Two-degree-of-freedom positioning turntable servo control system and digital control method thereof

Abstract

The invention provides a two-degree-of-freedom positioning turntable servo control system. The two-degree-of-freedom positioning turntable servo control system comprises a touch screen, a programmable controller, a first servo driver, a first servo object, a second servo driver and a second servo object, the programmable controller comprises a communication module, a PWM (Pulse Width Modulation) output module and a pulse input module; the first servo object comprises a first servo motor, a first speed reducer, a rotary table and a photoelectric encoder which are sequentially connected in series; the second servo object comprises a second servo motor, a second speed reducer, a pitching panel and an angle sensor which are sequentially connected in series; the communication module is respectively connected with communication ports of the touch screen, the first servo driver and the second servo driver; the PWM output module is connected to the input end of the first servo driver and the input end of the second servo driver. The first servo driver is connected in series with the first servo object; the second servo driver is connected in series with a second servo object; and the output ends of the photoelectric encoder and the angle sensor are respectively connected to the input end of the pulse input module.

Description

Technical Field

[0001] The present disclosure relates to the field of electromechanical servo control, and in particular to a two-degree-of-freedom positioning turntable servo control system and a digital control method thereof. Background Art

[0002] The positioning turntable is a common device in the fields of scientific research and military affairs. In many applications, it is required to have accurate positioning, fast response and no overshoot. At present, the commonly used control method for positioning turntables basically adopts PID (proportional, integral, differential) regulator, and the servo driver often has built-in PID control parameter adjustment variables, which is convenient for users to use. However, in some higher-demand occasions, the control effect implemented by PID is often not very ideal, mainly because the response is not fast enough or overshoot is prone to occur, so that users need to make a compromise between response speed and overshoot, and the debugging of PID parameters depends largely on the engineer's own experience.

[0003] The PID control structure is indeed relatively simple, but it is precisely because of this simple control structure that the PID operation is actually performed on the input signal and the feedback signal at the same time, which also generates unnecessary forced operation on the input signal, which directly causes the output of the servo system to be unable to quickly and accurately reproduce the input command signal, making its response speed naturally impossible to be optimal. In order to obtain good comprehensive servo performance, it is necessary to fundamentally change the internal operation structure of the servo controller, reasonably arrange the locations of P, I, D and other operations, so that the forced operation of the input signal is as little as possible; in addition, the design of control parameters needs to fully consider the parameters of the servo driver and the servo object itself, so that it can be targeted and the designed servo control system can be fast in response, without overshoot and with high precision.

[0004] With the increasing requirements of positioning turntable equipment, the traditional PID control method can no longer meet such stringent requirements. It has become an urgent need to seek a control system and its control method with excellent comprehensive performance.

[0005] In this regard, there is currently no technical solution on the market to solve the above technical problems. Summary of the invention

[0006] In response to the above technical problems in the related art, the present disclosure proposes a two-degree-of-freedom positioning turntable servo control system that can screen out products within the required power range before installation and has fast response, no overshoot and high precision, which can overcome the above shortcomings of the prior art.

[0007] To achieve the above technical objectives, the technical solution of the present disclosure is implemented as follows:

[0008] The first object of the present disclosure is to provide a two-degree-of-freedom positioning turntable servo control system, comprising a touch screen, a programmable controller, a first servo driver, a first servo object, a second servo driver and a second servo object;

[0009] The programmable controller includes a communication module, a PWM output module and a pulse input module; the first servo object includes a first servo motor, a first reducer, a turntable and a photoelectric encoder connected in series in sequence, and the photoelectric encoder is used to measure the angular displacement of the turntable; the second servo object includes a second servo motor, a second reducer, a pitch panel and an angle sensor connected in series in sequence, and the angle sensor is used to measure the inclination angle of the pitch panel;

[0010] The communication module is connected to the communication ports of the touch screen, the first servo driver and the second servo driver respectively; the PWM output module is connected to the input ends of the first servo driver and the second servo driver respectively; the first servo driver is connected in series with the first servo object; the second servo driver is connected in series with the second servo object;

[0011] The output ends of the photoelectric encoder and the angle sensor are respectively connected to the input end of the pulse input module, and the angular displacement measured by the photoelectric encoder and the inclination measured by the angle sensor are respectively transmitted to the pulse input module as independent feedback pulse signals.

[0012] Preferably, the input end of the pulse input module is provided with two signal input channels corresponding to the photoelectric encoder and the angle sensor respectively, each of the signal input channels comprises two-phase inputs A and B, and the input signal of each phase is a 24V pulse signal.

[0013] Preferably, the output end of the photoelectric encoder includes two-phase outputs A and B, and the output signal of each phase is a 24V pulse signal.

[0014] Preferably, the output end of the angle sensor includes two-phase outputs A and B, and the output signal of each phase is a 24V pulse signal.

[0015] Preferably, in the PID control parameters built into the first servo driver and the second servo driver respectively, the P parameter is set to 1, and the I and D parameters are both set to 0.

[0016] The second object of the present disclosure is to provide a digital control method adopted by the two-degree-of-freedom positioning turntable servo control system, comprising the following process:

[0017] S1: The programmable controller resets and initializes the integrator 1 and integrator 2 set in its internal program; integrator 1 is used to store the first cumulative integration result INT1, and integrator 2 is used to store the second cumulative integration result INT2;

[0018] S2: The pulse input module collects the feedback pulse signal θ transmitted by the photoelectric encoder or angle sensor f , and transmit it to the programmable controller;

[0019] S3: Input the digital command signal θr through the touch screen. The digital command signal θr is the corresponding digital command signal for the angular displacement of the operating turntable or the digital command signal for the tilt angle of the operating pitch panel; that is, if the feedback pulse signal θf comes from the photoelectric encoder, the digital command signal θr is the digital command signal for the angular displacement; if the feedback pulse signal θf comes from the angle sensor, the digital command signal θr is the digital command signal for the tilt angle;

[0020] S4: The programmable controller performs error calculation on the digital command signal θr and the feedback pulse signal θf to obtain the error result E, E = θ r -θ f ;

[0021] S5: The programmable controller performs a cumulative integral operation on the error result E to obtain a cumulative integral result INT1, INT1 = INT1 + E;

[0022] S6: The programmable controller multiplies the accumulated integral result INT1 by the multiplication coefficient K1 to obtain a multiplication result M1, M1 = K1 × INT1;

[0023] S7: The programmable controller will feedback the pulse signal θ f Multiply by the quadratic multiplication coefficient K2 to obtain the quadratic multiplication result M2, M2 = K2 × θ f ;

[0024] S8: The programmable controller performs a subtraction operation on the first multiplication result M1 and the second multiplication result M2 to obtain a subtraction result S1, S1 = M1-M2;

[0025] S9: The programmable controller will feedback the pulse signal θ f Perform a differential operation to obtain the secondary differential operation result ω, ω = Δθ / ΔT; where Δθ is θ f The rate of change of , ΔT is the time rate of change;

[0026] S10: the programmable controller performs a secondary subtraction operation on the primary subtraction operation result S1 and the secondary difference operation result ω, thereby obtaining a third difference operation result S2, S2 = S1-ω;

[0027] S11: the programmable controller performs a secondary cumulative integral operation on the secondary subtraction operation result S2, thereby obtaining a secondary cumulative integral result INT2, INT2=INT2+S2;

[0028] S12: The programmable controller multiplies the secondary accumulated integral result INT2 by the third multiplication coefficient K3 to obtain the third multiplication result M3, M3 = K3 × INT2;

[0029] S13: The programmable controller multiplies the differential operation result ω by the fourth multiplication coefficient K4 to obtain the fourth multiplication result M4=K4×ω;

[0030] S14: the programmable controller performs three subtraction operations on the three multiplication results M3 and the four multiplication results M4 to obtain three subtraction results S3, S3 = M3-M4;

[0031] S15: The programmable controller converts the three subtraction operation results S3 into a PWM signal and outputs it to the first servo driver or the second servo driver, and then returns to S2. The first servo driver or the second servo driver starts working after obtaining the PWM signal.

[0032] Preferably, in S6, the multiplication coefficient K1 of the secondary multiplication operation is determined by the following formula 1 as an initial setting value:

[0033]

[0034] In formula 1, J is the equivalent inertia of the first servo object or the second servo object; M max is the maximum signal that the first servo driver or the second servo driver can output within the linear range; r 0,ml It is the maximum value of the digital command signal of the angular displacement of the turntable within the linear range or the maximum value of the digital command signal of the inclination angle of the pitch panel.

[0035] Preferably, in S7, the multiplication coefficient K2 of the secondary multiplication operation is determined by the following formula 2 as the initial setting value:

[0036]

[0037] In formula 2: J is the equivalent inertia of the first servo object or the second servo object; M max is the maximum signal that the first servo driver or the second servo driver can output within the linear range; r 0,ml It is the maximum value of the digital command signal of the angular displacement of the turntable within the linear range or the maximum value of the digital command signal of the inclination angle of the pitch panel.

[0038] Preferably, in S12, the multiplication coefficient K3 of the three multiplication operations is determined by the following formula 3 as the initial setting value:

[0039]

[0040] In formula 3: Mmax is the maximum signal that the first servo driver or the second servo driver can output within the linear range; r 0,ml It is the maximum value of the digital command signal of the angular displacement of the turntable within the linear range or the maximum value of the digital command signal of the inclination angle of the pitch panel.

[0041] Preferably, in S13, the multiplication coefficient K4 of the secondary multiplication operation is determined by the following formula 4 as an initial setting value:

[0042]

[0043] In formula 4, J is the equivalent inertia of the first servo object or the second servo object; M max is the maximum signal that the first servo driver or the second servo driver can output within the linear range; r 0,ml is the maximum value of the angular displacement digital command signal of the turntable or the maximum value of the inclination digital command signal of the pitch panel within the linear range; b is the equivalent damping of the first servo object or the second servo object.

[0044] Compared with the prior art, the present invention has the following beneficial effects: (a) The high-precision servo control system for the two-degree-of-freedom positioning turntable provided by the present invention installs the sensors on the object to be ultimately controlled rather than on the servo motor, which structurally ensures the directness of data acquisition and provides a prerequisite for high-precision control.

[0045] (ii) The various control parameters of the digital control method provided by the present invention, firstly, have calculation formulas to follow, which is convenient for users; secondly, the control parameters are designed according to the damping ratio of the system open-loop transfer function as critical damping, thereby avoiding the occurrence of overshoot; finally, the parameter adjustment also fully considers the limit output capacity of the servo amplifier within the linear range, so that the response capability of the system is maximized and the response speed is greatly improved.

[0046] (III) The various operations adopted in the present disclosure are all very common operations, which are very suitable for programming controllers such as programmable controllers, thus bringing convenience to users. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a schematic structural diagram of the two-degree-of-freedom positioning turntable servo control system described in the present invention.

[0049] Figure 2 This is a flow logic diagram of the digital control method adopted by the two-degree-of-freedom positioning turntable servo control system described in the present invention. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present disclosure.

[0051] like Figure 1-2 As shown, in order to facilitate the understanding of the above technical solutions of the present disclosure, the above technical solutions of the present disclosure are described in detail below through specific usage methods.

[0052] The first object of the present disclosure is to provide a two-degree-of-freedom positioning turntable servo control system, comprising a touch screen 20, a programmable controller 30, a first servo driver 40, a first servo object 50, a second servo driver 60 and a second servo object 70;

[0053] The programmable controller 30 includes a communication module 31, a PWM output module 32 and a pulse input module 33; the first servo object 50 includes a first servo motor 51, a first reducer 52, a turntable 53 and a photoelectric encoder 54 connected in series in sequence, and the photoelectric encoder 54 is used to measure the angular displacement of the turntable 53; the second servo object 70 includes a second servo motor 71, a second reducer 72, a pitch panel 73 and an angle sensor 74 connected in series in sequence, and the angle sensor 74 is used to measure the inclination angle of the pitch panel 73;

[0054] The communication module 31 is connected to the communication ports of the touch screen 20, the first servo driver 40, and the second servo driver 60 respectively; the PWM output module 32 is connected to the input ends of the first servo driver 40 and the second servo driver 60 respectively; the first servo driver 40 is connected in series with the first servo object 50; the second servo driver 60 is connected in series with the second servo object 70;

[0055] The output ends of the photoelectric encoder 54 and the angle sensor 74 are respectively connected to the input end of the pulse input module 33 , and the angular displacement measured by the photoelectric encoder 54 and the inclination angle measured by the angle sensor 74 are respectively transmitted to the pulse input module 33 as independent feedback pulse signals.

[0056] In one embodiment, the input end of the pulse input module 33 is provided with two signal input channels corresponding to the photoelectric encoder 54 and the angle sensor 74 respectively, each of the signal input channels includes two-phase inputs A and B, and the input signal of each phase is a 24V pulse signal.

[0057] In one embodiment, the output end of the photoelectric encoder 54 includes two-phase outputs A and B, and the output signal of each phase is a 24V pulse signal.

[0058] In one embodiment, the output end of the angle sensor 74 includes two-phase outputs A and B, and the output signal of each phase is a 24V pulse signal.

[0059] In one embodiment, in the PID control parameters built into the first servo driver 40 and the second servo driver 60 , the P parameter is set to 1, and the I and D parameters are both set to 0.

[0060] The second object of the present disclosure is to provide a digital control method adopted by the two-degree-of-freedom positioning turntable servo control system, comprising the following process:

[0061] S1: The programmable controller 30 resets and initializes the integrator 1 and the integrator 2 set in its internal program; the integrator 1 is used to store the first cumulative integration result INT1, and the integrator 2 is used to store the second cumulative integration result INT2;

[0062] S2: The pulse input module 33 collects the feedback pulse signal θ transmitted by the photoelectric encoder 54 or the angle sensor 74 f , and transmit it to the programmable controller 30;

[0063] S3: Inputting a digital quantity command signal θr through the touch screen 20, the digital quantity command signal θr is a corresponding digital quantity command signal for the angular displacement of the operating turntable 53 or a digital quantity command signal for the tilt angle of the operating pitch panel 73; that is, if the feedback pulse signal θf comes from the photoelectric encoder 54, the digital quantity command signal θr is a digital quantity command signal for the angular displacement; if the feedback pulse signal θf comes from the angle sensor 74, the digital quantity command signal θr is a digital quantity command signal for the tilt angle;

[0064] S4: The programmable controller 30 converts the digital command signal θ r With the feedback pulse signal θ f Perform error calculation and obtain the error result E, E = θ r -θ f ;

[0065] S5: The programmable controller 30 performs a cumulative integral operation on the error result E to obtain a cumulative integral result INT1, INT1=INT1+E;

[0066] S6: The programmable controller 30 multiplies the primary accumulated integral result INT1 by the primary multiplication coefficient K1 to obtain a primary multiplication result M1, M1=K1×INT1;

[0067] S7: The programmable controller 30 will feedback the pulse signal θ f Multiply by the quadratic multiplication coefficient K2 to obtain the quadratic multiplication result M2, M2 = K2 × θ f ;

[0068] S8: The programmable controller 30 performs a subtraction operation on the first multiplication result M1 and the second multiplication result M2 to obtain a subtraction result S1, where S1 = M1 - M2;

[0069] S9: The programmable controller 30 will feedback the pulse signal θ f Perform a differential operation to obtain the secondary differential operation result ω, ω = Δθ / ΔT; where Δθ is θ f The rate of change of , ΔT is the time rate of change;

[0070] S10: the programmable controller 30 performs a secondary subtraction operation on the primary subtraction operation result S1 and the secondary difference operation result ω, thereby obtaining a third difference operation result S2, S2 = S1-ω;

[0071] S11: the programmable controller 30 performs a secondary cumulative integral operation on the secondary subtraction operation result S2, thereby obtaining a secondary cumulative integral result INT2, INT2=INT2+S2;

[0072] S12: The programmable controller 30 multiplies the secondary accumulated integral result INT2 by the third multiplication coefficient K3 to obtain the third multiplication result M3, M3 = K3 × INT2;

[0073] S13: The programmable controller 30 multiplies the difference operation result ω by the fourth multiplication coefficient K4 to obtain the fourth multiplication result M4=K4×ω;

[0074] S14: the programmable controller 30 performs three subtraction operations on the three-time multiplication result M3 and the four-time multiplication result M4 to obtain the three-time subtraction result S3, S3 = M3-M4;

[0075] S15: The programmable controller 30 converts the three subtraction operation results S3 into a PWM signal and outputs it to the first servo driver 40 or the second servo driver 60, and then returns to S2. The first servo driver 40 or the second servo driver 60 starts working after obtaining the PWM signal.

[0076] In one embodiment, in S6, the multiplication coefficient K1 of the secondary multiplication operation is determined by the following formula 1 as an initial setting value:

[0077]

[0078] In Formula 1, J is the equivalent inertia of the first servo object 50 or the second servo object 70; M max is the maximum signal that the first servo driver 40 or the second servo driver 60 can output within the linear range; r 0,ml It is the maximum value of the angular displacement digital command signal of the turntable 53 or the maximum value of the inclination digital command signal of the pitch panel 73 within the linear range.

[0079] In one embodiment, in S7, the multiplication coefficient K2 of the secondary multiplication operation is determined by the following formula 2 as the initial setting value:

[0080]

[0081] In Formula 2, J is the equivalent inertia of the first servo object 50 or the second servo object 70; M max is the maximum signal that the first servo driver 40 or the second servo driver 60 can output within the linear range; r 0,ml It is the maximum value of the angular displacement digital command signal of the turntable 53 or the maximum value of the inclination digital command signal of the pitch panel 73 within the linear range.

[0082] In one embodiment, in S12, the multiplication coefficient K3 of the three multiplication operations is determined by the following formula 3 as the initial setting value:

[0083]

[0084] In formula 3: M max is the maximum signal that the first servo driver 40 or the second servo driver 60 can output within the linear range; r 0,ml It is the maximum value of the angular displacement digital command signal of the turntable 53 or the maximum value of the inclination digital command signal of the pitch panel 73 within the linear range.

[0085] In one embodiment, in S13, the multiplication coefficient K4 of the secondary multiplication operation is determined by the following formula 4 as an initial setting value:

[0086]

[0087] In Formula 4, J is the equivalent inertia of the first servo object 50 or the second servo object 70; M max is the maximum signal that the first servo driver 40 or the second servo driver 60 can output within the linear range; r 0,mlis the maximum value of the angular displacement digital command signal of the turntable 53 or the maximum value of the inclination digital command signal of the pitch panel 73 within the linear range; b is the equivalent damping of the first servo object 50 or the second servo object 70.

[0088] Photoelectric encoder 54 Introduction: Photoelectric encoder is a sensor that converts the mechanical geometric displacement on the output shaft into pulses or digital quantities through photoelectric conversion. The photoelectric encoder is composed of a light source, a light code disk and a photosensitive element. The grating disk is a circular plate of a certain diameter with a number of rectangular holes opened in equal parts. Since the photoelectric code disk is coaxial with the motor, when the motor rotates, the grating disk rotates at the same speed as the motor. The detection device composed of electronic components such as light-emitting diodes detects and outputs a number of pulse signals. The current motor speed can be reflected by calculating the number of pulses output by the photoelectric encoder per second. In addition, in order to determine the direction of rotation, the code disk can also provide two pulse signals with a phase difference of 90°. This introduction comes from Baidu Entry and is common knowledge.

[0089] In summary, through the unique design of the present invention, compared with the prior art, the present invention has the following beneficial effects: (a) The two-degree-of-freedom positioning turntable high-precision servo control system provided by the present invention installs the sensors on the object to be ultimately controlled rather than on the servo motor, which structurally ensures the directness of data acquisition and provides a prerequisite for high-precision control.

[0090] (ii) The various control parameters of the digital control method provided by the present invention, firstly, have calculation formulas to follow, which is convenient for users; secondly, the control parameters are designed according to the damping ratio of the system open-loop transfer function as critical damping, thereby avoiding the occurrence of overshoot; finally, the parameter adjustment also fully considers the limit output capacity of the servo amplifier within the linear range, so that the response capability of the system is maximized and the response speed is greatly improved.

[0091] (III) The various operations adopted in the present disclosure are all very common operations, which are very suitable for programming controllers such as programmable controllers, thus bringing convenience to users.

[0092] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A two-degree-of-freedom positioning turntable servo control system, characterized in that: It comprises a touch screen (20), a programmable controller (30), a first servo driver (40), a first servo object (50), a second servo driver (60) and a second servo object (70); The programmable controller (30) includes a communication module (31), a PWM output module (32) and a pulse input module (33); the first servo object (50) includes a first servo motor (51), a first reducer (52), a turntable (53) and a photoelectric encoder (54) connected in series in sequence, and the photoelectric encoder (54) is used to measure the angular displacement of the turntable (53); the second servo object (70) includes a second servo motor (71), a second reducer (72), a pitch panel (73) and an angle sensor (74) connected in series in sequence, and the angle sensor (74) is used to measure the inclination angle of the pitch panel (73); The communication module (31) is respectively connected to the communication ports of the touch screen (20), the first servo driver (40), and the second servo driver (60); the PWM output module (32) is respectively connected to the input ends of the first servo driver (40) and the second servo driver (60); the first servo driver (40) is connected in series to the first servo object (50); and the second servo driver (60) is connected in series to the second servo object (70); The output ends of the photoelectric encoder (54) and the angle sensor (74) are respectively connected to the input end of the pulse input module (33), and the angular displacement measured by the photoelectric encoder (54) and the inclination angle measured by the angle sensor (74) are respectively transmitted to the pulse input module (33) as independent feedback pulse signals.

2. The two-degree-of-freedom positioning turntable servo control system according to claim 1, characterized in that: The input end of the pulse input module (33) is provided with two signal input channels corresponding to the photoelectric encoder (54) and the angle sensor (74) respectively, each of the signal input channels comprises two-phase inputs A and B, and the input signal of each phase is a 24V pulse signal.

3. The two-degree-of-freedom positioning turntable servo control system according to claim 2, characterized in that: The output end of the photoelectric encoder (54) includes two-phase outputs, A and B, and the output signal of each phase is a 24V pulse signal.

4. The two-degree-of-freedom positioning turntable servo control system according to claim 2, characterized in that: The output end of the angle sensor (74) includes two-phase outputs, A and B, and the output signal of each phase is a 24V pulse signal.

5. The two-degree-of-freedom positioning turntable servo control system according to claim 1, characterized in that: In the PID control parameters built into the first servo driver (40) and the second servo driver (60), the P parameter is set to 1, and the I and D parameters are both set to 0.

6. The digital control method of the two-degree-of-freedom positioning turntable servo control system according to claims 1-5, characterized in that: The process includes: S1: the programmable controller (30) resets and initializes both the integrator 1 and the integrator 2 set in its internal program; the integrator 1 is used to store the first cumulative integration result INT1, and the integrator 2 is used to store the second cumulative integration result INT2; S2: The pulse input module (33) collects the feedback pulse signal θ transmitted by the photoelectric encoder (54) or the angle sensor (74). f , and transmit it to the programmable controller (30); S3: Inputting a digital quantity command signal θ through the touch screen (20) r , the digital command signal θ r A digital command signal for the angular displacement of the corresponding operating turntable (53) or a digital command signal for the inclination angle of the operating pitch panel (73); S4: The programmable controller (30) converts the digital command signal θ r With the feedback pulse signal θ f Perform error calculation and obtain the error result E, E = θ r -θ f ; S5: the programmable controller (30) performs a cumulative integration operation on the error result E to obtain a cumulative integration result INT1, INT1=INT1+E; S6: the programmable controller (30) multiplies the primary accumulated integral result INT1 by a primary multiplication coefficient K1 to obtain a primary multiplication result M1, where M1=K1×INT1; S7: The programmable controller (30) converts the feedback pulse signal θ f Multiply by the quadratic multiplication coefficient K2 to obtain the quadratic multiplication result M2, M2 = K2 × θ f ; S8: the programmable controller (30) performs a subtraction operation on the first multiplication operation result M1 and the second multiplication operation result M2 to obtain a first subtraction operation result S1, where S1=M1-M2; S9: The programmable controller (30) converts the feedback pulse signal θ f Perform a differential operation to obtain the secondary differential operation result ω, ω = Δθ / ΔT; where Δθ is θ f The rate of change of , ΔT is the time rate of change; S10: the programmable controller (30) performs a secondary subtraction operation on the primary subtraction operation result S1 and the secondary difference operation result ω, thereby obtaining a third difference operation result S2, S2=S1-ω; S11: the programmable controller (30) performs a secondary cumulative integral operation on the secondary subtraction operation result S2, thereby obtaining a secondary cumulative integral result INT2, INT2=INT2+S2; S12: the programmable controller (30) multiplies the secondary accumulated integral result INT2 by the cubic multiplication coefficient K3 to obtain a cubic multiplication result M3, M3=K3×INT2; S13: the programmable controller (30) multiplies the differential operation result ω by a fourth multiplication coefficient K4 to obtain a fourth multiplication result M4=K4×ω; S14: the programmable controller (30) performs three subtraction operations on the three multiplication results M3 and the four multiplication results M4 to obtain three subtraction results S3, S3 = M3-M4; S15: The programmable controller (30) converts the three subtraction operation results S3 into a PWM signal and outputs it to the first servo driver (40) or the second servo driver (60), and then returns to S2. The first servo driver (40) or the second servo driver (60) starts working after obtaining the PWM signal.

7. The digital control method according to claim 6, characterized in that: In S6, the multiplication coefficient K1 of the secondary multiplication operation is determined by the following formula 1 as an initial setting value: In Formula 1, J is the equivalent inertia of the first servo object (50) or the second servo object (70); M max is the maximum signal that the first servo driver (40) or the second servo driver (60) can output within the linear range; r 0,ml It is the maximum value of the angular displacement digital quantity instruction signal of the turntable (53) or the maximum value of the inclination digital quantity instruction signal of the pitch panel (73) within the linear range.

8. The digital control method according to claim 6, characterized in that: In S7, the multiplication coefficient K2 of the secondary multiplication operation is determined by the following formula 2 as the initial setting value: In Formula 2, J is the equivalent inertia of the first servo object (50) or the second servo object (70); M max is the maximum signal that the first servo driver (40) or the second servo driver (60) can output within the linear range; r 0,ml It is the maximum value of the angular displacement digital quantity instruction signal of the turntable (53) or the maximum value of the inclination digital quantity instruction signal of the pitch panel (73) within the linear range.

9. The digital control method according to claim 6, characterized in that: In S12, the multiplication coefficient K3 of the three multiplication operations is determined by the following formula 3 as the initial setting value: In formula 3: M max is the maximum signal that the first servo driver (40) or the second servo driver (60) can output within the linear range; r 0,ml It is the maximum value of the angular displacement digital quantity instruction signal of the turntable (53) or the maximum value of the inclination digital quantity instruction signal of the pitch panel (73) within the linear range.

10. The digital control method according to claim 6, characterized in that: In S13, the multiplication coefficient K4 of the secondary multiplication operation is determined by the following formula 4 as an initial setting value: In Formula 4, J is the equivalent inertia of the first servo object (50) or the second servo object (70); M max is the maximum signal that the first servo driver (40) or the second servo driver (60) can output within the linear range; r 0,ml is the maximum value of the angular displacement digital quantity instruction signal of the turntable (53) or the maximum value of the inclination digital quantity instruction signal of the pitch panel (73) within the linear range; and b is the equivalent damping of the first servo object (50) or the second servo object (70).

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