【作者】 张永芳； 吕延军； 段宝岩；

【Author】 Zhang Yongfang~1 Lv Yanjun~2 Duan Baoyan~3 (1School of Printing & Packaging Engineering,Xi’an University of Technology,Xi’an 710048,China;2 School of Mechanical & Instrumental Engineering,Xi’an University of Technology,Xi’an 710048,China;3 School of Electro-Mechanical Engineering,Xidian University,Xi’an 710071,China)

【机构】 西安理工大学印刷包装工程学院； 西安理工大学机械与精密仪器工程学院； 西安电子科技大学机电工程学院；

【摘要】 针对大射电望远镜中的并联 Stewart 机器人具有非线性、时变、受扰动等特点,并充分考虑易于实现的工程要求,提出了自抗扰控制方案,采用分散控制策略和自抗扰控制算法,实现了 Stewart 机器人的高精度轨迹跟踪控制。实验结果证明了该方案的可行性与有效性。更多还原

【Abstract】 A decentralized auto-disturbances rejection control strategy is proposed to realize the feed track- ing for large spherical radio telescopes according to the characteristics of nonlinearity,time-varying and dis- turbances of control system of parallel Stewart robot for the large spherical radio telescope and requirement of easy engineering implementation.An auto-disturbances rejection control algorithm and a decentralized control strategy are introduced to realize the high precision tracking control of a fine tuning Stewart robot for the large spherical radio telescope.The experimental results show that it is feasible to realize the high precision tracking making use of the established control strategy and algorithm.更多还原