Research And Design On Angle-vibration Tables Control Sysytem

Angular vibration table is an important device for measure inertial navigation systems and inertial instrument under dynamic conditions.It is mainly used for testing the angular vibration rectification errors of inertial navigation systems and inertial instrument caused by the angular vibration of the carrier.The accuracy of the measurement accuracy of inertial system and inertial instrument under high dynam ic vibration environment are more concerned in astronautics and aeronautics fields.It makes the angular vibration table should have better performance.The accuracy and reliability of the test results depend on the performance of the angular vibration table.Because of the higher bandwidth requirements of inertial navigation systems and inertial instrument,it determines that the angular vibration table needs to have a large frequency bandwidth.Thus,the practical application of the angular vibration table controller and control algorithm is a great challenge.In this paper,it introduces the constitution of angular vibration table and selection of main components and analysis of their principle.Then the angular velocity open-loop transfer function of the angular vibration table is derived.Also,the influence of the friction torque and mechanical resonance are analyzed.According to the established mathematical model,the design and analysis of ADRC are carried out.The cascade ADRC is established as the control algorithm.The ADRC of speed loop and position loop is designed,respectively.In order to apply the ADRC into the embedded motion controller,the control algorithm is simplified.The control system is also simulated to analyze its performance.In order to realize the purpose of high precision,fast response and wide frequency of the angular vibration table,the controller needs to have higher sampling frequency.Therefore,an embedded motion controller based on DSP and FPGA structure is designed.And the control algorithm is implemented by DSP.Finally,on the actual turntable test platform,the ADRC algorithm and the PID algorithm are applied,respectively.After analyze the experimental data,the results proved the design of the controller and the control algorithm are rationality and feasibility.