A direct-drive turntable position control system and control method

Abstract

The invention discloses a direct-drive turntable control system and control method. The control system includes a controller, a motor driver, a direct-drive motor, a position sensor and a turntable; the controller completes the position control of the turntable, sends a speed command to the motor driver through a field bus interface between the controller and the motor driver and completes the speed control of the direct-drive motor; and one end of the output shaft of the direct-drive motor is connected with the rotation shaft of the turntable so as to drive the turntable to rotate. According to the direct-drive turntable control system and control method of the invention, the direct-drive motor is adopted to drive the turntable to rotate, the gear transmission of a mechanical reduction gearbox can be omitted, so that high-precision position control on the turntable can be realized; and error segmented control and integrator integration starting point value control of a final stage are adopted, and therefore, overshoot which occurs when large-range angle positioning is performed can be effectively controlled.

Description

technical field [0001] The invention relates to a direct-drive turntable position control system and a control method, belonging to the technical field of automatic control. Background technique [0002] PID algorithm has simple control structure and strong robustness, so it is widely used in engineering practice. Compared with the analog PID regulator, the digital PID regulator has greater flexibility. [0003] In the control system based on the PID regulator, due to the existence of the integrator, the overshoot of the control quantity is often an unavoidable problem. In the position control system, affected by the nonlinear factors limited by the maximum speed, when the position control system is turned over When , the absolute value of the position overshoot is large, which not only makes the main reason for the decrease of the system stability, but also lengthens the dynamic process of the positioning control. [0004] In the digital PID, it is more convenient to cont...

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Problems solved by technology

[0003] In the control system based on the PID regulator, due to the existence of the integrator, the overshoot of the control quantity is often an unavoidable problem. In the position control system, affected by the nonlinear factors limited by the maximum speed, when the position control system is turned over When , the absolute value of the position overshoot is large, which is not only the main reason for the decrease of system stability, but also lengthens the dynamic process of positioning control.

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