Research On Turntable Control System Based On RTX

Turntable is the main equipment for calibrating and detecting inertial navigation devices,its various performance indicators directly determine the calibration accuracy and quality of the inertial device calibration.With the improvement of people's living standard and the rapid development of modern science and technology,the industrial precision of INS systems has been put even harder claim.As the calibration device of inertial navigation device,the accuracy requirements of the turntable are higher than those of the device under test.Therefore,the high precision turntable control system has become a hot research.In this paper,three axis turntable as the research background,based on the overall scheme of the control system,the influence of fuzzy PID algorithm and its improved form on turntable performance is deeply studied.Real-time system control software is developed.First of all,this paper deduces the dynamics model of the three-axis turntable through the knowledge of space transformation and the theory of physics.Based on the turntable motor model,the equation of state of the three axes is obtained.According to the coupling,nonlinearity and so on of system state variables factor,decoupling analysis of turntable object model is carried out,which lays the foundation for the application of control theory and controller design.Secondly,in order to make up for the defects such as time-varying and disturbing torque,and to reduce the adverse effect on the system due to the change of load and the torque coupling between the turntable,fuzzy PID is chosen as the system position loop control algorithm.Combining with the low dependency of fuzzy control on the model and the high control accuracy of PID algorithm,this algorithm uses fuzzy controller to modify PID controller parameters in real time so that the system can obtain better control quality at different times.The simulation results show that the fuzzy PID controller is faster and more robust than the PID controller.For the torque disturbances existing in the system,the fuzzy PID controller does not achieve the effect of suppression directly according to the disturbance,so there is much room for improvement in performance.The design of disturbance observer can effectively improve the performance of the system to suppress the disturbance and speed up the response of disturbance rejection.The simulation results verify the effectiveness of the designed observerFinally,according to the demand of the control system software,this article selects the operation platform for the system and divides the software function module.In this paper,the real-time performance of Windows and RTX systems is compared.According to the system resources and real-time requirements of each functional module,the software model of MFC + RTSS is designed to solve the problem that it is difficult to realize real-time control system under Windows system.