Adaptive Control For Three-Axle Electro-Control Turntable

With the improvement of weapon system accuracy, the requirement of performance to the test equipment is higher and higher. This dissertation is written on the background of a research project of SZT-3T three-axis test turntable. It is mainly focused on the design of controllers for servo systems of one three-axis electro-control turntable(TAECT) by two methods which are classical PID and model reference adaptive control(MRAC).Firstly, on the basis of referring to lots of related foreign and civil references, it summarizes the successful experience and up-to-date achievement on simulators at home and abroad as well as introduces some key uncertainties deciding the general technology level of simulators, takes a survey of advantage and disadvantage of automatic control algorithms.Secondly, this dissertation gives a detailed introduction of the integrated design and key technique of TAECT including the constitution and performance of TAECT, selecting main component, design software main programs, establishing system's linear models after making use of theory analysis. It also corrects the servo system of TAECT by PID controllers based on the classical PID control theory. Testing result on the physical system shows that the design can satisfy the criteria in linear and a little nonlinear range but it is not good at those strong nonlinear systems. At last, with regard to the nonlinear uncertainties and time variable parameters and the unknown disturbances, MRAC theory is thoroughly researched. One MRAC design of signal integration parallel structure adaptive model following controller for TAECT is put forward based on Popov hyper-stability theorem and positivity concept.The method can solve the problem of the influenced control performance because parameters are variable in a big range during the operation of TAECT, the designed controller can moderate the unknown and time-varying external load disturbance effectively. The simulation results show that the proposed approach may give rather accurate servo tracking performance and is more robustness to the system parameter variation than PID does.