基于多源信息融合的FAST馈源实时高精度控制方法研究

This project focuses on the precision measurement and control problem for flexible supporting feed cabin of FAST, in large scale and nonlinear moving process. For discrete-time systems with multi signal sources and unstable time-delay, this project attempts to establish a new state estimation algorithm by combining temporal registration method, spatial registration method and multisource data fusion method. For the problems in large scale moving process, as gear shift, turning, fast move and sudden stop, this project proposes a suppression strategy for rigid-flexible coupling nonlinear systems and an active vibration suppression method based on input shaping, by spectral analysis for trajectory planning and coordinating the requirements of control accuracy and vibration suppression. The researches can solve such challenging problems, as measure, impact and resonance in large scale moving process for feed cabin of FAST, to improve control accuracy and reliability of feed cabin.

本课题研究柔性支撑的FAST馈源的大尺度、强非线性的运动过程中精密测量和控制问题。针对这一具有多传感器信号源和不稳定时滞的离散系统，提出时间配准、空间配准和多源数据融合相结合的状态估计算法；针对馈源舱在焦面内大范围运动时存在的变速、变向、急起急停问题，通过对规划轨迹的频谱分析，综合控制精度和振动抑制两个方面的要求，提出刚柔耦合非线性系统的避振策略以及基于输入整形的主动抑振方法。通过以上两个方面的研究解决FAST馈源运动过程中存在的测量、冲击、共振等挑战性问题，提高FAST馈源的控制精度和可靠性。

本课题研究“500米口径球面射电望远镜”（FAST）馈源支撑系统的大尺度、强非线性的运动过程中精密测量和控制问题。针对这一具有多传感器信号源和不稳定时滞的离散系统，提出了时间配准、空间配准和多源数据融合相结合的状态估计算法；针对馈源舱在焦面内大范围运动时存在的变速、变向、急起急停问题，综合控制精度和振动抑制两个方面的要求，提出了刚柔耦合非线性系统的位姿分配策略、基于输入整形的主动抑振方法以及基于关节补偿的轨迹纠偏方法。通过以上两个方面的研究，解决了FAST馈源运动过程中存在的测量、冲击、共振等挑战性问题，提高了FAST馈源的控制精度和可靠性。

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