Abstract:The feed cabin supporting system in a Five-hundred-meter Aperture Spherical Radio Telescope (FAST) project is a large-span cable-driven parallel manipulator (CPM). In this article, the kinematics model of the six CPM was established in the global coordinate O-XYZ. A corresponding difference of cable length between the current position and next position of the feed cabin was determined by controlling the servo motor. A nonlinear adaptive interaction PID (NAIPID) controller was proposed to improve the control pe… Show more
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