Design of Servo System and Accuracy Study for Three-axis Turntable
|School||Harbin Engineering University|
|Course||Mechanical and Electronic Engineering|
|Keywords||Three-axis Turntable Servo system Backlash compensation Angular velocity feedback Switching control|
The three-axis turntable as a the key hardware simulation and test in the field of aviation, aerospace , defense , and play an important role in scientific experiments , and its performance is directly related to the reliability and confidence of the simulation and test trials . At present , the overall performance of the turntable is toward the high-precision , high- frequency response , multi-functional , automated direction , which put forward higher requirements on the turntable control system design . In this paper, the actual project 120 kg triaxial swing Rig \system accuracy problems studied , give improve turntable accuracy control strategy . Of the research work on the three-axis turntable control method , as well as improving the turntable control system frequency response and dynamic servo accuracy has practical engineering value . The article first introduced the the triaxial swing the overall composition of the servo system and part works , gives a specific engineering system control loop . Next , using the method of theoretical analysis to establish the mathematical model of the servo system , including the linear part of the model and the non-linear model containing backlash . In the study of backlash link , article from classical control theory angle angular velocity difference feedback control strategy , the simulation results show that the angular velocity feedback system can effectively improve tracking accuracy , but not eliminate backlash link system caused by oscillation . Specific analysis of the backlash , the paper also proposed switching control strategy , the master in the system , the contact phase of the driven part of the PID control , the system output to track the desired target ; take optimal time-based system enters the stage backlash sliding mode control to ensure that the drive quickly through backlash ; designed Lyapunov stability theory - based switching mechanism , to ensure that the switching of the PID control and sliding mode control system at the right moment . The simulation results show that the switching control to eliminate backlash impact , improve system accuracy . Finally, we designed a rocking platform-bit machine man-machine interface program , the communication between the upper and lower computer , the final completion of the motion control system of the swing sets .