基于重复控制的六自由度转台控制系统

Six-DOF Turntable Control Systems Based on Repetitive Control

在分析六自由度电动转台控制系统工作原理的基础上,针对驱动电动台的永磁同步电机采用传统PID控制电动台速度时,会产生周期性的速度偏差,致使其控制精度大大降低这一问题,通过对永磁同步电机的转速环进行数学建模,提出利用重复控制理论来设计电动台的速度补偿系统的思想,然后对传统PID和重复控制补偿系统2种控制器进行了设计与仿真。仿真结果表明,经过几个周期后,具有重复补偿的控制系统的跟踪误差逐渐减小,而传统的PID控制器则一直保持较大的跟踪误差。在Matlab/Simulink xPC Target实时开发环境下建立电动台速度实时控制系统,采用快速原型控制方式具有系统组建方便、成本低、开发周期短等特点。试验表明重复控制补偿系统对转台的速度控制具有很大的改进,从而为电动台的精确控制奠定了基础。

To the problem that the tradition PID control applied to six-DOF electric-driven turntable control system nlay for permanent magnet synchronous motor （PMSM） may cause great steady-state tracking error, using repetitive control compensation, the design of the speed compensation system of the turntable is proposed by building a mathematical model on the speed loop of PMSM. The traditional PID control and the repetitive control compensation are designed and simulated, respectively. The simulation results show that the repetitive control compensation is better than the traditional PID on tracking error. The real-time speed control system is designed on the basis of xPC Target environment of Matlab/Simulink. Experiment results show that the control system has a good prospect of application and can provide a more precision control for six-DOF electric-driven turntable.