本文依托国家重大科技基础设施项目——500米口径大型球面射电天文望远镜（Five-hundred-meter Aperture Spherical radio Telescope，简称FAST），针对提高其馈源支撑系统终端精度的关键问题，在柔性支撑并联机构动力学建模和驱动力分析的基础上，开展柔性支撑并联机构的抑振控制研究。随后，对影响抑振控制效果的重要因素——惯量展开讨论，完成并联机构的惯量匹配研究。最后，搭建馈源支撑系统缩尺模型，实验验证本文理论。主要内容如下： 以馈源支撑系统的二次精调平台为研究对象，考虑其基础平台的运动，建立柔性支撑并联机构的动力学模型。随后，将驱动索等效为弹簧-阻尼模型，建立索并联机构的弹性动力学模型。最后，根据力和运动的耦合关系，联立上述动力学模型，获得馈源支撑系统的整体数值仿真模型，为FAST馈源支撑系统的机构设计和抑振控制研究奠定理论基础。 展开柔性支撑并联机构的驱动力分析。研究基础平台的姿态、角速度、角加速度和线加速度等多项参数对并联机构支链驱动力的影响规律。结合工程实际，提出一种FAST二次精调平台支链驱动力的优化策略，有效降低了其最大支链驱动力。 针对柔性支撑并联机构的抑振控制，建立模糊PD控制器，实现轨迹补偿抑振控制策略。缩尺模型实验证明，该控制方法在保证终端精度的前提下，有效减小二次精调平台运动对馈源支撑系统的反作用力冲击。此外，为利用并联机构的运动反作用力抑制柔性支撑的振动，将内力抑振策略用于柔性支撑并联机构的控制。建立风载模型，进行仿真研究。结果表明内力抑振控制策略能够提高FAST原型机馈源支撑系统的终端轨迹精度，满足设计要求。 为保证柔性支撑并联机构的动态性能，实现抑振控制目标，针对并联机构的惯量匹配进行研究。应用虚功法建立量纲统一的Stewart并联机构关节空间惯量矩阵，提出并联机构的等效惯量指标，确定并联机构的惯量匹配准则。通过实验，验证并联机构等效惯量指标和惯量匹配准则的可行性。 基于本文理论研究成果，搭建了馈源支撑系统1:15缩尺模型的驱动控制系统，完成天文轨迹实验。实验结果显示：二次精调平台抑振控制效果良好，馈源支撑系统的终端精度达到设计要求，模型能够实现天文观测功能。

This paper is supported by the major national infrastructure project — the Five-hundred-meter Aperture Spherical radio Telescope (FAST), and focuses on the key issue of improving the terminal accuracy of its feed support system. As for the Flexible Structure Mounted Parallel Manipulator (FSMPM), on the basis of its dynamic modeling and driving force analysis, the vibration suppression control strategies are studied. Then, the research on the inertia parameter, which is an important factor to affect the vibration suppression control performance, is carried out. Finally, scale models of the feed support system are built, and the paper concludes are verified. The main contents are as follows: Adopting the secondary adjust platform of the feed support system as the study object, the complete inverse dynamic equation of the FSMPM is deduced, modeling the motion of the base. Then, considering that each cable could be equivalent of the spring-damper model, the elastodynamic model of the cable-driven Stewart manipulator is built. Finally, according to the force and motion coupling, the two dynamic models are combined together, and the simulation model for the whole feed support system is constructed, which lays the theoretical foundation for the mechanical design and the vibration suppression control research of the FAST feed support system. Driving force analysis of the FSMPM is carried out. The influences of motion parameters of the base, such as posture, velocity and acceleration, upon the limb driving force of the parallel manipulator are studied. In view of the practical engineering, the driving force optimization strategies for the FAST secondary adjust platform are proposed, and as a result the maximum value of the driving force is reduced noticeably. To solve the vibration problem of the FSMPM, the Fuzzy PD controller is proposed, and the trajectory-compensation-based vibration suppression strategy is implemented. Scale model experiments demonstrate that the control method, while retains the precondition of ensuring the terminal precision, efficiently decreases the reaction forces exerted by the secondary adjust platform to the feed support system. Besides, in order to utilize the reaction forces of the parallel manipulator to suppress the vibration of the flexible structure, the internal-force-based vibration suppression strategy is adopted to control the FSMPM. Establish the wind model, and perform the simulation analysis. Simulation results reveal that the internal-force-based vibration suppression strategy can improve the terminal accuracy of the FAST feed support system prototype, and suffice the design requirements. In order to improve the dynamic characteristics of the FSMPM and achieve the vibration suppression goals, the inertia match of the parallel manipulator is studied. The inertia matrix of the Stewart parallel manipulator is deduced in the joint space, using the virtual work method. The equivalent inertia index of the parallel manipulator is put forward, and the inertia match principle is established. Experiment results verify the feasibility of the equivalent inertia and the inertia match principle of the parallel manipulator. Based on the research achievements, the drive and control system of the FAST feed support system model in scale 1:15 is designed and implemented. The astronomy trajectory experiment is accomplished. Experiment results illustrate that the vibration suppression performance of the secondary adjust system is remarkable, the terminal accuracy of the feed suppot system satisfies the design requirement，and the scale model performes the astronomical observation function well.