Two-axis Servo Turntable Motion Control System Design

With the continuous development of aerospace technology,inertial instruments such as gyroscopes and accelerometers are constantly updated and iterated.The accuracy of inertial components is an important indicator of their availability and reliability,so test equipment is especially important in the process of testing and calibrating the accuracy.Inertial navigation device test turntables are an important part of inertial test technology,mainly used for attitude simulation and dynamic calibration experiments of inertial devices.The turntable can simulate different attitude transformations of accelerometers and gyroscopes in space and reproduce attitude information such as angular rate and angular position.This paper researches and designs the motion control system of the two-axis servo turntable based on the above background,mainly carries out the mathematical modeling of the control object and the hardware and software design of the control system,and completes the system debugging and debugging result analysis.The control object is DC torque motor,and the control mode adopts double-loop switching control strategy.The main control chip of the control system is DSP2407 A manufactured by Texas Instruments,and the peripheral hardware circuit modules are designed based on the main control chip.The angle measurement system adopts the dual-phase excitation single-phase output phase detection angle measurement mode,the rate signal acquisition module adopts two AD2S80 and AD976 to achieve,and the control signal input module adopts 16-bit DAC7731 to achieve.The bus arbitration and DAC control signal generation is achieved using the PLCC package EPLD chip EPM7128slc84,the design ensures that this part of the circuit signal has a strong anti-interference and the convenience of the circuit debugging and modification process.The hardware overspeed protection circuit is designed in the aspect of safety.The system overspeed protection threshold is 70°/s in rate mode.Based on the above research,an adaptive robust control algorithm is proposed to effectively reduce the impact of environmental disturbances on the system and the algorithm is validated by simulation.Finally,the hardware circuit debugging and the joint debugging of the control system are carried out,and the simulation results and debugging data are analyzed and summarized.According to the analysis of the test data of the two-axis servo turntable motion control system,the performance of the turntable system in terms of positioning accuracy,rate accuracy and smoothness has been significantly improved compared with the traditional turntable.