Research On Design Of An Angular Acceleration Control System

Taking certain turntable system as background, some design researches on the angular acceleration servo control system are presented in this thesis. In order to solve the nonlinear uncertainties existed in object, a sliding mode controller combined with acceleration feedback control (AFC) is applied based on a thorough research on the characteristics of AFC. The main researches are as follows:Firstly, aiming at the main control problem of angular acceleration servo system, the characteristics and usefulness of AFC are analyzed by comparisons, which shows that AFC is a robust control technology based on sensor.Secondly, using information of position, two angular acceleration estimator are designed using Kalman filtering and FIR filtering based on a least square method and compared with second order differential algorithm. It is commended to be used in project for some low bandwidth request; and a boundary layer observer with good observation and robustness is presented based on sliding mode control.Then, taking cognizance of the drawback of generic PDD2 control, a sliding mode controller based on AFC is presented. This combination can further conquer the model uncertainties and disturbances, and improve the performance of system.At last, the control theories and results are used in the design of the turntable system, which indicates that the sliding mode controller based on direct AFC has the advantages of high control accuracy and adaptability and the control scheme based on observer isn't perfect for acceleration control.