Bandwidth Influence of Three-Axis Motion Table on Dynamic Performance of Torpedo Control System

A mathematical model of three-axis motion table is established, and the relation between controller parameter of the three-axis motion table and motion table bandwidth is determined. Taking MK46 torpedo self-oscillating system as an example, a digital simulation is conducted with MATLAB/Simulink by inserting the three-axis motion table model into the closed circuit of torpedo rolling channel to understand the influence of bandwidth of three-axis motion table on dynamic performance of torpedo control system. Simulation result shows that when the bandwidth of three-axis motion table is below the frequency of oscillating signal, the oscillation period becomes longer, the amplitude increases, and the stability of hardware-in-the-loop simulation system may even influenced. There is no influence of the three-axis motion table with 8 Hz bandwidth on those slowly changed signals with the time constants of controlling system larger than 0.6 s. The result could be regarded as a technical basis for the result analysis of hardware-in-the-loop simulations of torpedo control, the comparison of sea trial data, and the determination of dynamic performance indexes to research or purchase new type of three-axis motion table.