二轴转台间歇式运动实验平台设计

The Experimental Design of Two-axis Rotation Platform with Intermittence Movement

针对视频阵列监控需要稳定成像的特点,设计了一种具有间歇式运动特点的二轴异步电机运动控制实验平台。二轴转台的运动可以分解为方位运动和俯仰运动,考虑到真实平台模型存在的偏差和各类干扰,间歇式运动控制通过自适应逆控制算法实现。算法通过一个工控机来运行,产生控制信号,输入到多轴运动控制卡产生脉宽调制信号(PWM),经过放大后分别控制方位和俯仰伺服电动机。最后通过实验,验证了定点运动、零点复位与间歇式运动的性能。该实验平台可用于运动控制的实验教学,以及具有间歇式运动特点的视频监控生产领域。

For the purpose of stable imaging of video array surveillance,an experimental platform of motion control with an intermittence movement is designed based on two-axis asynchronous motor. The movement of the two-axis rotation platform can be divided into the azimuth and pitch motions. Considering the real bias and disturbances in the platform,the intermittence movement is realized by an adaptive inverse control algorithm and is implemented in an industrial control computer. The controlling signal is then sent to a multiple-axis motion card,which produces the impulse-width modulation（ PWM） signal. The amplified signal drives the azimuth and pitch motors, respectively. The final experiments verify three types of motions including the fixed point movement,zero point reset and intermittence movement. The designed experimental platform can be used in experiment teaching of motion control and the video surveillance field with characteristic of intermittence rotation.