Control System Design Of Three-axis Turntable

Three-axis turntable is applied in-the-loop simulation system to simulate the measured object pose variation. In the paper, we research on three-axis turntable.Basing on the practical project, we mainly research the design of the three-axis turntable.With the improvement of the precision weapons systems, their testing devices need increasingly high requirements. First, briefly described the current research state of the domestic and international three-axis turntable, and concluded our cuntry's turntable development direction and kinds of contolling ways'application and main questions existed in three-axis turntable control system.According to the system performance requirements of three-axis turntable, we proposed the overall control system design program. Different from single-motor drive for the turntable, we adopted the style of the dual-motor drive. It not only can supply enough torque, but also is useful to solve the question of deviating from the center of gravity. But, dual-motor drive will certainly bring two motors'drive unsynchronous, we adopted torque regulator's master-slave control mode, easily realized motors synchronous controlling.Second, against the disturbance torque, we adopted the model reference adaptive control strategy for three-axis rotary table control system design. The paper set up three axises'dynamic model for three-axis turntable, then according to the performance requirements, set reference model and finally built a complete model reference system simulation block diagram. At the same time, we studied three-order model following two-order model, the results showed three-order model following three-order model was not a big difference. The way of model reference adaptive control used in the system simulation showed that it could realize good tracking and inhibit effectively outside disturbance and parameters changing when the system existed nonlinear and strong load disturbance.We set up three single-axis control system mathmatics model, used classic PID strategy by the way of double loop: speed loop and position loop to complete the lead and lag correction for turntable control system. For the higher bandwidth requirements to the three-axis turntable, we made outline as an example, adopted complex control methods of the feedforward control plus feedback control. The results showed that feedforward control could improve response speed and reduce steady-state error when it could ensure the same stable situation. We compared classic PID with model reference adaptive control, showing that PID could almost meet the controlling requirements for the precise mathematical model and the controlled object's a weak change, but when there are significant changes in the controlled object or disturbance is large, PID control strategy would not meet the requirements. Compared with the PID, model reference adaptive control strategy can achieve a better dynamic performance and steady precision.