测试转台摇摆运动的振幅自适应控制

在用测试转台(testturn-table)对陀螺、加速度计等惯导元件进行测试时，要求转台能做振幅精度要求很高的摇摆运动。然而由于转台本身的闭环幅频特性，转台实际的振幅很难等于给定的要求振幅。为了使转台的输出振幅等于给定振幅，该文设计用自适应的算法来补偿输入振幅，使输出振幅稳定在要求振幅上。利用带遗忘因子的最小二乘递推算法(Ls)对实际的输出振幅进行估计，并根据实际输出的振幅对输入振幅进行自适应补偿控制。文中给出了自适应算法的具体实现，进行了Matlab仿真。仿真表明，自适应控制算法有效地提高了转台的摇摆振幅精度。

Adaptive Controller for Rocking Motion's Amplitude of Test Turn - table

Using test turn-table to test inertial navigation components, such as top, jerkmeter, the high precision of test turn-table's rocking amplitude is requested. Due to the amplitude frequency response characteristics, the output amplitude of the test turn-table is often not equal to the input amplitude in the rocking motion. In this paper, an adaptive controller is introduced for this problem. The recursive least squares with oblivion factor is used to estimate the output amplitude of the test turn-table, and the input amplitude is compensated according to the actual output amplitude. The realization of the self-adaptive algorithm by using Matlab simulink is introduced. Simulation showes that the adaptive controller improves the output amplitude precision of test turn-table's rocking motion.