Control method suitable for portable rotary table

Abstract

The invention discloses a control method suitable for a portable rotary table. According to the control method, a high-precision encoder is driven to rotate through forward and reverse rotation of a motor, and a transmission dead zone is measured in a mode of acquiring and analyzing data of a Hall sensor and the high-precision encoder at a motor end. The high-precision encoder is combined with a reduction ratio to calculate the position of a motor rotor in real time, then the Hall sensor is used for accurately correcting the position of the motor rotor and judging whether the motor is locatedin a transmission dead zone or not so as to achieve dead zone compensation in control, and the control method has a positioning working mode and a speed working mode. In the positioning control mode,a variable stable point control algorithm is adopted in a system precision allowable range, and a quick, stable and accurate positioning function is realized. In the speed control mode, the robustnessof a high reduction ratio system is utilized, a difference angle control algorithm is adopted for a motor speed ring, and the system is guaranteed to be able to operate stably at a high speed and a low speed.

Description

technical field [0001] The invention belongs to the turntable control technology, and in particular relates to a control method suitable for a portable turntable. Background technique [0002] The turntable is often used in surveying and mapping equipment to drive the surveying and mapping equipment to achieve high-precision and smooth surveying and mapping. The control accuracy of the turntable is usually one of the core issues considered by the turntable designers. Due to the existence of the multi-stage reducer, there will be a large dead zone between the output end of the motor and the output end of the turntable, which affects the speed of the turntable control. performance, stability and control accuracy have a great negative impact, there are many existing turntable control methods, such as: [0003] Chinese patent, publication number CN110544828A, the title of the patent is "Special Equipment Antenna Turntable Dual Motor Control System and Its Method", the technical...

AI Technical Summary

Problems solved by technology

[0009] In order to solve the problem that the existing control method of the turntable is difficult to apply to the portable turntable, the present invention provides a control method suitable for the portable turntable, which can eliminate the influence of the dead zone on the control accuracy, thereby realizing the high efficiency of the portable turntable. Accurate and fast positioning control, and speed control with wide speed setting range and small speed fluctuation

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