Control System Research For Electro-hydraulic Simulation Turntable

Three-axis simulation turntable is the important equipment used for thehardware-in-the-loop simulation, it’s three-degree of freedom to simulate aerocraftsattitude. The performance of the turntable determines the system or componentwhich is tested by the turntable. With the progress of the national defensetechnology, turntable system’s performance requirements have been increasinglydemanded.In this paper, the turntable’s inner-axis is drived by motor. But middle-axis,outer-axis are drived by hydraulic motor, such research has been conducted:Based on the turntable’s structure, combined with the kinematics and dynamicsmodels, a physical model of the system is built. When I get the mathematical modleof the three-axis simulation turntable, conduct single channel sweep-frequency andrecord data. Given that premise, identifying the system’s actual parameters whichcan be used to design the needed controlller.In the following, designing the inner-axis and middle-axis’ controllers. Due tothe modle of the inner-axis is got when inner-loop is closed, we just need to givethe outer-loop’s controller. Some of the hydraulic valve-control motor system’svariables are not easyily measurable, so designing a fast state observer is used tomeasure the system’s states. Using the state parameters can assign the system’s zeroand pole to finish the inner-loop congtroller’s designing. Base on the inner-loop, theposition-loop’s controller is conducted. Acording to the simulation and analysis, weknow that the middle-axis system’s rapidity not meets the phase requirement, soadding the feedforward control to compensate system’s deviation. In the end,simulations are presented for both axises and it shows the effectiveness of themethod.At last, introducing the turntable software’s overall framework, interactiveinterface and the software protection which ensures the reliability and stability ofthe system.