Aiming at the nonlinear coupling problem of three-axis turntable system, this paper uses auto disturbance rejection control (ADRC) technique to design a decoupling controller. First of all, this paper set up the kinematics model of the system, and chose the control algorithms of nonlinear discrete form. On this basis, the signal preprocessing design of tracking differentiator was proposed, and the relevant parameters were adjusted. Finally, the simulation and analysis was carried out. Compared with the traditional PID control, the results show that the ADRC strategy has better precision and stability performance under the influence of inaccurate modeling and unknown interference. This also proves that the designed ADRC controller can realize decoupling function and satisfy the requirement of three-axis turntable.

Decoupling Controller Design of Three-Axis Turntable Based on Auto Disturbance Rejection Technique

A new type of six-axis simulation turntable used to simulate ship swaying is proposed in the paper, and the dynamics and stable tracking model of six-axis simulation turntable are researched. Firstly, according to the design indexes of six-axis simulation/testing turntable, the dynamics of six-axis simulation turntable was established by Lagrange method. Then the dynamics was simulated by software Matlab, which can provide data and theoretical basis for dynamics compensation and driving motors selection of six-axis simulation turntable. Secondly, the stable tracking model of six-axis simulation turntable was established by geometric analysis method, and simulation and reverse checking computation results show that the stable tracking model is correct.

/pdf/research-on-dynamics-and-stable-tracking-model-of-six-axis-2y604mgpit.pdf

Research on Dynamics and Stable Tracking Model of Six-axis Simulation Turntable

To obtain high-resolution and high-precision images, the aviation remote sensing stabilization platform (ARSSP) is used, which enables the isolation of unpredictable aerial camera movements during aerial photography. However, because of the interaxle coupling interference and other nonlinear interferences in the ARSSP system, the imaging quality of the aerial camera is adversely affected. Therefore, we derived the dynamic model of moment coupling between shafts to illustrate the problem. On the basis of the former proportion integration differentiation (PID) controller based on cerebellar neural network, a nonlinear cross feedback decoupling scheme is adopted to reduce the adverse effects of these interferences. The cerebellar model articulation controller (CMAC) based on synovial membrane control (SMC) is used to reduce the nonlinear interferences caused by the new cross-decoupling module. To verify the effectiveness of the scheme, simulation, indoor and outdoor experiments were conducted. The results showed that the SMC-CMAC significantly reduced the interaxle coupling effect and effectively suppressed the nonlinear interference, resulting in a good tracking performance of the ARSSP system.

/pdf/decoupling-control-of-an-aviation-remote-sensing-2hby3f1d.pdf

Decoupling Control of an Aviation Remote Sensing Stabilization Platform Based on a Cerebellar Model Articulation Controller

The modified repetitive control and differential feed-forward control are combined to form com-pound control on the position loop of the servo system of three-axis turret in order to meet the increasing accuracy re-quirement. According to the structure of the turret servo system, models of current loop, velocity loop and positionloop are analyzed and built. And the modified repetitive controller is designed for the position loop. The coupling ef-fect from three frames of the three-axis turret rotating simultaneously is considered in the design. And the speed andstability of three inner frames are analyzed. Simulation results show that the turret has fast position control response,high precision and strong anti-interference using compound control, which can meet the system performance require-ments.

Decoupling and Control of Three-axis Turret Based on Modified Repetitive Control System

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Decoupling and Control of Three-axis Turret Based on Modified Repetitive Control System