摘要
该文设计并研制了高精密伺服转台的控制系统。该控制系统采用圆光栅作为转台位移检测工具,采用了数字位置环和模拟电流环共同组成双闭环随动系统,其中位置控制器是带有速度前馈和加速度前馈的数字PID伺服滤波器。实验结果表明,该转台运行1.148h过程中位置伺服精度在±1″范围内,控制系统速度阶跃响应时间小于50ms;运动稳定,速度变化范围小于±10%,满足高精密伺服转台位置伺服的精度要求。
High-precision servo turn tables are widely used in inertial navigation systems, where their precision mainly depends on the control system. This paper describes a control system developed for a set of high-precision servo turn tables. The system has a double closed-loop control system with a digital positioning loop and an analog current loop. A circular grating is used for accurate positioning. The digital singnal processor (DSP) based position controller combines a PID servo with velocity feedforward and acceleration feedforward control to improve performance. Test results showed that the positioning precision was within ±1″ during stable operation of 1.148 h. The step response interval is less than 50 ms and motion fluctuations are less than ±10%, so the system provides accurate positioning servo control.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2004年第8期1054-1056,共3页
Journal of Tsinghua University(Science and Technology)
关键词
导航系统
高精密伺服转台
前馈控制
圆光栅
navigation system
high-precision servo turn table
feedforward control
circular grating
