基于多轴运动控制器的二轴转台控制系统

Control system for two-axis turntable based on programmable multi-axis controller

为了实现二轴试验转台的控制系统,采用工业计算机为上位机,采用开放式多轴运动控制器为下位机,建立速度内环和位置外环的双闭环结构,分析了转台核心部件的选用原则和方法.针对转台运行中负载力矩的不确定性,利用多轴运动控制器的PLC程序实现转台状态信息的监控,提出了应用自适应PID控制技术动态调整PID控制器的比例、微分、积分参数.实验结果表明:它能够有效地抑制变负载对系统的影响,提高了转台的快速响应性能和跟随误差.

For realizing the control system of a two--axis turntable, the industrial PC and open multi--axis controller were used as the master computer and slave computer respectively to construct the two closedloop structure with the inner velocity loop and outer position loop. According to the analysis of the selection principle and method of the kernel parts for the turntable, and in view of the uncertainty of the load moment at the turntable running status, an adaptive PID control technology was proposed to tune the proportion, differential and integral parameters dynamically by useing the PLC program of a multi--axis controller to monitor the information of turntable. The experimental results indicate that this technology can restrain this influence of the load--variant effectively, improve the rapid response capability and reduce the following error.