程控双轴姿态转台伺服控制系统设计及应用
2022,30(4):103-108
摘要：针对自主研发的程控双轴姿态转台伺服控制系统，阐述了其运动控制系统的基本工作原理；针对传统转台转速慢、精度差、系统动态性能和稳定性不佳等问题，设计了基于位置环、速度环和电流环三闭环控制的数字控制器；完成了控制系统控制算法的软件实现，利用LabWindows CVI交互式编程平台研发了转台控制软件，可以对串口设置、PID设置、驱动器设置等参数进行任意更改，使系统操作简便、可移植性强；最后对系统开展位置和速度跟踪性测试，测试结果表明系统性能达到预期，具有超调小、响应快、跟踪精度高和鲁棒性好等特点，满足系统设计要求，具有良好的应用价值。
关键词：伺服系统;数字PID控制器;复合控制器;三环控制
Design and Application of Programmable Two-axis Attitude Turntable Servo Control System
Abstract：Aiming at the self-developed programmable dual-axis attitude turntable servo control system, the basic working principle of its motion control system is explained. Aiming at the problems of slow speed, poor accuracy, poor system dynamic performance and stability of traditional turntables, a digital controller based on three closed-loop control of position loop, speed loop and current loop is designed. Completed the software realization of the control algorithm of the control system. Using the LabWindows CVI interactive programming platform to develop the turntable control software, you can change the serial port settings, PID settings, driver settings and other parameters arbitrarily, making the system easy to operate and highly portable. Finally, the position and speed tracking test of the system was carried out. The test results showed that the performance of the system reached the expected, with the characteristics of small overshoot, fast response, high tracking accuracy and good robustness. The system meets the system design requirements and has good application value.
Key words：server system; digital PID controller; compound controller; three loop control
收稿日期：2021-09-26
基金项目：
