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Correction-reference-model-based synchronous control method for biaxial turntable

A dual-axis turntable, synchronous control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of poor dynamic performance, complex design, large synchronization error, etc., to achieve easy engineering implementation, simple structure , the effect of reducing the synchronization tracking error

Active Publication Date: 2018-05-29
HARBIN INST OF TECH
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Problems solved by technology

[0004] In order to solve the technical problems of large synchronization error, poor dynamic performance, or relatively complicated design in the existing synchronization control method, the present invention proposes a dual-axis turntable synchronization control method based on a revised reference model

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  • Correction-reference-model-based synchronous control method for biaxial turntable

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Embodiment Construction

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0026] combine figure 1 , a method for synchronous control of a two-axis turntable based on a modified reference model, including the following steps:

[0027] Step 1. Based on the classic frequency domain method, design the two-axis controllers of the turntable respectively and compare their response effects. According to the response effects obtained from the comparison, select the one with better tracking performance as axis, and the one with ...

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Abstract

The present invention proposes a correction-reference-model-based synchronous control method for a biaxial turntable. A double-axis controller is designed and response results are compared; on the basis of the open-loop characteristic of a phi-axis-included controller, a phi-axis mathematical model is established; model correction is carried out; and the synchronous control effect is verified by using a correction-reference-model-based synchronous control method. Compared with the existing parallel and series synchronous control method, the correction-reference-model-based synchronous controlmethod has the advantage of a small synchronous error; and compared with the traditional fixed-parameter parallel-series hybrid synchronous control method, the correction-reference-model-based synchronous control method has the good capability of adjusting the dynamic error and the quick response; and compared with the crossed-coupling synchronous control method, the correction-reference-model-based synchronous control method has the simpler design.

Description

technical field [0001] The invention belongs to the technical field of synchronous control of a double-axis turntable, in particular to a method for synchronous control of a double-axis turntable based on a modified reference model. Background technique [0002] Turntable is an important experimental equipment in inertial navigation test and motion simulation. Turntables are characterized by rotary motion about an axis, which can provide one or more degrees of freedom of motion. A biaxial turntable can provide two degrees of freedom of motion. Under some special working conditions, it is necessary to keep the two axes moving synchronously with a certain precision. For example, a special double-axis turntable, double-axis precision centrifuge, in order to ensure the special requirements of the measured load relative to the inertial space, the rotary axis needs to completely offset the rotation of the main shaft, that is, to achieve high-precision synchronous motion of the t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042G05B13/048
Inventor 霍鑫王孟渝邢宝祥王玘玥王博刘刚
Owner HARBIN INST OF TECH
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