Decoupling And Control Of Three-axisturntable

Inertial system plays an important role in the area of guidance and it has variousapplications in military and civilian. Nowadays, stricter requirements of inertialcomponents and systems are brought up, especially on precision and test equipmentshave to keep up. Therefore, this dissertation will derive the dynamic model ofthree-axis-turn-table, based on which analysis will be made about the coupling anddecoupling algorithm and controller will be designed. The algorithms will be verifiedby simulation examples.Firstly, motor system of turntable is introduced and simpliifed model is given.Based on the simplified motor model and structures and behaviors of turn-table,dynamic model is derived according to Euler equations and then integrated model isderived. Identification algorithms of inertia matrix，gravity and the center of each ringare deduced according to these models.Different decoupling and control algorithm is derived on dynamic models. Firstly,nonlinear feedback decoupling is given by dynamic models. Secondly, based onLyapunov function, controller is designed which can drive the system to anasymptotic stable equilibrium. Atfer some simple modification，the equilibrium couldbe easily shitfed to any other point. The third and the fourth algorithm are based onthe second and the first algorithm, by applying simple linearization method. Therefore,only simulations of the first and the second algorithms are run to verify.Finally, simulations are run to verify the model，the decoupling algorithm and thecontroller, with the aid of simulink and Solidworks. By these examples, effectivenessof the model and the algorithms are verified.