Modeling, control and software implementation of astronomical tracking of focus cabin suspension of FAST

This article describes the control algorithm and software implementation of astronomical tracking based on the mechanical analysis for Five-hundred-meter Aperture Spherical Telescope(FAST) that is being built in Guizhou province of China, which aims to help astronomers resolve questions in cosmology. On the basis of position and attitude feedback algorithm of cable driven parallel robot, the control of X-Y positioner with feed-forward was introduced and the astronomical tracking experiments were conducted on scale model to verify the validity of control strategy. The future works for focus cabin suspension of FAST are also pointed out.