Triaxial rotation mechanism control apparatus with real-time fault monitoring capability

The invention discloses a triaxial rotation mechanism control apparatus with a real-time fault monitoring capability. A triaxial rotation mechanism is under the control of three orthogonally installed DC brushless motors. The apparatus mainly comprises a master control unit taking a DSP as a core, a signal acquisition module taking a CPLD as a core, and an optical coupler isolation module. The DSP receives external motor rotation instructions and synchronization signals and is connected with the signal acquisition module, a bus transmission module, a level conversion module and a communication module. The signal acquisition module is used for acquiring a rotation mechanism angle measuring apparatus signal, a temperature sensor signal, a vibration sensor signal, and a fault detection signal of a motor driving module and sends the acquired signals to the DSP. The DSP, according to the four received signals, determines whether the apparatus is currently at a normal working state so as to realize real-time monitoring of the control apparatus. In terms of a control algorithm, by use of an active control strategy, smooth transition of uniform-speed forwarding and reversing of the rotation mechanism are guaranteed, and the control precision of a system is ensured.