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Constrol Scheme Design and Anti-Disturbance Problem Research of a Three-Axis Electric-Constrol Turntable

Author: ZhangXuZhi
Tutor: MaGuangFu
School: Harbin Institute of Technology
Course: Control Science and Engineering
Keywords: Three-axis electric-control turntable Sliding mode variable structure control Disturbing torque Disturbance observer
CLC: TP273
Type: Master's thesis
Year: 2009
Downloads: 104
Quote: 1
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Abstract


As a key equipment for hardware-in-the-loop simulation, the turntable plays an important role in the fields of aeronautic and astronautic industry and defense construction. The performance of turntable directly impact the reliability and fidelity of the simulation and measurement test, and is the foundation to guarantee the precision and performance of the aeronautic, astronautic products and weapon systems. Therefore, it makes great sense to the aeronautic and astronautic industry and defense construction by developing the turntable which is more precise.This dissertation is written on the background of a practical research project, and the research object is a certain type of three-axis electric-control turntable. At first, the general mathematical model of turntable and the platform control system are given. Then, the overall scheme of the turntable system is designed according to the performance requirements of the three-axis electric-control turntable system.In view of the problem of the great change of external-loop system’s inertia, a position-loop controller is designed by using the method of sliding mode variable structure control. Then, the simulation is made by means of MATLAB software, and the control effect of the turntable system is compared between the two methods of sliding mode variable structure control and classical PID.Analyzing the various unknown disturbances, the method of variable structure control and disturbance observer are used to restrain interference, and the simulation curves are got by MATLAB software.At last, according to the requirement of system software design, the system control software is designed by using modular design method, and the detailed software flow chart is given. Then, the performance index detection is carried out to the turntable system using the method of variable structure control, and a lot of measured curves are got. The result proves that the variable structure control can enhance the turntable’s performance.

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