Design And Realization Of Tentative Turntable Control System

Robust and optimal control has a fast development recently. Mixed H₂/H_∞control which combines the performance index of optimization and robustnesscan get the system characteristics that we want by designing a optimal controller.The optimization problem of mixed H₂/H_∞is raised on basis of thestrongpoints of LQG and￥H control which is hard to resolve. Mixed H₂/H_∞optimized controller may be have an infinite order even for a finiteordersystem.So mixed H₂/H_∞control is still a pop control problem.Designing of a high precision testing turntable has a good engineeringsignificance because higher precision is strongly required with fast developmentof aerospace technology. Optimal controller with robustness was designed bymixed H₂/H_∞optimization in this dissertation. Standard problems of mixedH₂/H_∞control with their resolutions are discussed and output feedbackresolution of the controller is appointed out. Mathematic model of the turntablewas founded, simplified and transferred to resolvable mixed H₂/H_∞optimization problem. And the controller was designed by Matlab toolbox.Turntable control system whose angletestingpart applied a double channelcoupling method was designed. Absolute measure of the angle in integral periodwas achieved by resolver for integral angle and inductosyn for decimal angle.Angletestingboard based on DSP which can communicate with PC andcomplete all functions.Debug program which can send command and display the realtimeangleconveniently was written with VC. Sliding filter was applied in the system forhigh frequency noise and the denoising effect was analyzed by Matlab simulation.Harmonic compensating method was adopted for measure error, and errorisolation technology was used to get the first harmonic wave in long period andfirst and second harmonic wave in short period that need to be compensated bysoftware for accurate control.