Design And Research On Triaxial Angular Vibration Table Control System

Inertial measurement systems are widely used in many fields such as navigation,aviation,and aerospace,and are mainly used for inertial positioning,inertial navigation,inertial guidance,and inertial attitude control.With the advancement of technology,the performance of inertial components for angular motion measurement has been continuously improved.In order to detect and evaluate inertial components and inertial systems,there is an urgent need for high-precision test equipment.The triaxial angular vibration table is a large-scale precision test equipment used for the dynamic performance testing of inertial components and inertial systems.It mainly outputs high-precision sinusoidal vibration to accurately simulate the angular vibration of the vehicle during the movement,achieving the conditions for the precision testing of the dynamic characteristics of inertial components and inertial systems to obtain their dynamic error characteristics,which make the subsequent dynamic error compensation possible.In addition,the triaxial angle vibration table designed in this paper also has the functions of high-precision angular position and angular velocity tracking.Triaxial angular vibration table control system can realize high-frequency sampling,real-time control,high-frequency response,high-precision.It is urgent to solve the technical problems such as the three-axis dynamic decoupling problem,friction torque interference during low-speed operation,and the influence of motor torque fluctuations during high-precision angular velocity tracking.Triaxial angular vibration table control system is designd and researched in this paper.The three-loop control model of the motor system and the dynamic model of the three-axis frames of the angular vibration table are established.Through the simulation analysis,it is verified that there was a serious dynamic coupling between the three-axis frames.The dynamic decoupling of the three-axis frames is designed using nonlinear feedback.According to the Lu Gre model of friction torque,based on Lyapunov stability theory,the model reference adaptive control algorithm is designed to compensate the interference of friction torque on the triaxial angular vibration table.The mechanism of torque fluctuation in brushless DC torque motor is analyzed.Based on the repetitive control and LUT,the motor torque fluctuation compensation algorithms are designed.The simulations verify the effectiveness of the dynamic decoupling control algorithm,the friction torque adaptive compensation algorithm and the motor torque fluctuation suppression algorithm based on improved repetitive control and LUT.In order to ensure high sampling frequency and real-time control,this paper finally uses DSP and FPGA as the core chips to construct a motion control board.The hardware and software control system of the angular vibration table is designed and debugged.The feasibility of the the motor torque fluctuation compensation algorithm based on LUT and the friction torque adaptive compensation algorithm based on Lu Gre model are verified.