车载高精度两轴随动转台的设计与控制

设计并研制了车载高精度直驱控制两轴随动转台。以技术指标要求为基础,将车载高精度直驱控制两轴随动转台分为方位随动系统和俯仰随动系统,从随动系统结构设计、轴系精度、电机选项等方面进行了设计和分析。以方位随动系统为例阐述了随动系统的电气构成,建立了基于全数字控制驱动和高精度光电码盘的复合控制策略,对直流有刷力矩电机进行直接驱动控制。采用绝对式高精度光电码盘和增量式光电码盘一体化设计,详述了随动控制模块的电路设计和工作过程,试验结果表明该转台速度环、位置环具有良好的控制宽带和精度,并具有重量轻、承载大、架设撤收快等特点,满足高精度车载转台的要求。

Design and Control of High Precision Two Axis Servo Turntable for Vehicle

A high precision direct drive control two axis servo turntable for vehicle is designed and developed.Based on the requirements of technical indicators,the vehicle's high-precision direct drive control two axis servo turntable is di-vided into an orientation servo system and a pitch servo system. The design and analysis of the servo system's structur-al design,shafting accuracy and motor options are carried out.Taking the azimuth servo system as an example,the electrical structure of servo system is expounded,and a compound control strategy based on all digital control drive and high precision photoelectric encoder is established,which directly drives DC motor with brush torque.The simulator adopts the absolute high precision photoelectric encoder and incremental photoelectric encoder circuit with integrated de-sign,detailed design and working process of the pneumatic control module,the test results show that the turntable speed loop and position loop control with broadband and high precision,and has the advantages of light weight,large carrying and erecting quickly,to meet the requirements of high precision vehicle turntable.