HORIZONTAL SIMULATING ROTARY TABLE INTELLIGENT SYNCHRONIZATION—DISTURBANCE CONTROLLER

WANG Kai WANG Zhanlin FU Yongling

(School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083 )

Abstract: For friction of hyraulic motors, disturbance from load and synchronizing drive of outer gimbal dual hyraulic motors which are three primary factors affected on performance of hydraulic simulating rotary-table, analysis and summarize fuzzy control rules for synchronizing drive of outer gimbal and rules switch on different control models, fuzzy control rules include equation rules and principal and subordinate rules; Establish direct adaptive fuzzy controller(DAFC) based on PID control experiences, present synchronization—disturbance fuzzy controller. Since the deficiency of poor ability of self-learning of fuzzy controller, fuzzy neural net(FNN) controllers for multi-input multi-output (MIMO) system are induced to the above two fuzzy controllers to resolve this problems, and used to noliner system is more suitable. Simulation results of FNN controllers show that the proposed approach can achieve high displacement tracking accuracy and dynamic performance when the loads of the simulating rotary-table are changeable or two hydraulic motors’ rotate speeds are different greatly.

Key words: Three gimbals rotary table Friction Disturbance Synchronizing driver Fuzzy controller Fuzzy neural net(FNN)

CLC No: TP183 V249 

Received 20051108, received in revised form 20060510