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Turntable double-position loop control method and control system based on harmonic speed reducing mechanism

A harmonic deceleration, dual-position technology, applied in general control systems, control/regulation systems, control using feedback, etc., can solve the limited response speed and stability of semi-closed-loop control systems, the output position accuracy cannot be guaranteed, and the full Closed-loop control system instability and other problems, to achieve the effect of easy engineering implementation and application, reduced impact, and simple and easy to implement

Active Publication Date: 2022-05-13
XI'AN INST OF OPTICS & FINE MECHANICS - CHINESE ACAD OF SCI
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Problems solved by technology

[0006] The present invention aims to solve the technical problems of the current turntable control system based on the deceleration mechanism, the response speed and stability of the semi-closed-loop control system are limited, the accuracy of the output position cannot be guaranteed, the full-closed-loop control system is unstable, and the stability of the output speed is poor. Provide a double position loop control method and control system for a turntable based on a harmonic reduction mechanism

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  • Turntable double-position loop control method and control system based on harmonic speed reducing mechanism
  • Turntable double-position loop control method and control system based on harmonic speed reducing mechanism
  • Turntable double-position loop control method and control system based on harmonic speed reducing mechanism

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[0064] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

[0065] Due to the existence of nonlinear factors brought about by the flexibility of the harmonic reducer 16, whether it is simply relying on the position sensor on the shaft of the motor 10 for semi-closed-loop position control, or relying on the position sensor at the output end of the harmonic reducer 16 for full-closed-loop position control , can not guaran...

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Abstract

The invention belongs to a rotary table control method and system, and aims to solve the technical problems that in an existing rotary table control system based on a speed reducing mechanism, the response speed and stability of a semi-closed-loop control system are limited, the output position precision cannot be guaranteed, a full-closed-loop control system is unstable, and the output speed stability is poor. According to the rotary table double-position-loop control method and control system based on the harmonic speed reducing mechanism, two position feedbacks are used, the first position sensor installed on a motor shaft and the second position sensor installed at the output end of a harmonic speed reducer are used, the position feedback response of the motor shaft is fast, and the control precision is high. The second position sensor on the output end of the harmonic reducer can directly measure the position of the harmonic output end, the influence of nonlinear factors on the control system is reduced, and the advantages of the two are achieved.

Description

technical field [0001] The invention belongs to a turntable control method and a control system, in particular to a turntable dual position loop control method and control system based on a harmonic deceleration mechanism. Background technique [0002] High-resolution imaging has become a development trend and is widely used in various fields. The tracking turntable is used as the carrying equipment of the imaging system, and its speed stability is the basis of high-resolution and stable imaging. Especially in the aerospace field, there are high requirements for peak power consumption, holding torque, speed stability and position tracking accuracy. The advanced degree and function of the space rotation mechanism are usually directly related to the performance of its control system. [0003] The reason why the control system with harmonic reduction mechanism is much more complicated than the control of pure rigid joints is mainly due to the following reasons: ① Because the p...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02G05D3/12
CPCG05B13/024G05D3/12Y02P70/10G05B11/01G05D3/20
Inventor 曹钰王海涛李昕韩俊锋常亮张旭荣宋天莉王帆王磊郭山
Owner XI'AN INST OF OPTICS & FINE MECHANICS - CHINESE ACAD OF SCI
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