Control Research Of High-precision Table Servo System

Flight simulator is a kind of high precision position servo system. It is widely used in navigation, spaceflight. Use flight simulator to simulate not only speeds up the development process of weapon and the flight control system, but also greatly reduces the research funding. With the rapid development of navigation, aerospace technology, higher requirements on the performance and accuracy of the flight simulator were put forward. However, the nonlinear friction disturbance seriously affects the tracking performance of the turntable, especially when the system is running low. Therefore, the control law is designed to eliminate the influence of friction, has an important significance to realize high precision control of flight simulator.If the flight simulator has not only precise control method but also accurate position, speed measurement method, the turntable can complete a series of semi physical simulation, which not only reduces the production cost of flight simulator, but also effectively improve the production efficiency of the flight simulator. This paper mainly studies the high accuracy control algorithm and position, speed measurement method.This paper puts forward some new ideas and methods in view of the high accuracy control algorithm. The innovation points are as follows:(1) In order to eliminate the "flat top" phenomenon, this paper uses iterative control from two aspects to improve. PD type iterative control gradually eliminates the "flat top" through iteration; Use iterative control to design adaptive law to modify the PD controller from adaptive compensation angle.(2) In order to improve the convergence speed of system, obtain better tracking performance, the iterative control is combined with the sliding mode control in this paper. Use the fast response and strong robustness of sliding mode control to solve the iterative control "convergence","robust" problem. Use the iterative control to gradually obtain the stability condition of sliding mode control.Research on position, velocity measurement methods are as follows: Without the mathematical model of the controlled object, the differentiator can get the position, velocity information rapidly and accurately. Differentiator was used in the feedback control, can not only avoid the noise amplification brought by conventional differential method, but also can save the cost of hardware. In this paper, on the basis of the study on differentiator, use the hybrid tracking differentiator with whole fast convergence to observe system state. And use the observed values as the controller input to control the flight simulator.