Abstract
An inertial navigation system usually suffers the reciprocating vibration during the work process, which result in a large tracking error. Therefore, for the testing of inertial instruments, we need to provide an environment that can simulate its working conditions. The linear vibration table is a type of test equipment developed under this background. It can provide a simulated high-acceleration dynamic vibration environment for navigation devices, solving the problem of non-linear error during testing the inertial instruments, and improving calibration accuracy. The linear vibration table which used for inertial testing requires high acceleration, high accuracy, and high amplitude stability, as well as low distortion. However, there are few relative researches in China. Therefore, this article will focus more on the design and implementation of the linear vibration table control system.
This article will first analyze the overall design of the linear vibration table control system, and complete the component selection according to the performance index requirements. Through the formula derivation, a corresponding mathematical model was established to provide the preconditions for the control system design of the linear vibration table.
Based on the established mathematical model, the controller design of the linear vibration table control system is performed. According to the principle from the inner loop to the outer loop, the current loop and position loop controller are designed in turn, and the position controller design is the most important in our design, so we focused on it to achieve the position tracking of the sinusoidal input signal. A control scheme combining H∞ controller and quasi-PR controller is designed, and disturbance observer is used to suppress the torque disturbance and reduce the tracking error of the system. Through simulation, the linear vibration table control system is able to meet the performance index requirements and have good tracking characteristics.
For the engineering implementation of the control system, this article will choose STM32F407 as the core controller to complete the hardware design. We complete the hardware debugging of the control card after designing its minimun system and peripheral circuits. Software programming of digital controller STM32 was implemented to realize the control system program design, and the sortware implementation of control system module function and control algorithm was completed. The control system takes the PC as the host computer, completes the
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drawing and program code writing of the upper computer control interface, which realize the real-time control and data analysis and processing of the system. Then, we construct a complete control system experimental test platform, and using this platform we finally verified the effectiveness if the control method.
Keywords: linear vibration table, control system,
H controller, tracking error
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