High-stability miniaturized precise turntable design and control method

Abstract

The invention relates to a high-stability miniaturized precise turntable design and control method, which comprises the following steps of: ensuring that a turntable has enough anti-overturning capability through combined model selection of a motor and a driver and bearing scheme design of a precise angular contact bearing; a proper angular position sensor is selected, and an angular position error is corrected through a Fourier harmonic fitting method to improve the positioning precision of the rotary table; a miniature conductive slip ring is adopted to meet the miniaturization requirement of the precise turntable, and electromagnetic compatibility optimization design is integrated; the precise turntable servo control system adopts a three-ring nested control strategy, and introduces a fusion adaptive disturbance observer to compensate external disturbance in real time; a double-ARM processor control system is adopted and is responsible for rotary table motion control and north-seeking resolving tasks respectively, and precise operation and remote control of a rotary table are achieved in combination with serial port communication. And the software of the upper computer adopts a modular design, and integrates real-time monitoring and parameter self-calibration functions, so that the reliability and the operation convenience of the system are improved.

Description

Technical Field

[0001] This application relates to the field of inertial device testing and measurement technology, and in particular to a design and control method for a highly stable miniaturized precision turntable, which can meet the high-precision angular position control and testing needs of precision measurement, aerospace and other fields. Background Technology

[0002] Precision rotary stages, as key devices for achieving high-precision angular position control and testing, are widely used in aerospace, optoelectronic measurement, and inertial device calibration equipment. With increasing demands for system integration and portability, traditional design methods relying on large-size structures to enhance rigidity are no longer sufficient to meet the comprehensive requirements of miniaturization, high stability, and high-precision compatibility. In existing technologies, miniaturized precision rotary stages, due to their compact structure, enhanced inertial coupling, and reduced anti-interference capabilities, are prone to nonlinear vibrations under load fluctuations or external disturbances, leading to decreased angular position accuracy and response hysteresis. Current designs often focus on improving the performance of local components, such as bearing accuracy, encoder resolution, or servo control algorithm optimization, while neglecting the synergistic integration and overall performance trade-offs between structure, sensing, drive, and control. This results in the overall system performance failing to meet the high-stability operation requirements of demanding application environments. Summary of the Invention

[0003] This application provides a highly stable, miniaturized precision turntable design and control method, achieving an organic combination of lightweight structure and dynamic stability, while also considering vibration resistance, angular position accuracy, and environmental adaptability. This not only helps to overcome the bottlenecks in miniaturization and high performance of inertial device testing equipment but also provides theoretical support for the stable operation of turntable products in complex environments.

[0004] The highly stable miniaturized precision turntable design and control method includes: By combining the selection of motors and drives and designing a load-bearing scheme using precision angular contact bearings, the turntable is ensured to have sufficient anti-tipping capacity. Select a suitable angular position sensor and improve the positioning accuracy of the turntable by correcting the angular position error through Fourier harmonic fitting method; Miniature conductive slip rings are used to meet the miniaturization requirements of precision turntables, and electromagnetic compatibility optimization design is integrated. The precision turntable servo control system adopts a three-loop nested control strategy and introduces a fusion adaptive disturbance observer to compensate for external disturbances in real time. The system employs a dual ARM processor control system, which is responsible for the turntable motion control and north-finding calculation tasks respectively. Combined with serial communication, it enables precise operation and remote control of the turntable. The host computer software adopts a modular design and integrates real-time monitoring and parameter self-calibration functions to improve the system's reliability and ease of operation.

[0005] In some embodiments, before ensuring the turntable has sufficient anti-tipping capacity through the joint selection of the motor and driver and the design of the load-bearing scheme of the precision angular contact bearing, the method further includes: Define the technical requirements and confirm the requirements in conjunction with the application scenario, while also confirming the mechanical interface and external dimensions of the turntable.

[0006] In some embodiments, ensuring the turntable has sufficient anti-tipping capacity through the joint selection of the motor and driver and the design of the load-bearing scheme using precision angular contact bearings includes: The precision turntable uses a high-precision brushless DC torque motor in conjunction with a high-performance servo driver. The driver adjusts the output power in real time to ensure stable motor operation. Angular contact bearings have high rigidity and precision, provide reliable support in a limited space, and employ adjustable elastic vibration isolation seats to adjust the bearing preload in real time.

[0007] In some embodiments, selecting a suitable angular position sensor and correcting the angular position error using a Fourier harmonic fitting method to improve the positioning accuracy of the turntable includes: A high-precision absolute 26-bit circular grating angle encoder and matching reading head are used as the angular position sensor. An angular position error compensation method based on 11th harmonic analysis is used to correct the original error and to correct the angular position information of the circular grating in real time.

[0008] In some embodiments, the use of miniature conductive slip rings to meet the miniaturization requirements of precision turntables and the integration of electromagnetic compatibility optimization design include: Shielded, low-noise slip rings are selected to suppress external electromagnetic interference and ensure the stability and integrity of signal transmission.

[0009] In some embodiments, the precision turntable servo control system employs a three-loop nested control strategy and introduces a fusion adaptive disturbance observer to compensate for external disturbances in real time, including: The precision turntable servo control system is designed collaboratively, employing a three-loop nested control strategy consisting of current loop, rate loop, and position loop, and introducing a fusion adaptive disturbance observer to compensate for changes in friction torque in real time.

[0010] In some embodiments, the dual ARM processor control system, responsible for turntable motion control and north-finding calculation respectively, combined with serial communication to achieve precise operation and remote control of the turntable, includes: The dual ARM processor hardware control circuit design uses two high-performance STM32-bit microcontrollers to be responsible for turntable motion control and north-finding calculation respectively. The control circuit includes a power management module, a clock and reset circuit module, a serial communication module, and a drive control module; The driver and controller use serial communication to transmit remote commands and provide real-time status feedback, enhancing the system's autonomous adjustment and anomaly response capabilities.

[0011] In some embodiments, the host computer software adopts a modular design, integrating real-time monitoring and parameter self-calibration functions to improve the system's reliability and ease of operation, including: The host computer and the control circuit use the callback mechanism of the ARM's internal timer. The control circuit implements the timer interrupt task and is responsible for sending control commands for the precision turntable at regular intervals. The host computer software is developed using a modular design, including modules for graphical interface, real-time monitoring, and parameter self-calibration.

[0012] In some embodiments, the host computer software adopts a modular design, integrating real-time monitoring and parameter self-calibration functions to improve system reliability and ease of operation, and further includes: The vibration test platform was used to verify that the precision turntable could maintain excellent performance and structural stability under vibration conditions.

[0013] In some embodiments, the verification through a vibration testing platform to ensure that the precision turntable maintains excellent performance and structural stability under vibration conditions includes: Random vibration tests and functional shock tests were conducted using a general-purpose vibration test bench to simulate different vibration and shock loads that the precision turntable may encounter in actual use. If the vibration test results do not meet the vibration test requirements, the failure points of the turntable will be analyzed based on the test data, and the entire design process will be iteratively optimized. The optimized precision turntable underwent further testing and verification until the test results met the requirements.

[0014] The above-mentioned technical solution of this application has the following advantages: The high-stability miniaturized precision turntable design and control method provided in this application first clarifies the technical requirements and confirms the needs in conjunction with the application scenario. Through the joint selection of motors and drives and the design of a load-bearing scheme for precision angular contact bearings, sufficient anti-tipping capability of the turntable is ensured. Next, a suitable angular position sensor is selected, and the angular position error is corrected using the Fourier harmonic fitting method to improve the turntable's positioning accuracy. Furthermore, a miniature conductive slip ring is used to meet the miniaturization requirements of the precision turntable, and an electromagnetic compatibility optimization design is integrated. The precision turntable servo control system still adopts the classic three-loop nested control strategy and introduces a fusion adaptive disturbance observer to compensate for external disturbances in real time. Then, a dual ARM processor control system is used, responsible for turntable motion control and north-finding calculation tasks respectively, combined with serial communication to achieve precise operation and remote control of the turntable. The host computer software adopts a modular design, integrating real-time monitoring and parameter self-calibration functions to improve system reliability and ease of operation. Finally, verification is conducted through a vibration test platform to ensure that the precision turntable maintains excellent performance and structural stability under vibration conditions. This method can effectively improve the accuracy, stability and adaptability of the turntable, meeting the high requirements of applications in precision measurement, aerospace and other fields. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 A flowchart of a highly stable miniaturized precision rotary table design and control method is provided for this application; Figure 2 This is a schematic diagram of the precision rotary table servo control system solution provided in this application; Figure 3 A schematic diagram of the hardware architecture of the precision rotary table control system provided in this application; Figure 4 This is a schematic diagram of the host computer software interface provided in this application. Detailed Implementation

[0017] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0018] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0019] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0021] This application provides a design and control method for a highly stable miniaturized precision turntable, which aims to meet the requirements of high-precision positioning, strong anti-disturbance capability, and adaptability to changing environments for miniaturized turntables.

[0022] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0023] This application provides a highly stable, miniaturized precision turntable design and control method, such as Figure 1 As shown, the process includes the following steps: confirmation of precision turntable technical requirements and application scenarios; joint selection and design of motor and driver; optimization design of precision angular contact bearing scheme; selection and error correction of angular position sensor; collaborative design of precision turntable servo control system; miniature conductive slip ring and anti-interference design; hardware control circuit design of dual ARM processors; modular design of upper computer software functions; verification of turntable performance using a vibration test platform; evaluation of whether the precision turntable meets the vibration test requirements of GJB150 based on the test results; if not, analysis of failure points based on test data, and iterative optimization of key aspects such as motor driver selection, structural design, and control strategy until the performance meets the standard requirements.

[0024] The technical requirements and application scenarios for the precision turntable were confirmed. Specifically, the precision turntable must be able to bear loads and rotate reversibly and continuously, with constant speed rotation and positioning functions. The mechanical interface and dimensional requirements of the turntable also needed to be confirmed. Furthermore, this application innovatively introduces environmental adaptability modeling technology to consider the impact of external factors such as temperature, vibration, and electromagnetic environment on the turntable's performance.

[0025] The motor and driver are selected and designed in a combined manner. Specifically, a high-precision brushless DC torque motor is used in conjunction with a high-performance servo driver to achieve direct drive control of the precision turntable. To meet the requirements of long-term stable operation under complex environmental conditions, the selected motor has good vibration resistance and supports a wide operating temperature range. The driver can adjust the output power in real time to ensure stable motor operation.

[0026] The precision angular contact bearing solution is optimized, specifically because angular contact bearings possess high rigidity and precision, providing reliable support within limited space, making them particularly suitable for miniaturized precision rotary table applications. Furthermore, an intelligent preload adjustment mechanism is introduced, employing an adjustable elastic vibration isolation seat to adjust the bearing preload in real time, adapting to different working environments and load conditions.

[0027] For the selection and error correction of the angular position sensor, a high-precision absolute 26-bit circular grating angle encoder and a matching reading head are used as the angular position sensor. At the same time, an angular position error compensation method based on 11th harmonic analysis is used to correct the original error, and the circular grating position information output by the reading head is corrected in real time to ensure that the turntable can provide stable and accurate angular position data under various working conditions.

[0028] The selection and anti-interference design of miniature conductive slip rings specifically involves using miniature conductive slip rings to meet the miniaturization requirements of the precision turntable. Shielded, low-noise slip rings are selected to effectively suppress external electromagnetic interference and ensure the stability and integrity of signal transmission.

[0029] The precision turntable servo control system is designed collaboratively. Specifically, the system adopts the classic three-loop nested control strategy: current loop, rate loop, and position loop. However, on this basis, a fusion adaptive disturbance observer is introduced to compensate for external disturbances in real time, such as changes in load and friction torque, which effectively improves the system's anti-disturbance capability.

[0030] The hardware control circuit design employs two high-performance STM32-bit microcontrollers, one for turntable motion control and the other for north-finding calculation. The control circuit mainly includes key functional units such as a power management module, a clock and reset circuit module, a serial communication module, and a drive control module. Furthermore, serial communication between the driver and controller enables remote command transmission and real-time status feedback, effectively enhancing the system's autonomous adjustment and anomaly response capabilities.

[0031] The host computer software adopts a modular design and works closely with the control circuit. Through the callback mechanism of the ARM's internal timer, the control circuit implements timer interrupt tasks, responsible for sending control commands to the precision turntable at regular intervals. The host computer software is developed using a modular design and includes several core functional modules, such as real-time monitoring and parameter self-calibration functions.

[0032] The performance of the turntable was verified using a vibration platform. Specifically, random vibration tests and functional shock tests were conducted using a general-purpose vibration test bench to simulate different vibration and shock loads that the precision turntable might encounter in actual use. The tests required the precision turntable to operate normally during the test, and the equipment structure must not show any cracks, damage, or deformation. Fasteners must remain stable without loosening or falling off, ensuring the stability and reliability of the system in complex environments.

[0033] If the vibration test results fail to meet the GJB150 vibration test requirements, the failure points of the turntable should be analyzed based on the test data. The entire design process should be re-evaluated to address the specific problems, and key aspects such as motor driver selection, structural design, and control strategy should be iteratively optimized. The optimized precision turntable must undergo corresponding testing and verification again until the test results meet the requirements.

[0034] The following is a description through specific embodiments.

[0035] Example This embodiment proposes a design and control method for a highly stable miniaturized precision turntable, aiming to meet the high precision and reliability requirements of miniaturized turntables. First, the technical requirements of the precision turntable are defined, including: ±360° reversible continuous rotation, constant-rate rotation and positioning functions, a maximum speed of 100° / s, an acceleration of 300° / s², a load weight of 5kg, and a moment of inertia of 0.02kg·m², while also requiring precise mechanical interfaces and dimensions. Unlike traditional designs, this embodiment innovatively introduces environmental adaptability modeling technology, considering the impact of external factors such as temperature, vibration, and electromagnetic environment on the turntable's performance. By establishing a dynamic model under environmental changes, the turntable can automatically adjust its compensation strategy and optimize control performance to cope with error changes under different environmental conditions, ensuring high precision and stability even under extreme temperatures, vibrations, and electromagnetic interference.

[0036] In selecting the motor and driver for a precision turntable, environmental adaptability is considered to address the impact of temperature and vibration on turntable performance. This embodiment selects a brushless DC torque motor with a wide operating temperature range. The driver has temperature compensation capabilities, allowing for real-time adjustment of output power to cope with changes in ambient temperature and ensure stable motor operation. Furthermore, vibration can interfere with the motor's speed stability, thus affecting turntable accuracy. Therefore, the motor's vibration resistance should be considered during selection, choosing motors and drivers with damping or vibration-resistant designs to ensure accuracy is unaffected by vibration. Based on the precision turntable's speed and torque requirements, a brushless DC torque motor meeting the technical requirements is determined. According to the required maximum drive torque and motor parameters, a driver capable of providing the corresponding current with a certain margin is selected. Key parameters of the motor and driver are shown in Table 1 below. Table 1 Key parameters of the motor and driver in this embodiment The design of miniaturized precision turntables involves comprehensive consideration of structural rigidity, precision, and load capacity. Using back-to-back angular contact bearings as the core support element of the turntable offers significant advantages. Angular contact bearings can simultaneously withstand axial and radial loads, effectively reducing bearing tilt and deformation, ensuring the stability of the turntable under various operating conditions. Furthermore, angular contact bearings possess high angular stiffness and precision, providing reliable support within limited space, making them particularly suitable for miniaturized precision turntable applications. Building upon this, to further enhance the turntable's performance and stability, this embodiment introduces an intelligent preload adjustment mechanism using adjustable elastic vibration isolation seats. This mechanism can adjust the bearing preload in real time to adapt to different working environments and load conditions. Preload adjustment effectively controls the friction and stiffness within the bearing, thereby improving the bearing's dynamic performance and service life.

[0037] In the design of a precision turntable, the selection of the angular position sensor is crucial. It must not only meet accuracy requirements but also consider structural adaptability, ease of installation, and compatibility with the control system. In this embodiment, a high-precision absolute 26-bit circular grating angle encoder is used. This encoder has high measurement resolution, a wide operating temperature range, and a low error rate, providing accurate angle feedback. The circular grating encoder can measure angles with a resolution of 0.018″, ensuring precise control of the turntable under minute angle changes. The encoder system error is ±5″, and the installation error is 0.6″. Therefore, the combined sensor system error is calculated using formula (1): (1) These parameters ensure the high precision and reliability of the circular grating encoder, meeting the design requirements of a precision turntable. However, in practical applications, circular grating encoders suffer from angular position errors caused by grating eccentricity, affecting the turntable's positioning accuracy. Fourier harmonic analysis is an effective method to analyze the impact of different error sources on angular position accuracy. The mathematical expression for the Fourier series expansion is shown below: (2) This embodiment employs an angular position error compensation method based on 11th harmonic analysis to correct the original error. First, an opto-autocollimator is used in conjunction with a 23-faceted prism to calculate the original error. Then, 11th harmonic analysis is used to fit the original error to obtain a fitting function, and the angular position error compensation value for each position is calculated. This compensation information is fed back to the control system to correct the circular grating position signal in real time, ensuring that the turntable can provide stable and accurate angular position data under various operating conditions.

[0038] Conductive slip rings are key components in precision turntables, responsible for signal transmission between the rotating and stationary parts. This embodiment employs miniature conductive slip rings to meet the miniaturization requirements of the precision turntable. These slip rings not only offer high transmission stability but also effectively reduce the size and weight of the turntable, making them suitable for space-constrained precision equipment. To enhance the slip ring's anti-interference capability, a shielded, low-noise slip ring is selected, effectively suppressing external electromagnetic interference and ensuring the stability and integrity of signal transmission. In terms of material selection, the slip ring uses a special material with high conductivity and wear resistance to ensure low contact resistance and high stability during long-term operation. The slip ring is designed for a lifespan of 1 million revolutions, ensuring reliability during long-term precision measurement tasks.

[0039] The precision rotary table servo control system scheme in this embodiment is as follows: Figure 2 As shown, the precision turntable servo control system employs a classic three-loop nested control strategy: current loop, rate loop, and position loop. However, an adaptive fusion disturbance observer is introduced to compensate for external disturbances in real time, such as changes in load and friction torque, effectively improving the system's anti-disturbance capability. The system's adaptive disturbance observer can adjust control parameters based on real-time feedback, ensuring the system maintains high precision and stability under various environmental changes. Furthermore, the use of a high-performance controller combined with a digital feedforward gain compensation mechanism enhances the system's dynamic response capability and feedforward accuracy.

[0040] The system also incorporates integrated anti-interference design features, such as electromagnetic isolation, filtering, and shielding, effectively reducing the impact of external noise and further improving accuracy and stability. This design enables the servo control system to achieve greater environmental adaptability and robustness on top of high stability and high precision, overcoming the limitations of traditional designs in vibration suppression and environmental adaptability.

[0041] The hardware architecture of the precision turntable control system in this embodiment is as follows: Figure 3 As shown, the system employs two high-performance STM32 processors (① and ②) working collaboratively, responsible for the turntable's motion control and north-finding calculation tasks, respectively. The system connects the processors via a serial communication circuit for data exchange, while also communicating in real-time with the host computer and the driver to ensure instruction transmission and data feedback. STM32 ① is primarily used in the precision turntable's control circuit, handling current loop, rate loop, and position loop control strategies to achieve precise angle control. This processor is connected to the drive circuit, driving the motor to move the turntable, and simultaneously obtaining real-time angular position feedback through a grating encoder to ensure high-precision turntable operation. STM32 ② is responsible for the north-finding calculation circuit, processing data related to turntable positioning. The entire system's power supply circuit provides stable power support for the processors and other modules, while the storage unit is used for data storage and management, ensuring efficient system operation. Furthermore, the system integrates a JTAG interface for easy debugging and programming, ensuring rapid problem identification and optimization during development and operation. Through precise modular division of labor and efficient communication design, the entire control system achieves high stability and high-precision positioning of the precision turntable.

[0042] This embodiment proposes a hardware control circuit design based on dual ARM processors working collaboratively to improve the motion control accuracy and data processing capability of a single-axis precision turntable. Two high-performance STM32 series microcontrollers achieve efficient collaboration between modules through a flexible communication interface. In terms of drive control, the system integrates a differential encoder feedback module, a driver I / O status control module, a serial communication module, and a motor drive current regulation module, significantly improving the accuracy of motion control and the overall reliability of the system. In particular, the driver and controller communicate remotely via serial communication to achieve remote command transmission and real-time status reporting, thereby enhancing the system's autonomous adjustment capability and response capability under abnormal operating conditions. In summary, this embodiment, through the integration of a dual ARM collaborative architecture, feedforward and composite control strategies, and diversified design of the communication module, significantly improves the control performance, operational stability, and functional expandability of the precision turntable system, possessing good engineering adaptability and application promotion value.

[0043] The precision turntable's software design employs a modular approach, involving close collaboration between the host computer and the control circuit. The control circuit software is developed within ARM's Keil uVision5 integrated development environment, constituting embedded software without an operating system. Utilizing the ARM's internal timer callback mechanism, the control circuit implements timer interrupt tasks, responsible for periodically sending control commands to the precision turntable and communicating with the driver via a serial port to control the turntable's movement in real time. Simultaneously, the control system communicates bidirectionally with the host computer via the serial port, sending status information about the precision turntable and receiving commands from the host computer. For modules with less stringent real-time requirements, the control system operates using a polling method to ensure efficient and stable task execution.

[0044] To further improve the system's operability and functionality, the host computer software is developed using a modular design, incorporating multiple core functional modules such as a graphical interface, real-time monitoring, and parameter self-calibration. The host computer software interface designed in this embodiment is as follows: Figure 4 As shown, the graphical interface module provides a user-friendly interface that intuitively displays the actual position and speed of the turntable and updates status information in real time. The real-time monitoring module displays turntable fault information, such as overvoltage, overcurrent, out-of-tolerance, driver failure, and encoder failure, facilitating quick location and troubleshooting of system faults. Furthermore, the position compensation function enables automatic adjustment and precise positioning of the turntable, ensuring high-precision control under different working environments. The host computer software supports both local operation and remote control modes. Through the debugging interface, users can manually adjust control parameters, operating modes, and work modes to ensure accurate turntable operation. Through this modular design, the precision single-axis turntable software system achieves efficient and flexible control, adapting to different working requirements and improving system usability and stability.

[0045] The testing was conducted using a general-purpose vibration test bench to verify the performance and reliability of the precision turntable under vibration and shock environments. The tests included random vibration tests and functional shock tests, simulating different vibration and shock loads the turntable might encounter in actual use. Random vibration tests evaluated the turntable's stability under vibration environments of different frequencies and amplitudes, while functional shock tests tested the turntable's strength and functional recovery capability when subjected to sudden impacts. The tests required the precision turntable to operate normally during the testing process, ensuring that its functional performance met design requirements. The equipment structure must not exhibit cracks, damage, or deformation; fasteners must remain stable, without loosening or falling off, ensuring the system's stability and reliability under complex environments.

[0046] If the vibration test results fail to meet the GJB150 vibration test requirements, the failure mechanism of the turntable should be analyzed based on the test data. Possible causes include design flaws, manufacturing issues, or inadequate control strategies. The entire design process should be re-evaluated to address the specific problem, with iterative optimization of key aspects such as motor driver selection, structural design, and control strategies. The optimized precision turntable must undergo further testing and verification until the test results meet the requirements. Through this series of iterative verification and improvement processes, it is ensured that the designed precision turntable can operate stably and efficiently in practical applications, meeting the stringent accuracy and reliability requirements in engineering fields.

[0047] The high-stability miniaturized precision turntable design and control method provided in this application first clarifies the technical requirements and confirms the needs in conjunction with the application scenario. Through the joint selection of motors and drivers and the design of a load-bearing scheme for precision angular contact bearings, sufficient anti-tipping capability of the turntable is ensured. Next, a suitable angular position sensor is selected, and the angular position error is corrected using the Fourier harmonic fitting method to improve the turntable's positioning accuracy. Furthermore, a miniature conductive slip ring is used to meet the miniaturization requirements of the precision turntable, and an electromagnetic compatibility optimization design is integrated. The precision turntable servo control system still adopts the classic three-loop nested control strategy and introduces a fusion adaptive disturbance observer to compensate for external disturbances in real time. Then, a dual ARM processor control system is used, responsible for turntable motion control and north-finding calculation tasks respectively, combined with serial communication to achieve precise operation and remote control of the turntable. The host computer software adopts a modular design, integrating real-time monitoring and parameter self-calibration functions to improve system reliability and ease of operation. Finally, verification is performed through a vibration test platform to ensure that the precision turntable maintains excellent performance and structural stability under vibration conditions. This method can effectively improve the accuracy, stability and adaptability of the turntable, meeting the high requirements of applications in precision measurement, aerospace and other fields.

[0048] It should be clarified that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. This application is not limited to the specific structures described above and shown in the figures. Furthermore, for the sake of brevity, detailed descriptions of known methods and techniques are omitted here.

[0049] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A design and control method for a highly stable miniaturized precision rotary table, characterized in that, include: By combining the selection of motors and drives and designing a load-bearing scheme using precision angular contact bearings, the turntable is ensured to have sufficient anti-tipping capacity. Select a suitable angular position sensor and improve the positioning accuracy of the turntable by correcting the angular position error through Fourier harmonic fitting method; Miniature conductive slip rings are used to meet the miniaturization requirements of precision turntables, and electromagnetic compatibility optimization design is integrated. The precision turntable servo control system adopts a three-loop nested control strategy and introduces a fusion adaptive disturbance observer to compensate for external disturbances in real time. The system employs a dual ARM processor control system, which is responsible for the turntable motion control and north-finding calculation tasks respectively. Combined with serial communication, it enables precise operation and remote control of the turntable. The host computer software adopts a modular design and integrates real-time monitoring and parameter self-calibration functions to improve the system's reliability and ease of operation.

2. The high-stability miniaturized precision rotary table design and control method as described in claim 1, characterized in that, Before ensuring the turntable has sufficient anti-tipping capacity through the joint selection of the motor and drive and the design of the load-bearing scheme using precision angular contact bearings, the following steps are also included: Define the technical requirements and confirm the requirements in conjunction with the application scenario, while also confirming the mechanical interface and external dimensions of the turntable.

3. The high-stability miniaturized precision rotary table design and control method as described in claim 1, characterized in that, The combined selection of the motor and driver, along with the design of a load-bearing scheme using precision angular contact bearings, ensures that the turntable has sufficient anti-tipping capacity, including: The precision turntable uses a high-precision brushless DC torque motor in conjunction with a high-performance servo driver. The driver adjusts the output power in real time to ensure stable motor operation. Angular contact bearings have high rigidity and precision, provide reliable support in a limited space, and employ adjustable elastic vibration isolation seats to adjust the bearing preload in real time.

4. The high-stability miniaturized precision rotary table design and control method as described in claim 1, characterized in that, The selection of a suitable angular position sensor and the correction of angular position errors using the Fourier harmonic fitting method to improve the positioning accuracy of the turntable include: A high-precision absolute 26-bit circular grating angle encoder and matching reading head are used as the angular position sensor. An angular position error compensation method based on 11th harmonic analysis is used to correct the original error and to correct the angular position information of the circular grating in real time.

5. The high-stability miniaturized precision rotary table design and control method as described in claim 1, characterized in that, The use of miniature conductive slip rings meets the miniaturization requirements of precision turntables and integrates electromagnetic compatibility optimization design, including: Shielded, low-noise slip rings are selected to suppress external electromagnetic interference and ensure the stability and integrity of signal transmission.

6. The high-stability miniaturized precision rotary table design and control method as described in claim 1, characterized in that, The precision turntable servo control system adopts a three-loop nested control strategy and introduces a fusion adaptive disturbance observer to compensate for external disturbances in real time, including: The precision turntable servo control system is designed collaboratively, employing a three-loop nested control strategy consisting of current loop, rate loop, and position loop, and introducing a fusion adaptive disturbance observer to compensate for changes in friction torque in real time.

7. The high-stability miniaturized precision rotary table design and control method as described in claim 1, characterized in that, The system employs a dual ARM processor control system, one responsible for turntable motion control and the other for north-finding calculation. Combined with serial communication, it enables precise operation and remote control of the turntable, including: The dual ARM processor hardware control circuit design uses two high-performance STM32-bit microcontrollers to be responsible for turntable motion control and north-finding calculation respectively. The control circuit includes a power management module, a clock and reset circuit module, a serial communication module, and a drive control module; The driver and controller use serial communication to transmit remote commands and provide real-time status feedback, enhancing the system's autonomous adjustment and anomaly response capabilities.

8. The high-stability miniaturized precision rotary table design and control method as described in claim 1, characterized in that, The host computer software adopts a modular design, integrating real-time monitoring and parameter self-calibration functions to improve system reliability and ease of operation, including: The host computer and the control circuit use the callback mechanism of the ARM's internal timer. The control circuit implements the timer interrupt task and is responsible for sending control commands for the precision turntable at regular intervals. The host computer software is developed using a modular design, including modules for graphical interface, real-time monitoring, and parameter self-calibration.

9. The high-stability miniaturized precision rotary table design and control method as described in claim 1, characterized in that, The host computer software adopts a modular design, integrating real-time monitoring and parameter self-calibration functions to improve system reliability and ease of operation. It also includes: The vibration test platform was used to verify that the precision turntable could maintain excellent performance and structural stability under vibration conditions.

10. The high-stability miniaturized precision rotary table design and control method as described in claim 9, characterized in that, The verification process, conducted using a vibration testing platform, ensures that the precision turntable maintains excellent performance and structural stability under vibration conditions, including: Random vibration tests and functional shock tests were conducted using a general-purpose vibration test bench to simulate different vibration and shock loads that the precision turntable may encounter in actual use. If the vibration test results do not meet the vibration test requirements, the failure points of the turntable will be analyzed based on the test data, and the entire design process will be iteratively optimized. The optimized precision turntable underwent further testing and verification until the test results met the requirements.

Images