Design Of Horizontal Servo Control System By Suspension Method

Satellite,aircraft and other deep space exploration equipment must do experimental tests on the ground before entering the space to carry out the survey.With the continuous improvement of the detection requirement,space equipment in the ground experiments are also increasingly complex,so it is very important to design low gravity environment simulation device.The low gravity simulating methods include water,air,drop tower,suspension etc.,the suspension method is the most widely used.For the suspension low gravity simulator,how to implement the servo platform actively servo target and ensure the vertical sling is the key to the problem.To solve this problem,this paper studies the theory of Servo control system,a set of control system is designed.In this paper,the design of the servo control system is mainly studied from the horizontal direction.The system is mainly composed of two parts,the swing angle measurement system and the position tracking system.Deflection angle measurement system of real-time acquisition of sling swing angle,provide input for position tracking system.Output tracking control system of direct control of servo system,which drives the moving platform with active tracking suspension targets and keep vertical sling.In the aspects of the control system algorithm for the horizontal servo control system method.Firstly,the dynamic analysis of the system is carried out,a mathematical model based on Lagrange equation,and built the mathematical model to simplify and decouple.Then the sliding mode control algorithm is designed based on the simplified model,the algorithm combines the equivalent control and sliding mode control,and the exponential convergence term is added to the sliding mode control.On the basis of the principle of the control system and the control algorithm of the level of the suspension method,the hardware structure of the servo control system is set up.The hardware structure design and hardware circuit design are completed.Then the software part of the servo control system is designed with the modular programming idea in the VS2010 environment.Using MFC application framework to develop human-computer interaction interface,and ultimately complete the design of the entire control system.According to the functional requirements of the servo system in the Matlab Simulink environment to carry out specific examples of simulation,and using the servo control device to carry out specific experimental verification.Simulation analysis and experimental results show that the suspended object is disturbed by 1N ?s.The moving platform to quickly track the target body.The tracking process is completed in 4s.The sling angle is less than 0.1?,Speed error is less than 5%,so the suspension method designed in this paper can improve the response speed and robustness of the system in order to ensure the accuracy of the system.