The Application Of LQG/LTR Method In Turntable System

Simulation turntable is the equipment used for the hardware-in-the-loopsimulation of weapon system like guided missles. With progress of the nationaldefense technology, turntable system’s performance index has become increasinglydemanded targets. The performance of turntable system is determined by its controlsystem. Simulation turntable belongs to the high precision servo system,so it hasstrong real-time performance. Precise model with effective control algorithmensured the high accuracy and bandwidth of turn table servo system in thedeveloping process. This paper aims to study the application technique of LQG/LTRcontrol algorithm in the turntable control system.In this project the electro-hydraulic servo turntable has been studied. Themethod of parameter identification is adopted to get the model of motor in the innerframe. With mechanism analysis, model of hydraulic system in the outer and middleframe have been established.The influence of uncertain factors on the system hasbeen analyzed in the process of researching on the turntable control method.Combing the optimal control theory with Kalman filter theory, source of theLQG/LTR theory has been studied. The loop transfer recovery technique has alsobeen studied. The characteristics and limitations of LQG/LTR control method wasdiscussed. The LQG/LTR procedure for feedback control system was explicated.The paper also explored rules of tuning parameters selection in the procedure.LQG/LTR controllers of the turntable were designed according to techniqueindex. Controller’s characteristic was testified through simulation in the Matlabenvironment. Controller has good dynamic performance and accuracy from thesimulation results. According to the simulation of controller in the turntable system,the uncertainty of the model could hardly affect the controller’s performance, whichshowed the good robustness of the controller. The phenomenon of zeros’ cancellingpoles and high gains of controller during the procedure were analyzed. Theapplication of the LQG/LTR method in non-minimum phase systems was studied.The performance of LQG/LTR controller was ensured by reselection ofdominant pole and zeros’ cancelling poles technique. At last, the applicationprospect of LQG/LTR controller in the servo turntable was analyzed.