大射电望远镜控制软件系统研究
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摘要
本文在全面深入了解大射电望远镜机电光一体化创新设计方案设计思想和技术指标基础上，完成了50m模型控制系统软件的研制工作。
本文提出了基于数字积分插补思想产生伺服控制指令的实现方案；结合具体工程实际，对其分布式控制系统进行了深入的分析研究；对数据通信方案做了有益探讨；提出了基于CAN总线的分布式控制与数据传输系统设计方案；完成了50m模型外环控制系统软件的整体规划，软件系统的分析、模块划分及代码实现；针对大射电望远镜悬索与馈源舱控制系统非线性、结构时变、大滞后、控制系统数学模型难以建立的特点，先后对参数模糊自整定Fuzzy-PID控制算法和非参数模型自适应控制算法及其分别在5m和50m模型中的应用做了较为深入的研究。
Based on the in-depth understanding of background and requirements for the mechanical, electronic and optical design for the large radio telescope, software of control system for the 50 Meter Experiment Model is accomplished.
The dissertation present an actualization of servo dictate derived from DDA. The distribute control system has been studied deeply. The digital communication design of the control system is introduced. The CAN bus design of this distribute control system is proposed. Software global scheme, systemic analysis, module partition and code realization of the out-loop control system is presented. Based on characteristics, nonlinear, structure time-variable, delay and control system modeling difficulty, parameter fuzzy self-turning fuzzy-PID algorithms and non-parameter modeling self-turning algorithms and each application in the 5 and 50 Meter Experiment Model is studied deeply.
本文提出了基于数字积分插补思想产生伺服控制指令的实现方案；结合具体工程实际，对其分布式控制系统进行了深入的分析研究；对数据通信方案做了有益探讨；提出了基于CAN总线的分布式控制与数据传输系统设计方案；完成了50m模型外环控制系统软件的整体规划，软件系统的分析、模块划分及代码实现；针对大射电望远镜悬索与馈源舱控制系统非线性、结构时变、大滞后、控制系统数学模型难以建立的特点，先后对参数模糊自整定Fuzzy-PID控制算法和非参数模型自适应控制算法及其分别在5m和50m模型中的应用做了较为深入的研究。
Based on the in-depth understanding of background and requirements for the mechanical, electronic and optical design for the large radio telescope, software of control system for the 50 Meter Experiment Model is accomplished.
The dissertation present an actualization of servo dictate derived from DDA. The distribute control system has been studied deeply. The digital communication design of the control system is introduced. The CAN bus design of this distribute control system is proposed. Software global scheme, systemic analysis, module partition and code realization of the out-loop control system is presented. Based on characteristics, nonlinear, structure time-variable, delay and control system modeling difficulty, parameter fuzzy self-turning fuzzy-PID algorithms and non-parameter modeling self-turning algorithms and each application in the 5 and 50 Meter Experiment Model is studied deeply.
引文
[1]南仁东，邱育海，彭勃，朱春丽．1999——FAST学术年会工作报告[R]，北京，1999．
[2]B.Y. Duan elt. Study on the feeder system of large spherical radio telescope from the view point of mechanical and structural engineering. Proceeding of The Third International Conference On Large Radio Telescope. Guizhou of China, October 2-6, 1995
[3]B.Y. Duan and S.J.Duan. On the Nonlinear Dynamic Analysis of the Line Source Structure and Its Suspended Cable Structure Used in Large Spherical Radio Telescope. The Invited Paper of The XXVth URSI(International Union of Radio Science) General Assembly, Lille, France, 1996
[4]B.Y. Duan. Some New Result About the Integrated Design of Mechanical, Electronic, Optic and Automation Control Technologies for Next Generation Large Radio Telescopes. The Invited Paper of The URSI Large Telescope Working Group Meeting and 1KT International Technical Workshop, Sydney, Australia, 1997
[5]B.Y. Duan. A new design project of the line feed structure for large radio telescope and its nonlinear dynamic analysis. Mechatronics. 1999,9(1). 53-64
[6]段宝岩，苏玉鑫，仇原鹰，王文利．新一代大射电望远镜机电光一体化的研究，中国机械工程．1999，10(9)．1002-1004
[7]段宝岩，王均阳．大型球面天线线馈源结构光机电综合随机设计研究．西安电子科技大学学报．1998，25(5)．575-518
[8]'Memorandum of an Agreement to Co-operate in a Technology Study Program Leading to a Future Very Large Radio Telescope', signed by participants from Australia, Canada, China, India, the Netherlands and the U.S.A
[9]J. Mervis and J. Kinoshiata. Science of America. 1995.270.
[10]Lui Hui. China Hopes to Move FAST on Large Telescope. Science of America. 1998,281.771
[11]Wei-Jung Shiang, David Cannon and Jason Goman. Dynamic analysis of the cable array robotic crane. Proceeding of the 1999 IEEE international conference on robotics & automation. Detroit, Michigan, May 1999, p2495～2500
[12]Rodney G. Roberts, Todd Graharn and Thomas Lippint. On the inverse
kinematics, statics, and fault tolerence of cable suspended robots. J of Robotic system. 1998, 15(10). 581-597
[13]“现代科技理论与应用”，西北工业大学第二届学术报告年会论文集，1996
[14]Karl J. Astron, "Adaptive Control Around 1960", IEEE Control Systems Magazine, Vol 16, Mo 3, June 1996
[15]"Intelligent Learning Control", IEEE Control System Magazine, Vol 15, No 3, June 1996
[16]Ascrenn K J, et al, Toward intelligent PID control, Automation, 1992, 28(1): 1-9
[17]Antsaklis P J, Intelligent learning control, IEEE Control System, 1995, June, 5～7
[18]Antsaklis P J, Defining intelligent control, IEEE Control System, June 1994, 4～66
[19]孙增圻、张再兴．智能控制理论与技术．控制与决策．1996，Ⅱ(1)：1～8
[20]李人厚、秦世引，智能控制理论及方法，西安：西安交通大学出版社，1994
[21]Trulsson E, Ljung L, Adaptive control based on explicit criterion minimization, Automatic, 1985,21 (4):385～295
[22]Xi Y, Wang F, Nonlinear multi-model predictive control, 13th IFAC World Congress, San Francisco, 1996
[23]席裕庚、王凡．非线性系统预测控制的多模型方法，自动化学报，1996．22(4)：456～460
[24]周超俊等，非线性系统的多模态ARMAX模型及其参数辨识，控制理论及应用，1995，12(1)：40～45
[25]Narendra K S, Balakrisshman J, Ciliz M K, Adaptation and learning using multiple, switching, and tuning, IEEE Control System, June 1995, 37—51
[26]保宏、段宝岩，高精度柔索控制的研究，(待发表)
[27]候忠生，非参数模型及其自适应控制理论，科学出版社，1999年
[28]刘明俊、杨壮志、张拥军等，许算机控制原理与技术，国防科技大学出版社，1999年
[29]陈杰．大射电望远镜悬挂馈源支撑系统建模、力学分析及仿真．硕士论文．西安电子科技大学，1998／1
[30]吴祖育、秦鹏飞，数控机床，上海科学技术出版社，1989
[31]邬宽明，CAN总线原理和应用系统设计．北京：北京航空航天大学出版社，1996．
[32]张玉魁、段宝岩，基于CAN总线的大射电望远镜分布式控制与数据采集系统，机电一体化(已录用)
[33]黄真，孔令富，方跃法．并联机器人机构学理论及控制．北京：机械工业出版社，1997
[34]熊有伦．机器人技术基础．武汉：华中理工大学出版社，1999
[35]秦继荣，沈安俊．现代直流伺服控制技术及其系统设计．北京：机械工业出版社，1999
[36]金以慧．过程控制．清华大学出版社，1996
[37]沈德金，陈粤初．MCS-51系列单片机接口电路与应用程序实例．北京：北京航空航天大学出版社，1997
[38]孙增圻．智能控制技术．北京：清华大学出版社，1997
[39]孙增圻．计算机控制理论及应用．北京：清华大学出版社，1992
[40]杨庚辰．自动控制原理．西安：西安电子科技大学，1998
[41]戴忠达．自动控制理论基础．北京：清华大学出版社，1994
[43]刘豹．现代控制理论．北京：机械工业出版社，1983
[44]高黛陵，吴麒．多变量频率域控制理论．北京：清华大学出版社，1998
[45]Panasonic交流伺服电机驱动器MINAS A系列使用说明书，Industrial and Appliance Motor Division,Motor Co.,Matsushita Electric Industrial Co., Ltd.
[46]王学慧．模糊控制理论语应用．北京：电子工业出版社，1987
[47]贺促雄．模糊数学与应用．天津：天津科技出版社，1980
[48]李士勇．模糊控制理论及应用．哈尔滨：哈尔滨工业大学出版社
[49]L A Zadeh, Fuzzy sets, Inform and Control, Vol 8, No. 3. 1965 pp338-353
[50]E. H. Mandabc, Application of Fuzzy algorithms for control of simpk dynamic plant, proc IEEE, Vol, 121, No,12,1974,pp 1585-1588
[51]林锐、蔡文立，微机科学可视化系统设计，西安电子科技大学出版社，1996
[2]B.Y. Duan elt. Study on the feeder system of large spherical radio telescope from the view point of mechanical and structural engineering. Proceeding of The Third International Conference On Large Radio Telescope. Guizhou of China, October 2-6, 1995
[3]B.Y. Duan and S.J.Duan. On the Nonlinear Dynamic Analysis of the Line Source Structure and Its Suspended Cable Structure Used in Large Spherical Radio Telescope. The Invited Paper of The XXVth URSI(International Union of Radio Science) General Assembly, Lille, France, 1996
[4]B.Y. Duan. Some New Result About the Integrated Design of Mechanical, Electronic, Optic and Automation Control Technologies for Next Generation Large Radio Telescopes. The Invited Paper of The URSI Large Telescope Working Group Meeting and 1KT International Technical Workshop, Sydney, Australia, 1997
[5]B.Y. Duan. A new design project of the line feed structure for large radio telescope and its nonlinear dynamic analysis. Mechatronics. 1999,9(1). 53-64
[6]段宝岩，苏玉鑫，仇原鹰，王文利．新一代大射电望远镜机电光一体化的研究，中国机械工程．1999，10(9)．1002-1004
[7]段宝岩，王均阳．大型球面天线线馈源结构光机电综合随机设计研究．西安电子科技大学学报．1998，25(5)．575-518
[8]'Memorandum of an Agreement to Co-operate in a Technology Study Program Leading to a Future Very Large Radio Telescope', signed by participants from Australia, Canada, China, India, the Netherlands and the U.S.A
[9]J. Mervis and J. Kinoshiata. Science of America. 1995.270.
[10]Lui Hui. China Hopes to Move FAST on Large Telescope. Science of America. 1998,281.771
[11]Wei-Jung Shiang, David Cannon and Jason Goman. Dynamic analysis of the cable array robotic crane. Proceeding of the 1999 IEEE international conference on robotics & automation. Detroit, Michigan, May 1999, p2495～2500
[12]Rodney G. Roberts, Todd Graharn and Thomas Lippint. On the inverse
kinematics, statics, and fault tolerence of cable suspended robots. J of Robotic system. 1998, 15(10). 581-597
[13]“现代科技理论与应用”，西北工业大学第二届学术报告年会论文集，1996
[14]Karl J. Astron, "Adaptive Control Around 1960", IEEE Control Systems Magazine, Vol 16, Mo 3, June 1996
[15]"Intelligent Learning Control", IEEE Control System Magazine, Vol 15, No 3, June 1996
[16]Ascrenn K J, et al, Toward intelligent PID control, Automation, 1992, 28(1): 1-9
[17]Antsaklis P J, Intelligent learning control, IEEE Control System, 1995, June, 5～7
[18]Antsaklis P J, Defining intelligent control, IEEE Control System, June 1994, 4～66
[19]孙增圻、张再兴．智能控制理论与技术．控制与决策．1996，Ⅱ(1)：1～8
[20]李人厚、秦世引，智能控制理论及方法，西安：西安交通大学出版社，1994
[21]Trulsson E, Ljung L, Adaptive control based on explicit criterion minimization, Automatic, 1985,21 (4):385～295
[22]Xi Y, Wang F, Nonlinear multi-model predictive control, 13th IFAC World Congress, San Francisco, 1996
[23]席裕庚、王凡．非线性系统预测控制的多模型方法，自动化学报，1996．22(4)：456～460
[24]周超俊等，非线性系统的多模态ARMAX模型及其参数辨识，控制理论及应用，1995，12(1)：40～45
[25]Narendra K S, Balakrisshman J, Ciliz M K, Adaptation and learning using multiple, switching, and tuning, IEEE Control System, June 1995, 37—51
[26]保宏、段宝岩，高精度柔索控制的研究，(待发表)
[27]候忠生，非参数模型及其自适应控制理论，科学出版社，1999年
[28]刘明俊、杨壮志、张拥军等，许算机控制原理与技术，国防科技大学出版社，1999年
[29]陈杰．大射电望远镜悬挂馈源支撑系统建模、力学分析及仿真．硕士论文．西安电子科技大学，1998／1
[30]吴祖育、秦鹏飞，数控机床，上海科学技术出版社，1989
[31]邬宽明，CAN总线原理和应用系统设计．北京：北京航空航天大学出版社，1996．
[32]张玉魁、段宝岩，基于CAN总线的大射电望远镜分布式控制与数据采集系统，机电一体化(已录用)
[33]黄真，孔令富，方跃法．并联机器人机构学理论及控制．北京：机械工业出版社，1997
[34]熊有伦．机器人技术基础．武汉：华中理工大学出版社，1999
[35]秦继荣，沈安俊．现代直流伺服控制技术及其系统设计．北京：机械工业出版社，1999
[36]金以慧．过程控制．清华大学出版社，1996
[37]沈德金，陈粤初．MCS-51系列单片机接口电路与应用程序实例．北京：北京航空航天大学出版社，1997
[38]孙增圻．智能控制技术．北京：清华大学出版社，1997
[39]孙增圻．计算机控制理论及应用．北京：清华大学出版社，1992
[40]杨庚辰．自动控制原理．西安：西安电子科技大学，1998
[41]戴忠达．自动控制理论基础．北京：清华大学出版社，1994
[43]刘豹．现代控制理论．北京：机械工业出版社，1983
[44]高黛陵，吴麒．多变量频率域控制理论．北京：清华大学出版社，1998
[45]Panasonic交流伺服电机驱动器MINAS A系列使用说明书，Industrial and Appliance Motor Division,Motor Co.,Matsushita Electric Industrial Co., Ltd.
[46]王学慧．模糊控制理论语应用．北京：电子工业出版社，1987
[47]贺促雄．模糊数学与应用．天津：天津科技出版社，1980
[48]李士勇．模糊控制理论及应用．哈尔滨：哈尔滨工业大学出版社
[49]L A Zadeh, Fuzzy sets, Inform and Control, Vol 8, No. 3. 1965 pp338-353
[50]E. H. Mandabc, Application of Fuzzy algorithms for control of simpk dynamic plant, proc IEEE, Vol, 121, No,12,1974,pp 1585-1588
[51]林锐、蔡文立，微机科学可视化系统设计，西安电子科技大学出版社，1996