A friction compensation control system and method for a servo turntable based on switching system theory

Abstract

The invention relates to a servo turntable friction compensation control system based on switching system theory, including: a control system, an adjustment system, a turntable system and a friction estimation system; the control system receives signals from a host computer and signals sent by the friction estimation system and sends speed control signals To the adjustment system; the turntable system includes the driver, servo motor, transmission device, turntable and speed measuring device; the adjustment system realizes the adjustment of the speed signal by receiving the speed signal fed back by the speed measuring device and the speed control signal sent by the control system; the driver receives the controller Send the control signal, and then send the corresponding drive signal to the servo motor, the servo motor drives the turntable to rotate through the transmission device, and the speed measuring device measures the speed of the turntable to feed back to the adjustment system and the friction estimation system; the friction estimation system includes ElastoPlastic model and Stribeck model, Through the judgment of switching conditions, different models are used to estimate the friction force, and the estimated friction force is fed back to the control system.

Description

technical field [0001] The invention relates to a servo turntable friction compensation control system and method based on switching system theory, and belongs to the technical field of servo turntable systems. Background technique [0002] The servo system not only plays a pivotal role in the fields of national defense and military, but also has important significance in the civilian field. The servo system is an important part of radar, inertial guided weapons, CNC machine tools, radio telescopes and photoelectric pan / tilts, and its performance directly affects the tracking performance and positioning performance of the equipment. Among them, the hydraulic servo system has the advantages of simple structure, easy control method, large torque and high reliability. However, the hydraulic servo system generates heat, is difficult to maintain, and has low efficiency. In contrast, the servo turntable system has low inertia. , large torque, high efficiency, etc., and the system...

AI Technical Summary

Problems solved by technology

In view of the shortcomings of traditional PI control such as slow response speed, low control performance, and large overshoot, existing methods include speed compensation based on fuzzy adaptive PI, compensation based on wavelet neural network, and compensation based on the combination of friction model and disturbance compensation. , but these optimization methods are not easy to implement in the actual system. The relevant literature includes "Guo Yida-Research on the Speed ​​Control Algorithm of High-speed Turntable Based on Fuzzy PI", "Zeng Le-Research on the Control of Servo Turntable System Based on Wavelet Neural Network", "Liu Huibo- Fuzzy Inversion Sliding Mode Control of Turntable Based on Friction and Disturbance Compensation》

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