Dsp-based Inertial Navigation Test Turntable Servo System

In the aviation and aerospace research field, inertia test and motion simulation table plays important roles in the research and development of inertial devices and aviation arrangements. The performance of the table affects the capability of these devices directly. It can simulate all kinds of aircraft stance and reappear their dynamic characteristics, so that the performance can be tested by simulation of aircrafts' guidance and control, and the related components, and the data can be gotten;the table also can check whether the systems or the components can fulfill the whole design performance. The inertia test and motion simulation table is much related to the reliability and trustiness of the simulation test. So the table is the basic instrument for ensuring precision and quality of the production in the aviation and aerospace research field.The dissertation takes three axes Inertia test and motion simulation table as object, and studies the design and realization of the system. The research work has an important significance in improving the frequency response and dynamic servo precision of servo system. The main work of the dissertation is as follows:According to electric characteristics of the table, the system takes photo-electricity coder as angle position sensor, using brushless DC motor (BLDCM) as servo motor. The full-digital servo system of BLDCM is based on TMS320F240 DSP (Digital Signal Processor) instead of analog control design. The main algorithm is completely the digital triple-loop control method, including current-loop, velocity-loop and position-loop, which realized high frequency response, low speed, wide speed range and high precision.The hardware design includes the working principle of inverter, triggering signal generating and isolative driving. In order to protect circuits, we used single-chip to resolve the electromagnetic interference (EMI) problem of system error, also to avoid the power-control component time delay, which ensure servo system dependability, rapidity and reliability.The software design uses C and assembly language, which have good readability and efficiency. Considering software's measurability, transportability and modularization, the full digital triple-loop control method is adopted to achieve good dynamic and static characteristics. Furthermore, some beneficial research about the main algorithm has been done in the position loop design, which is based on PID control, and the parameters are real-time self-modified by fuzzy theory. In the currentsampled signal processing, the effective wavelet transformation method is adopted.The software design is finished in the software development environment of Texas Instrument's c2000 Code Composer Studio. The triple-loop simulation model is built in MATLAB simulation environment. From inner axes testing, a large amount of date and result acquired from the experiments have proved that the system hardware and software design are practical and correct, has the stronger robustness, and can fulfill the desired dynamic and static characteristics.