Control Research Of There-axis Angle Vibration Hydraulic Table

Vibration table is a kind of standard experiment equipment which is used to provide classical vibration conditions, simulate and reappear the environment, test and evaluate the mechanical function of all kinds of engineering equipment. There-axis angle vibration hydraulic table is a special kind of vibration environment simulated equipment which is widely used in national defense industry, such as missiles, rockets and satellites.There-axis angle vibration hydraulic table is a kind of non-linear system which is very complex. If you take pure servo-control still to control, it is difficult to increase the control accuracy to a high level. for the sake of reduce the bias between actual output of the system and the ideal response better, this paper use iteration-learning-control to iteratively compensate the input signal by the way of restraining cyclical interference. This paper expounds the basic theory of the iteration-learning-control. And two kind of iteration-learning-control which are open loop and closed loop are analyzed about their structures and merits. Aim at the stabilization of the control system and the convergence of the iteration-learning-control, a compound iteration-learning-control is adopted, and the convergence criterion is given from the frequency-domain's point of view.The mathematical model of motor controlling by the valves is set up in this paper by the way of analyzing the inner gimbals of the there-axis angle vibration table and the system of one-axis angle vibration table. Based on the simplified model, the compound iteration-learning-control is designed. Feedback control,feed forward control and iteration-learning-control are designed by the way of analyzing stability,bandwidth and control accuracy which has improved the synthesis function of the system effectively.Based on the model, the conclusions are reached that coupling of the system is enhanced with the enhancement of frequency and width of the input signal, and frequency's influence on coupling is much more than width's influence on coupling. The decoupling design of the system by the method of inverse-system decoupling is presented and a linear model is resulted. Then, linear system theory can be used to analysis and design the system. Lastly, the author dose some experiment on the three axis flight simulator table experiment system. The experiment results show that the system designed has reached the design target.