Parallel drive servo control method for high-torque tandem swing table

Abstract

The invention discloses a dual-driving servo control device of a large-torque serial swing table. A rolling outer frame of the swing table is driven by double motors, and a pitching inner table top of the swing table is driven by double swing cylinders. A control device comprises an upper computer, a lower computer, a servo control cabinet and a rotary angular displacement sensor. The servo control cabinet is internally provided with a servo controller, a bus communication card, a data collection card, a signal conditioning module and a power amplification module. Control methods include a dual-driving control method of the double motors and a dual-driving control method of the double swing cylinders. According to the invention, the dual-driving servo control methods of the large-torque serial swing table comprises the dual-driving control method of the double motors and the dual-driving control method of the double swing cylinders, and an angular displacement feedback differential inhibition method and a gravitational torque compensation method are utilized, so that the control stability is effectively ensured, and the control precision and the angular displacement waveform distortion degree are improved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a parallel drive servo control method of a high-torque serial swing table. Background technique [0002] Due to the forced sway of waves and the inherent sway of the ship itself, the ships and submarines moored or sailing at sea will inevitably move with the hull in translation, rotation and other swaying modes, mainly manifested as tilting environment and swaying environment. The static force and dynamic force generated by the tilting and swaying environment will lead to ship equipment failure (failure). The position of the surface is turbulent, which leads to malfunction; the internal hydraulic pressure leaks, and the servo system fails to work due to swing; the position of the power transmission line is turbulent, resulting in damage such as breakage, discharge, short circuit, etc.; components are welded and fall off due to excess stress; The shielding effect of el...

AI Technical Summary

Problems solved by technology

There are still few literatures on the parallel drive servo control of high-torque series swing, and no mature products have been developed for related control devices.

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