Design Control System And Study On Control Algorithm Of A Three-axis Flving-simulating Turntable

Inertial system is very important in aviation field and navigation field. With the improvement of inertial component and inertial system accuracy, the requirement of performance to the test equipment is higher and higher. This dissertation is written on the background of a research project. It is mainly focused on the many questions about control system design and control algorithms of three-axis simulating turntable that is a test equipment of inertial systems. The results verified in application.Firstly, inertia equations and dynamics equations are presented according to the structure of the three-axis simulating turntable, and torque equations of the motor controlled by PWM controller are presented. Mathematic model is given for the simulating turntable. The ability of uncoupling of the three-axis simulating turntable is prove by using adverse system theory, and nonlinear uncoupling network is also obtain. Using state feedback and dynamic compensating uncoupling, the model is transformed into three single-input and single-output linear systems and equivalent transfer function. So the coupled system is uncoupled.The control system is designed to a digital system including velocity-loop and position-loop, in order to meet the requests such as high precision, quick response, wide velocity range and low velocity. At the same time the theory of sutra control and modern time control are apllied to turn and compensate the control system. The control system apply nonlinear scaling fuzzy controller to improve quick response of positioning. A model reference adaptive system is applied to compensate the action of torque disturbance. A power converting circuit of H-bridge bipolar PWM control is designed to decrease the low velocity.Lastly the design methods is applied to the control system of three simulating turntable. The experimental results show that all the methods are effective and feasible. Every index of the system meets or surpassed the performance requirements. Now the three-axis simulation turntable is tested and used by the user.