Research On Control Technology Of High Speed Three Axis Turntable

The research object of this paperis the three-axis turntablefor ground hardware-in-the-loop simulation test of rotating guided munition.Based on the guidance unit testing,the paper puts forward requirements ofhigh speed three-axis turntable and design of its control system.When three-axis turntable rotates at high speed,the frameworks of the three-axis turntable will produce coupling effects that cannot be ignored,and the turntable andits control system will be disturbed bythe severe shock,thus the control system of the high-speed three-axis turntable is a multiple-input multiple-output strong coupling nonlinear system.The turntable decoupling analysis and control system design are the key problems in this paper.This paper studied the control system of the three axis turntable system.First,generally introduced the overall mechanical structure of the three-axis turntable,and got the parameters of the turntable.And this work will be the basis of the control system design.Secondly,based on the general structure of the turntable,this paper proposed a overall scheme of its control system,and put forward two kinds of different control structures.Besides,this paperalso introduced the hardware design of this two kinds of architecture.Then,based on the coupling problemof the three-axis turntable,this paper adopted the approach of inverse system to conduct decoupling analysis.And this paper verified the reliability of the decoupling design and stability.At the same time,in view of the turntable motor mathematical model,this paper designed the turntable control system in detail,and proposed the fuzzy PID control method,and in result,this paper obtained good control response.Finally,in view of the practical application effect of the three-axis turntable,thispaper conducted a hardware-in-the-loop simulation test of acertain guidance.The research took the insulation of infrared rate gyroscope and decouping test of IMU as example,verified the performance of the test stand under the condition of slight swing,inner frame high speed spnning and the cooperating motions of the axes.