Hierarchical virtual closed-loop control method and system for turntable

Abstract

The invention relates to a hierarchical virtual closed-loop control method and system for a turntable. The method comprises: writing a closed-loop function of each loop in the closed-loop system, wherein the closed-loop functions are hierarchically independent, and each loop comprises a position loop, a speed loop and a current loop; and determining a closed-loop mode and selecting a closed-loop function according to the corresponding closed-loop mode for closing loops, wherein the closed-loop mode comprises a position loop closed-loop mode, a speed loop closed-loop mode and a current loop closed-loop mode. The hierarchical virtual closed-loop control method and system for the turntable solve the problem of complex multi-loop function nested debugging in the prior art.

Description

technical field

[0001] The invention relates to the technical field of servo system control, in particular to a layered virtual closed-loop control method and system for a turntable. Background technique

[0002] As a typical servo control system, the turntable is also composed of a typical three-loop closed-loop system of position loop, speed loop and current loop, and has the characteristics of high precision and high bandwidth. Its typical control loop structure is as follows figure 1 As shown, it can be seen that the output of the position loop is used as the input of the speed loop, and the output of the speed loop is used as the input of the current loop. Therefore, the position loop is the outer loop of the speed loop, and the speed loop is the inner loop of the position loop; the speed loop is the outer loop of the current loop, and the current loop is the inner loop of the speed loop; the normal operation of the current loop is the prerequisite for the normal opera...

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