Design Of Control System For High Frequency Angular Vibration Table

High frequency angular vibration table is mainly used for testing the dynamic performance gyro, especially band characteristic test, and the angle vibration is caused by inertial acceleration error of gyro drift and the important reasons,due to the relatively wide frequency bands of MEMS and other gyroes,thus require the angular vibration table has good dynamic tracking performance, especially the tracking ability to the high frequency signal,this paper is based on the design of single angular vibration table control system,according to the actual demand of the angle vibration table control system, software and hardware design of DSP and FPGA as the core controller is completed.through the analysis of the whole angular vibration table control system,the control algorithm based on auto disturbance rejection control is designed, and implemented the algorithm in DSP. finally, the controller and the control algorithm are debugged and demonstrated in the actual turntable system.in this paper,the main research contents as follows:By analysising the angular vibration table,a complete mathematical model is established.firstly, the mathematical model of the motor with drive is studied.In addition, thinking about the characteristics of the high frequency response of angular vibration table,the resonance factors is taken into account,And from the option of load changes,at last the mathematical model of angular vibration table system with resonance is established. for the design of the control algorithm and the suppression of the resonance provides a theoretical basis.According to the mathematical model of the angular vibration table, the control algorithm based on auto disturbance rejection control is established, and based on ADRC,speed loop and position loop are designed. for the velocity loop, the suppression ability of the auto disturbance rejection to the resonance and damping changes is analyzed, and compared with PID and limiter,verified the robustness and superiority of active disturbance rejection control, for the position loop, a first order auto disturbance rejection control algorithm is established, the restraining ability of auto disturbance rejection control for torque disturbance is taken into consider,and compared with PID,effectively verify the feasibility of auto disturbance rejection control design andgood control performance.According to functional needs of angular vibration controllers,designed the multilayer hardware circuit board which is based on DSP and FPGA,and let the active disturbance rejection control algorithm incorporated into the DSP,at last combined with the actual turntable for debugging,and verified the correctness of the design of board and the feasibility of the active disturbance rejection control algorithm in the turntable.