索支撑柔性结构的动力学分析与控制

根据悬索精确的悬链线解析表达式推导出两端固定时悬索初始长度与拉力之间的关系，从而能够精确而高效地获得悬索对两端节点的拉力，在此基础上应用Newton—Euler法建立了舱索系统的动力学简化模型。针对该柔性结构为一非线性、大滞后、强耦合等特点，提出了一种常规PID控制与模糊PID控制并行结合的Fuzzy—PID复合控制算法来实现馈源轨迹跟踪策略。理论分析和仿真实验结果表明，该控制算法不仅能满足馈源舱轨迹跟踪精度要求，而且具有较强的鲁棒性。

Dynamic Analysis and Control for Cable-supported Flexible Structure

The relationship between the initial length and the tension of cable was developed based on the precise analytical expression of catenary, so that the forces acted on the end nodes could be solved exactly and efficiently. The simplified dynamic model of cabin cable system was established based on Newton-Euler formulation. Considering the characteristics of nonlinearity, large delay and strong coupling, a novel hybrid control method of combination of fuzzy-PID control and conventional PID control in parallel was utilized to realize the trajectory tracking of the feed. The results of theoretical analysis and simulation experiments obtained for the flexible structure control system have shown that the tracking accuracy is much better and the control system has strong robustness.