Fuzzy Sliding Mode Control Of Servo System For Three-Axis Turntable

As the key equipment for hardware-in-the-loop simulation, the turntable plays an important role in the fields of development of aircraft. The development of the turntable promotes the precision and upgrading speed of the weapons system. The performance of turntable directly impacts the reliability and fidelity of the simulation and measurement test. Therefore, it makes great sense to the aeronautic and astronautic industry and defense construction by developing the turntable which is more precise. This dissertation is written on the background of a practical turntable project, and the research object is a certain type of three-axis turntable. The following aspects are carried out:Firstly, the general dynamic model of turntable and the mathematical model of AC servo motor are given. And then the control system of the turntable is analyzed. The overall scheme of the turntable system is designed and the key devices are chosen according to the performance requirements of the three-axis turntable system.Secondly, position loop fuzzy controller is designed for the various disturbances of the outer turntable with fuzzy control methods. Then, the simulation is made by means of MATLAB software, and the control effect of the turntable system is compared between the two methods of fuzzy control and classical PID.Next, a fuzzy sliding method is given in order to eliminate the uncertainties of turntable system which is based on the robustness of sliding mode structure for the system uncertainties. And position loop fuzzy sliding mode controller is designed, and then the control system of the turntable is simulated and analyzed. One reason for applying fuzzy theory is weakening the chattering of sliding mode control method and ensures smooth traffic control features.Last but no least, according to the requirement of system software design, the system control software is also designed by using modular design method, and the detailed software flow chart is given. Then the whole system is debugged with the system hardware and introduces the problems in debugging and possible solutions.