| With the achievements that nation's gotten in the aviation and aerospace field, with "Shenzhou 5" and "Shenzhou 6"'s successful flights, China, in the aeronautic and special history of the world, has already been a more important position. Turntable as a key equipment which is used to simulate and test the semi-objects in the aviation, aerospace and other fields, plays an extremely important role in the aerocraft's development process. The merits and demerits of turntable's performances directly relate to the reliability and degree of confidence of simulation and test experiments, which are the basis to ensure precisions and performances of aviation, aerospace products and weapon systems. Therefore, the research and manufacture on the table is of great significance to aviation and aerospace industry and the development of national defense construction.In this paper, we firstly analyze the mechanical structure, mechanical indicators, and the servo system's technical requirements of the three-axis servo turntable, and in accordance with rotation-change theory and Lagrange equation as mathematical theory knowledge and combining the corresponding physical laws, we make a dynamic analysis to the turntable , establish a 3-DOF table's space coordinate and dynamic theory equations, and then combining the drive-motor model and angle-measurement system model we establish the dynamic mathematical model of three-axis turntable.Secondly, we introduce the concept of servo system, the performance of dynamic and steady states, as well as the development of modern servo technologies and point out that the technologies adopted by this issue are pandemic and advanced, and then lead to the the whole design draft of the system and give the whole design schematic framework. At the same time, we put forth the two design platforms: the hardware platform and the "soft" controller platform-algorithm, namely the core of the servo control simulation system. In the hardware platform, we design the parallel acquisition and processing single-chip system of three processors based on the CANbus adapter and focus on the design and debugging to CANbus communication circuit. In the "soft" controller platform, the servo movement control algorithms are mainly embedded, such as PIP algorithm, PID algorithm and position interpolation algorithm and so on. Then on the basis of two platforms we give the hardware design of the "three-loop" control circuit and control algorithm flow.Thirdly, we present the concept, principles, communication protocols, network construction theory and topology structure of CANbus, simply state the design standards of the CANbus system, and in detail analyze the hardware structure and working principle of the upper simulation PC's CANbus communication adapter in which we give the design ideas and using methods of high-speed optocoupler 6N137 and TJA1050 CANbus transceiver chips used in circuit and develop CANbus communication interface circuit by using Protel99se based on those provisions.Finally, it is, of the management hierarchy, the development and design to the software control system of the upper simulation computer, which is to achieve man-machine dialogue platform and here developed by adopting VB6.0 software. We adopt function-structured and modularized design concept to develop the monitor screen of the simulation system. Then we make a debugging and simulation to the system, test CANbus communication adapter card and PWM-wave-pulse output control circuit with the help of hardware and software platform and make an emulating simulation to the "three-loop" servo control system using MATLAB / SIMULINK and Powerlib software to validate the feasibility and superiority of system. |
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