Control Strategy Of Two Degree-of-freedom Turntables

Turntables are the devices which can enable the stability of the target to maintain the same position according to a certain inertial space,or under control orders,adjust the location of the target in accordance with the given rules.The performance of the turntables directly impact the reliability and fidelity of the simulation and measurement test,and is the foundation to guarantee the precision and performance of the aeronautic and astronautic products and weapon systems.Therefore,as a kind of complex and precision electro-mechanical equipment,turntables' control system is high-frequency response,ultra-low-speed,wide speed range and high-precision.So the performances of the turntables' control system have great significance to the development of turntables.Firstly,kinematics equations are presented according to the structure of the two degree-of-freedom turntables,using a generic,system rotation matrix of the vector and the expression of algorithms.The forward and inverse kinematics solutions are presented according to two different positions of the cross-bow's placement.Inertia equations and dynamics equations are presented by Newton-Euler equations and torque equations of the motor controlled are presented.Mathematic model is given for the table.Using linear theory,the model is transformed into two single-input and single-output linear systems and equivalent transfer function.So the coupled system is uncoupled.Lastly,the Rapid Control Prototype is applied to the control system of the two degree-of-freedom turntables.The positions of turntables are collected by crossbow and then transferred to position-drive-commands by kinematics analysis.The experimental results show that all the methods are effective and feasible.Every index of the system meets or surpasses the performance requirements.