Design And Research Of Structure And Control System For Three-axis Angle-vibration Table

Inertial navigation system(INS)is the only autonomous navigation system with real-time,continuity,concealment,no external interference,no time and place restriction,and motion perception ability.It is one of the key information sources of modern missiles and spacecraft.As the key component of inertial navigation system,the performance indicators of gyroscope directly resolve the tracking property and location accuracy of the whole inertial navigation system.It is necessary to carry out strict testing,calibration and error assessment in order to ensure its stability and reliability.The high-precision and high dynamic characteristics of the three-axis vibration table is to calibrate the accuracy of inertial navigation components,improve the accuracy of gyroscope and other inertial navigation components.Based on the high-precision and high dynamic characteristics of the three-axis angle-vibration table with designing and studying the mechanical system,static performance and dynamic performance,error system,servo control system and electronic control system of the three-axis angle-vibration table.Finally,the requirements of its performance criteria are verified by experiments.Firstly,based on the performance design index of the three-axis angular vibration table,the mechanical system of the three-axis angle-vibration table is designed and studied.The parametric modeling of the three-axis angular vibration table is completed,and its virtual prototype model is built.Then,the static and dynamic characteristics are analyzed based on the virtual prototype model of three-axis angle-vibration table.The performance analysis results are evaluated to ensure that the three-axis angle-vibration table can meet the requirements of strength,rigidity and natural frequency in the actual working process and realize the requirements of high dynamic characteristics.The mathematical model between the end working error and each error source is established based on the high precision requirement of three-axis angle-vibration table.The relationship between the sensitivity and the sensitivity coefficient of each error source about the end working error is established with the multiple function differential method.The influence degree of each error source on the end working error is quantitatively analyzed and the accuracy requirements are controlled Make the allowable value of each error source.Then,taking the frameless DC torque motor servo system as the research object,the mathematical control model of the motor is set up.Before correcting the servo control system,the performance indicators such as phase margin,adjustment time and overshoot cannot meet the requirements,so it is necessary to use the correction link to adjust the performance index of the servo system.For the servo control system,the speed loop lead correction,position loop lag correction and feed-forward control are used to improve the dynamic performance and working bandwidth of the control system.On the premise that the servo control system meets the performance index,the control system also needs to meet certain real-time sampling and communication performance requirements.Therefore,the pure software control mode and RTX real-time operating system are applied in order to improve the anti-jamming ability,the feasibility of various compensation measures,reliability operation of the system and so on.The whole electronic control system of the three-axis angle-vibration table is established.Finally,based on the mechanical system and control system of the three-axis angle-vibration table,its performance index is verified through experiments,mainly testing the dynamic performance,angular position error,frequency resolution and verticality error,which meet the design requirements,and have certain margin to ensure the performance index requirements of the three-axis angle-vibration table.