating the vibrations from the upper platform. Standard proportional-integral-derivative controllers with direct terminal feedback from the optical sensors are employed to control the system. Delay-induced dynamic instabilities encountered in the experiments are addressed. A simple error analysis on control with flexible cable is carried to validate the control of the cable-drive architecture. Tests are carried out on a field model of dimension 50 m X 50 m X 12 m. Typical experiments manifest remarkable positioning ability of the proposed system. |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000235490800020 |
| 源URL | [http://ir.bao.ac.cn/handle/114a11/7051]  |
| 专题 | 国家天文台_星系宇宙学研究部 |
| 作者单位 | 1.Tsing Hua Univ, Dept Engn Mech, Beijing 100084, Peoples R China 2.Chinese Acad Sci, Natl Astron Observ, Beijing 100012, Peoples R China |
| 推荐引用方式 GB/T 7714 | Lu, YJ,Zhu, WB,Ren, GX. Feedback control of a cable-driven Gough-Stewart platform[J]. IEEE TRANSACTIONS ON ROBOTICS,2006,22(1):198-202. |
| APA | Lu, YJ,Zhu, WB,&Ren, GX.(2006).Feedback control of a cable-driven Gough-Stewart platform.IEEE TRANSACTIONS ON ROBOTICS,22(1),198-202. |
| MLA | Lu, YJ,et al."Feedback control of a cable-driven Gough-Stewart platform".IEEE TRANSACTIONS ON ROBOTICS 22.1(2006):198-202. |
入库方式： OAI收割
来源：国家天文台
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