Three-axis accurate angular motion control method

Abstract

The present invention belongs to a device for simulating the three-axis gesture movement, and relates to a method for controlling the three-axis accurate angular movement. The device timely generates an orthogonal harmonic compensation control signal related to the variation of rotation angle with a control calculating device according to the harmonic characteristic of the disturbance of in-axis coupling torque and real-time calculates and regulates the amplitude of each stage of subharmonic signal according to the servo error of system, and applies the compensation control signal to the independent basic closed-loop servo-controlled loop of the corresponding axis. The invention adopts a strategy and a system structure which execute harmonic self-adapting feedback control to the in-axis movement coupling torque disturbance caused by the structural mass arrangement. The tracking error of position servo between each axis in the linkage angular rate state is evidently reduced, and the linkage capability is greatly improved.

Description

technical field [0001] The invention belongs to a three-axis posture motion simulation device and relates to a three-axis precision angular motion control method. Background technique [0002] Three-axis turntable (that is, three-dimensional attitude motion simulation equipment) provides accurate angular position positioning, precise angular velocity and other attitude simulation motions for inertial sensor and navigation system testing, and is an important test equipment for navigation / guidance systems and sensors. With the development of technology, multi-axis angular rate linkage (including: two-axis simultaneous angular rate movement, another axis positioning or three-axis simultaneous angular rate movement) has become an indispensable technical means for sensor and system testing. The three-axis turntable usually consists of load installation space 1, inner ring 2, inner ring shaft 3, middle ring 4, middle ring shaft 5, outer ring 6, outer ring shaft 7 and base 8, and e...

AI Technical Summary

Problems solved by technology

[0005] ① Due to the structural mass distribution of the three-axis turntable, there is a dynamic coupling moment between the axes in the multi-axis linkage, which causes periodic disturbances to the control system regarding the change of the rotation angle, so that the motion axis cannot accurately track the command, and the performance of the linkage angular rate decreases. The positioning is unstable, and even the closed loop cannot work reliably

[0006] ②Due to the uncertainty and change of system parameters including structural mass distribution (such as load, speed, etc.), there are differences in model matching between the feedforward control link and the control object, so that the conventional feedforward control cannot respond to disturbances. to effective inhibition

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