三轴转台谐波幅相自适应控制系统的设计

Design of Harmonic Amplitude-Phase Adaptive Control System in Three-axis Turntables

提出了一种能够有效地提高正弦运动仿真转台精度的谐波幅相自适应控制补偿方法 ,阐述了谐波幅相自适应控制的机理、结构配置 ,开发了谐波幅相自适应控制律、分析了系统稳定性 ,为进一步提高精度还提出了一种在线辨识系统频响模型的实现途径。由转台工作的实测数据及跟踪误差测试表明 ,本文提出的谐波幅相自适应控制方法的精度明显优于常规的经典控制 。

How to improve dynamic precision of simulator and testin g tables is an important study subject. This paper puts forward a complemented m ethod of the harmonic amplitude-phase adaptive control (HAPAC) for increasing p recision of the sinusoidal motion simulators,expounds the HAPAC principle and st ructure disposition, develops the HAPAC control laws, and analyzes the system st ability in the HAPAC. Finally a realizing way of online identification of the sy stems′ frequency-response models is presented for further improving the precis ion. These tested data and tracing errors of the simulator demonstrate that the HAPAC makes the sinusoidal motions reach more high precision than the common cla ssical controls. The HAPAC can also be used in other tracing systems of precisio n sinusoidal motions.