Adaptive Control Of Three-axis Turntable

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 it introduces the designed plan of this model three-axis electrically control turntable servo system, including performance index, hardware selection, model establishment and carries on the classical PID design to the more complex outer loop axis.In view of the uncertainty of this three-axis turntable servo system and the external interference, basing on Lyapunov stability theory, design one kind of model reference adaptive controller, and carry on the digital simulation. May known from the simulation result, the control system satisfies the performance index given, and has well adaptive to the object model changing as well as the external interference.Then basing on Popov hyper-stability theorem and positivity concept, propose the signal synthesizes adaptive parallel model following control system, and carry on the digital simulation. May obtain from the response curve and the curve of error, when the system has the strong time-varying external load disturbance effectively as well as when the system model step time changes, the designed signal synthesizes adaptive parallel model following controller is able to effectively suppress the parameter disturbation and the external force disturbance, guaranteed the control system has good track characteristic and overcome the shortcoming which Lyapunov designed controller exists.Finally aiming at the uncertainty of object model, even unknown the precise mathematical model of the object, unified the thought and method of fuzzy control, design the model reference fuzzy adaptive control system. Through the contrast simulation, the model reference fuzzy adaptive control system has better adaptive than the other adaptive methods above in changeness of objects, changeness of reference models as well as transmission delay in system.