Design Of High Speed Rotary Tracking Table And Control Methods Research

Current the multi-rotor unmanned aerial vehicles（UAVs）have flexible steering control and high maneuverability,which makes high demands on the dynamic characteristics and tracking accuracy of the turntable tracking system.Aiming at this problem,this paper redesigns the mechanical structure of the two-dimensional high-speed rotary tracking turntable,lightweight design,and studies a new control algorithm to improve the turntable rotation speed and tracking accuracy.1)The flight data of tracking UAV is obtained and its dynamic characteristics are studied,the index of the turntable is demonstrated,and the solution measures of high-speed turntable rotation are analyzed.Based on the technical indicators of the turntable,the overall scheme design and structure design of the control system were accomplished,and the structure was improved several times by using Solidworks software.Based on the system hardware selection,the dynamics and mathematical model of the rotary table is established,the system transmission function is captured,and the design of the three-closed-loop control system is accomplished.2)Take traditional PID control as the basic method and analyze the limitation of PID control.Combine fuzzy control with PID control method,establish fuzzy control rules and complete fuzzy controller design.Simulation experiments show that it does not have accurate tracking of high-frequency signals,so the BAS PID control method is formed by combining the Beetle antennae search algorithm（BAS）with the PID algorithm.The algorithm is improved so that it can optimize the PID parameters faster and more accurately,and after further optimizing the parameters,the influence of each parameter is experimentally analyzed.Simulation results show that the ITAE error value of the optimal individual of the improved algorithm is reduced to 0.0022,and the number of iterations is increased to 97.3)The three algorithms of PID,fuzzy PID and improved BAS PID are simulated and compared to obtain the tracking curves of different algorithms.The rapidity and accuracy of the system is tested by inputting step wave signal,square wave signal,sine wave signal,and oblique wave signal.The random signal is used to simulate the target flight trajectory in real situation,and the trajectory of motion is tracked by the above three algorithms to verify the accurate of the algorithm.Experimental results show that the response time of the improved algorithm to the step signal is reduced by 80% and 50% compared with the original PID and fuzzy algorithms,and the steady-state error is reduced by 98% and 88%,respectively.It is able to recover to a stable state within 225 ms after being disturbed,and can accurately track sine wave signals from 0.1-10 HZ and oblique wave signals from 0.01-600°/s with small steady-state errors.On the basis of simulation experiments,the control system software is designed.Build the turntable simulation experiment platform,carry out the physical production and assembly of the turntable,and complete the hardware system installation and debugging.Through the actual test of the turntable,the results show that it can effectively track various movements of the target curve,and the algorithm can accurately track the high-speed and variable trajectory of the UAV target.