单轴转台控制系统软硬件设计与搭建

为满足惯导测试的综合需要,研究具有角位置、角速率、角振动三个功能的单轴转台控制系统的实现方法.根据功能要求,进行控制系统硬件总体方案设计和主要部件选型,进而建立转台的数学模型,进一步分析了电机伺服驱动原理和控制算法,给出了控制参数整定方法,并设计了上位机控制软件.经过坐标变换,三相永磁同步电机可转换为直流电机,即一个二...

Design and construction of software and hardware for single axis turntable control system

In order to meet the comprehensive needs of inertial navigation equipment testing, the method to construct the control system of the single-axis turntable with angular position, angular velocity and angular vibration functions is studied. According to the functional requirements, the overall scheme design of the control system hardware and the selection of the main components have been carried out. Then the mathematical model of the turntable has been established, the principle and control algorithm of the motor servo drive have been analyzed, the control parameter setting method have been demonstrated, and the upper computer control software has been designed. After coordinate transformation, the three-phase permanent magnet synchronous motor can be converted into a DC motor (a second-order electromechanical system) which is controlled by the driver through the "position-speed-current" three-closed-loop control algorithm. A solution is given for the problem of vibration amplitude attenuation in high frequency angular vibration. The turntable that uses the designed control system can carry out high frequency angular vibration under large load, which is able to provide guarantee for the inertial navigation device test.