低速高精度二维转台控制系统设计

Design of Low Speed and High Precision Two-Dimensional Turntable Control System

为满足二维转台对典型低速目标的高精度指向要求,设计一种高精度二维转台伺服控制系统。首先介绍转台控制系统的硬件组成及工作原理,然后详细论述了全数字化三闭环控制策略和基于连续系统对数频率特性法的控算法设计,相比传统PID,算法更适用于精准控制的场合,并引入动基座平台扰动抑制算法。仿真和实验结果表明,系统具有响应速度快、跟踪精度高的优点,满足动基座转台对典型低速目标的高精度指向要求。

In order to meet the high-precision pointing requirements of two-dimensional turntable for typical low-speed targets,a high-precision servo control system with strong applicability for two-dimensional turntable is designed. Firstly, the structure and working principle of turntable control system are introduced. Then, the control strategy of the turntable and the control algorithm design based on the log frequency characteristic method of continuous system are discussed in detail. Compared with traditional PID, the algorithm is more suitable for precise control. The disturbance suppression algorithm of moving base platform is introduced. The experimental results show that the turntable control system has the advantages of fast response speed and high tracking accuracy, and can effectively meet the high-precision pointing requirements of turntable with both fixed and moving base platform.