Research On Key Technologies Of Attitude Coordination Based On Multi-functional Three-axis Turntable

At present,with the development of science and technology,collaborative control has become a hot topic.In the military field,the concept of unmanned cooperative operations such as unmanned aerial vehicle groups and unmanned tank groups has gradually been proposed.In the civil field,with the emergence of requirements such as mass calibration of inertial devices,coordinated motion in motion,and coordination of robot arm attitude,the need for coordinated control of three-axis turntables has also been gradually proposed.The three-axis turntable technology is also widely used in the military and civilian fields,and the three-axis turntable is usually used as a calibration device for inertial MEMS sensors.Turntable technology is also used in the attitude control systems of artillery,sighting pods,radar antennas and other equipment.Based on the three-axis turntable,this paper designs and implements a control system for the coordinated motion of the axes and the attitude of the multiple turntables.In the three-axis turntable,the motor acts as the actuator of the turntable shaft,which directly determines the control accuracy of the three-axis turntable,which in turn determines the control accuracy of the attitude coordination.In the cooperative motion of multiple three-axis turntables,the essence of the cooperative motion is to be responsible for the cooperative motion between the motors of the inner frame,the middle frame and the outer frame,so how to realize the highprecision cooperative control of the motors is the key issue of turntable cooperation..This paper first introduces the development history of the three-axis turntable and cooperative control,then analyzes the function of the multi-functional three-axis turntable attitude coordination system,and selects and designs the software and hardware of the system.In the problem of motor cooperative control,the control accuracy of a single motor is the basis of the cooperative control accuracy.Aiming at the problem of single motor control accuracy,a PID control algorithm based on crowd search algorithm tuning is proposed.Compared with the traditional classical PID control algorithm,the control accuracy of a single motor is improved.Secondly,another key issue in the multi-motor cooperative control is the design of the motor cooperative control strategy,and the synchronization error of the motor coordination can be reduced through the cooperative control strategy.This paper introduces two types of cooperative control strategies of coupling and non-coupling in detail,and simulates them through MATLAB.Finally,the adjacent cross-coupling control strategy is chosen to achieve the coordinated control between the motors,thereby reducing the synchronization error of the attitude coordination of the three-axis turntable.Due to the communication delay caused by the system hardware,this paper finally analyzes the impact of the delay on attitude coordination.Finally,it is verified by experiments that the performance of the multi-functional three-axis turntable attitude coordination system meets the design requirements.