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High-frequency angular vibration rotary table sliding-mode control method based on iterative learning

An iterative learning control and iterative learning technology, which is applied in the field of sliding mode control of high-frequency angular vibration turntables, and can solve the problems of low accuracy of tracking periodic signals.

Active Publication Date: 2014-05-28
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0008] The present invention aims at the problem of low precision of high-frequency angular vibration turntables tracking periodic signals in the high frequency band, and proposes a sliding mode control method based on iterative learning suitable for high-frequency angular vibration turntables

Method used

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  • High-frequency angular vibration rotary table sliding-mode control method based on iterative learning
  • High-frequency angular vibration rotary table sliding-mode control method based on iterative learning
  • High-frequency angular vibration rotary table sliding-mode control method based on iterative learning

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Embodiment Construction

[0118] In order to better illustrate the purpose and advantages of the present invention, the following further descriptions will be given in conjunction with the embodiments. This embodiment demonstrates the error convergence and tracking accuracy of the method. Simulation and experiment show that compared with the traditional control method, the sine tracking accuracy of the turntable is improved, and the robust stability of the system is also improved. The following combined with UOO large-scale three-axis angular vibration turntable, experimental verification on the inner shaft of the three-axis turntable, data analysis with Matlab.

[0119] The selection of experiment frequency and amplitude shall follow the following rules:

[0120] In the angular vibration mode of the turntable, the position curve is sinusoidal, that is

[0121] θ=Asin2πf.t

[0122] Among them, A is the amplitude of the sine wave, and f is the frequency of the sine wave.

[0123] The mechanical structure of the...

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Abstract

The invention relates to a high-frequency angular vibration rotary table sliding-mode control method based on iterative learning and belongs to the technical field of measurement and control. The method comprises the steps of conducting mathematical modeling on a permanent magnet synchronous motor, designing a sliding-mode variable structure control law and an iterative learning control law, and conducting sliding-mode control based on the iterative learning control law. Due to the fact that the sliding-mode control arrival process is replaced with the iterative learning control law learning process, the frequency response bandwidth of an angular vibration rotary table is increased, high-frequency inertial navigation device testing precision is improved, high-band periodic signal tracking precision of the angular vibration rotary table is improved, the influence of periodic disturbance and stochastic disturbance on a system is effectively restrained, the responding speed of the system is high, the tracking error is small, and robustness is higher.

Description

Technical field [0001] The invention relates to a sliding mode control method for a high-frequency angular vibration turntable based on iterative learning, and belongs to the technical field of measurement and control. Background technique [0002] With the rapid development of science and technology, the aviation and aerospace fields have higher and higher requirements for the maneuverability of aircraft and weapon equipment, and correspondingly higher requirements for the frequency response bandwidth of inertial navigation devices. As the angular vibration turntable for testing inertial devices, its performance requirements are higher than those of the device under test, so it is naturally facing the development of high frequency response and large acceleration. [0003] Because the structure of the aircraft is complex and the cost is expensive, once a problem occurs during use, it will inevitably cause heavy losses and even cause casualties. Therefore, real-time tracking of spac...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 陈振栾若轩杨晓东刘向东丁泓成
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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