大射电天文望远镜悬索馈源系统驱动力的研究

针对大射电天文望远镜馈源系统中悬索呈现出的柔性特征，在已知馈源舱的位置，姿态，速度和加速度的情况下，将悬索离散为柔性索杆单元，建立了系统的逆运动学及逆动力学模型。分析计算了悬索上各离散点的位置、速度、加速度和惯性力，推导了在重力和惯性力共同作用下悬索的空间挠曲线方程，研究了悬索的刚体位移和弹性变形。在此基础上，通过刚体-柔性的迭代计算，求出悬索馈源系统的驱动力，为高精度的大射电天文望远镜提供了必要的设计参数。

Study of Driving Force for Large Radio Telescope's Suspending Cable Feed System

Dividing the cable of large radio telescope's suspending cable Feed System into tension only rob element, while pose, velocity and acceleration of feed cabin have been given, for the cable flexibility feature, inverse kinematics and inverse dynamics model of the system are established in this paper. Then, position, velocity, acceleration and inertia force of nodes on the cables can be calculated. Due to gravity and inertia force, catenary is not suitable for flexible cable in this case. To investigate displacement of cable, 3 dimensions curve equation is induced first. Flexible deformation is also included when an iterative algorithm is developed for obtaining driving force. Numerical results on this system indicate that the system can be accurately controlled by inverse algebra kinematics model when acceleration of feed cabin is limited.