Research on the Stabilization and Automatic Tracking Control in Heading Using the Electric-driven Turntable with Great Load
A novel stabilization and automatic tracking platform using a series-parallel hybrid structure had five degrees of freedom. The stabilization and automatic tracking control in heading was realized by using a large electric-driven turntable. The quality of the load was 1000kg. The model of the electric-driven turntable and its control system had been built by thinking of the application conditions. The control system consisted of four control loops, two position loops were realized by using of the dSPACE controller, the attitude and heading reference system was used to measure the heading angle of vehicles as a feedback of the heading angle loop, but because the response of reference system was slow, the high accuracy optical grating in the turntable was used as the feedback of inside position loop, and the velocity control loop and the current control loop were realized by the motor driver. The static and dynamic characters such as precision and frequency response of the stabilization and automatic tracking control in heading using the electric-driven turntable with great load were simulated by using of the Simuhlnk software. At last, basing on the simulating, the experiments were carried out to prove that the precision and frequency response of the stabilization and automatic tracking control in heading meet the requirements of the application.
Electric-driven turntable Stabilization and automatic tracking Attitude and heading measurement
Cheng Jia Wang Xuanyin Tong Nanjian Li Qiang
The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou,310027, China
国际会议
北戴河
英文
808-811
2007-06-06（万方平台首次上网日期，不代表论文的发表时间）