Control System Design Of 3-DOF Large Load Testing Table

The swing test bed plays an important key role in the field of defense testing.The three-degree-of-freedom swing table is an experimental test equipment for simulating ship roll,pitch and heave motion.It provides the conditions for motion simulation and precision testing for the development of navigation equipment.Therefore,it is of great significance to develop and develop high-performance swing table equipment The In this paper,a heavy swing table is designed for heavy load,high impact and work under complex conditions.Firstly,the design and analysis of the platform structure of the three-degree-of-freedom swing table system are carried out according to the parameter index.The main structure of the swing table is a double-layer frame type structure.The bottom of the frame is fixed by the central hinge base and the foundation.The horizontal axis of the cross bearing and the longitudinal axis are the rocking platform and the rocking shaft,between the inner frame and the outer frame Relative movement to achieve the frame relative to the frame hell.The kinematic analysis and simulation of the ultimate pose of the body are carried out,so that the performance of the swing table can meet the design requirements.Secondly,the mathematical model of the hydraulic servo system of the swing table drive system is established.The mathematical model is used to digitize the system according to the parameters of the system,and the dynamic performance and steady-state performance of the model are analyzed respectively.According to the analysis,it is found that the parametric model can not achieve the system performance in dynamic performance Indicators of the requirements,the need for the system to correct.Can first use the engineers commonly used PID controller to correct the system,under certain conditions,the system can achieve performance indicators.Taking into account the model object a lot of physical parameters with the system work in a complex work environment,its parameters will change over time,coupled with the establishment of the system when the mathematical model for many non-linear problems are mostly used to approximate or ignore the practice,So the hydraulic servo system is a time-varying uncertainty system.Finally,for the model of hydraulic servo system is uncertain,this paper applies the hybrid sensitivity optimization method in robust control to design the controller.By selecting the appropriate weighting function and using the robust control toolbox in Matlab to obtain the controller,the swing table is simulated by the huge impact force on the basis of keeping the margin.The results of theoretical analysis and simulation show that the swing table system has good dynamic performance and robust performance.