Design Of Three-axis Swing Table For Environmental Simulation Of Satellite Antenna System On Ship

Three-axis swing table is a high performance test equipment which includes machinery technology, sensor technology, computer control technology. As a key equipment in the field of equipment testing and simulation, the three-axis swing table plays an important role in scientific experiments, and its performance is directly related to the reliability of products. At present, the test table’s performances are developing forward to higher precision, more functional and automated,which puts forward higher requirements for the design of control system and mechanical system.Based on the project requirements of the company’s "satellite antenna system for ship", we design a servo control system which depends on Brushless DC motor and STM32F407ZGT6, give the control strategy and study the accuracy of the system. The study of three axis turntable control method, and improve control precision and dynamic response servo has practical engineering value.In this thesis, the technical performance, machine composition and working principle of the three-axis swing table servo system are introduced, and the concrete engineering implementation of the system control strategy is given. Next, we introduc the hardware of the servo control system, including the selection of the main control chip, the application of the sensor, the selection of Brushless DC motor and how to design the motor drive. Then,we use the method of theoretical analysithc build the mathematical model of the servo system, and simulate the model in a software which is called MATLAB.To make the system work smoothly, the classical PID control theory in the direction of the angular velocity error feedback control strategy is proposed. Test results show that this control strategy can improve the system tracking performance effectively, but still can not be eliminated the oscillation of the system caused by gear clearance. By the way, we introduce the optimal control method, in the contact of the gear clearance use PID control, makes the output of the system to follow the target value; at the beginning of the gear clearance, system takes the time optimal control to through the gear clearance in time and makes the PID control switch at the right moment. As the nonlinear of the gear clearance in the system, it is hard to make it successful in the real time.Finally, using man-machine interface of the swing table, enables communication between the upper and lower computer, from the command sent to the swing table work and running operating status display in real-time, complete the control of swing table system.