Research On Control Strategy Of Shaft Angle Position Tracking System

In the field of advanced national defense weapons and equipment,long-range missile technology has been paid more attention by more and more countries.Its development level is a comprehensive reflection of the advanced science and technology of the country.The simulation turntable is a critical experimental equipment in the process of missile design and development.The accuracy and reliability of the data tested by the simulation turntable directly affect the test results.Fast tracking and accurate positioning is one of the main research directions of the missile simulation turntable at present.PMSM is widely used in missile simulation turntable and other application fields.However,PMSM is a non-linear control object with imprecise mathematical model and susceptible to external interference in the operation process,which easily leads to the difficulty of the accuracy and performance of the servo system in tracking the axle angle position of the test sample in the test.In this paper,a lot of research has been done on the tracking control of axle angle position of specimens.The main contents are as follows:Firstly,the PMSM vector control strategy of i_d=0 is briefly introduced.Using SVPWM based on this control,the three closed-loop servo system with position loop,speed loop and current loop is mathematically analyzed and deduced.Secondly,the position loop PI controller is replaced by four kinds of controllers:sliding mode,fuzzy sliding mode,adaptive fuzzy sliding mode and adaptive fuzzy sliding mode with feedforward.The simulation results show that the adaptive fuzzy sliding mode controller with feedforward overcomes the adverse factors such as the change of control parameters and load disturbance,and improves the accuracy and performance of the position tracking system.It meets the requirements of the test.Then,with time optimization as the optimization objective,the cubic spline interpolation algorithm is used to plan the trajectory of the desired curve,and the feasibility of the algorithm is verified by simulation.Finally,the structure and principle of the centrifugal turntable simulation test device and the basic composition of the software and hardware of the shaft angle position control system are introduced.From the test data,it can be seen that the lateral y acceleration of the specimen remains zero and the axial x acceleration reaches a steady state within 0.4 seconds,which meets the test requirements and shows that the control strategy is feasible.the position tracking control strategy and trajectory plan provides the experimental basis for the future.