Design And Research On The Control System Of Highly Dynamic Variable Speed Precision Centrifuge

Since inertial navigation has continuously improved the accuracy and performance requirements of inertial components,the dynamic error of inertial components affects its accuracy,and the large overload environment affects its performance.It is necessary to test its dynamic performance to compensate for the dynamic error in its use.And to improve its performance in a complex environment,the original test technology is not good in this respect,so there is an urgent need to develop a test equipment for dynamic testing.The dynamic centrifuge is a high-precision test equipment that can apply dynamic excitation to inertial components.It needs to meet the characteristics of high dynamics,high bandwidth,large inertia,large angular velocity,large angular acceleration,and high dynamics.It can be tested according to actual needs.The acceleration applied by the test component changes.In this paper,the dynamic centrifuge is studied and analyzed,and the composition of the dynamic centrifuge and the selection of related components are explained.Combined with the motor equation and the coordinate transformation in vector control,the dynamic centrifuge is modeled and analyzed,and the transfer function and state space equation of the system are derived.Aiming at the torque fluctuation problem in the control process,the reasons for the torque fluctuation are analyzed,the repetitive controller is designed and suppressed,and the stability condition of the repetitive controller is analyzed using the concept of reconstructed spectrum.For repetitive control,the gain of the high frequency band should be reduced as much as possible,a wavelet low-pass filter should be designed,and the feasibility of the wavelet filter should be simulated and analyzed using actual data.According to the torque fluctuation characteristics of the actual turntable,the repetitive control system using wavelet filters,the repetitive control system using general filters,and the PID control system using notch filters are simulated and analyzed.The simulation results show the repetitive control based on wavelet filters.The suppression effect of the system on torque fluctuation is much better than that of the other two control systems,and its peak error is about2% of the general repetitive controller.Aiming at the high dynamic characteristics of the dynamic centrifuge,a speed loop sliding mode controller is designed according to the derived state space equation of the dynamic centrifuge,and its stability is verified by the Lyapunov function.According to the system state space equation after the speed loop sliding mode controller is configured,the position loop sliding mode controller is designed to form a cascaded sliding mode controller.The simulation analysis of the designed cascade sliding mode controller shows that the cascade sliding mode control system has good dynamic performance and can track the changing angular rate signal well.