Research Of The Control System Of Three-axis Simulating Turntable Based On PMAC

In the aviation and aerospace research field, three-axis turntable plays important roles in the research and development of inertial devices and aviation arrangements. The performance of the turntable affects the capability of these devices directly. It can simulate all kinds of aircraft stance and reappear their dynamic characteristics, so that the performance can be tested by simulation of aircrafts' guidance and control, and the related components, and the data can be gotten; The turntable also can check whether the systems or the components can fulfill the whole design performance. The three-axis turntable is much related to the reliability and trustiness of the simulation test. So the turntable is the basic instrument for ensuring precision and quality of the production in the aviation and aerospace research field.According to electric characteristics of the turntable, the control system is designed to a digital system including velocity-loop and position-loop, in order to meet the requests such as high precision, quick response, wide velocity range and low velocity. We have finished the computation and the choice model about the servo motor,servo drive and the movement control card of turntable control system and control system building and debugging.The paper has introduced the use of PMAC detailedly and based on the actual situation has turned the PID parameter.As the framework of three-axis turntable dynamics coupling exists, the three-axis turntable dynamic model is given through rigorous mathematical derivation. The ability of uncoupling of the three-axis simulating turntable is proved by using adverse system theory, and nonlinear uncoupling network is also obtained. Using state feedback and dynamic compensating uncoupling, the model is transformed into three single-input and single-output linear systems and equivalent transfer function. The mathematical simulation model is given by MATLAB so the coupled system is uncoupled. Designed interference observer to observe this coupling signal.Through including compensation signal in the controller to compensate for the signal coupling and reduce the impact of this system successfully. In the end, the paper prepared the final campaign procedures with PMAC so that the smooth operation of the entire system achieved the design requirements and improved control program of the upper computer.