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Control System Design of Three-Axis Turntable Based on DSP

Author: ZouZhongXian
Tutor: ZhangGuangYing
School: Harbin Institute of Technology
Course: Control Science and Engineering
Keywords: Three-axis turntable Control System Design DSP Robust Control Friction modeling
CLC: TP273
Type: Master's thesis
Year: 2011
Downloads: 150
Quote: 0
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Abstract


Turntable as a the inertial test platform and device simulation platform , plays an important role in the field of aviation, aerospace and defense . With the rapid development of modern aviation, aerospace technology , the inertia of the continuous improvement of the accuracy of the devices , the performance requirements of the turntable are constantly improved. To a certain type of three - axis simulation turntable as research background , given the technical indicators , the the first turntable system overall program design , including mechanical structure design of the platform body and motor , measuring components and controller selection . Then, for the three-axis turntable system modeling research . The friction torque impact turntable low-speed performance , and examine how to suppress friction torque change , is of great significance for the improvement of the system performance of high-precision low-speed turntable . In this paper, several control friction model is discussed , and select the the Stribeck model of the friction model as applied to the turntable system . Next article this system uses three control methods were compared . First, the traditional PID control ; fuzzy adaptive PID control , self-tuning of PID parameters online by using fuzzy rules ; robust control , this friction affect as a system multiplicative uncertainty , the choice of robust the control method for the design of the control system . And low-speed performance of the three methods of control system design were made by simulation comparison . Finally turntable control system based on DSP hardware circuit design and debugging , and the the tested angular position error data modeling and compensation .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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