A cascade vibration-free trajectory planning method and its application in the FAST feed support system [串联抑振轨迹规划方法及在FAST馈源支撑系统中的应用]

作者：Jing F.^*; Zheng R.; Yang G.; Deng S.; Tan M.

来源：Scientia Sinica Informationis, 2021, 51(11): 1914-1930.

DOI：10.1360/SSI-2021-0130

• Five-hundred-meter aperture spherical telescope
• Motion planning
• Soft mechanism
• Trajectory tracking
• Vibration control

In order to solve the vibration problem of low-damping flexible mechanism in motion, a cascade vibration suppression (CVS) trajectory planning method combining the advantages of the optimal double S-curve trajectory planning method and the input shaping method is proposed. The CVS method can effectively suppress the vibration in the period of uniform motion. The correctness of this method is proved by theoretical analysis and digital simulation. Finally, the application results of the proposed method in the FAST feed support system show that it can effectively improve the motion accuracy of the parallel cable mechanism, especially when the motion speed is constant, improving the position tracking accuracy by over 20%.

• 单位
  中国科学院大学; 复杂系统管理与控制国家重点实验室