基于可编程多轴控制器的三轴转台控制系统

基于可编程多轴控制器(PMAC)的三轴实验转台闭环控制系统由转台、PMAC、驱动器、执行器和检测装置等组成.倾角传感器测量载体的X、Y轴摇摆角度为位置环,光电编码器作速度环,转台搜索、跟踪由Z轴实现.转台水平稳定、方位轴搜索、跟踪等控制程序用PMAC语言编写.系统PID参数调整按先比例、后积分、再微分的顺序采用凑试法由小到大整定.

Control System for Three-Axis Turntable Based on Programmable Multi-Axis Controller

Closed-loop control system of three-axis tentative turntable based on programmable multi-axis controller (PMAC) is composed of turntable, PMAC, driver, motor and sensor. Obliquity sensor measured vibrational angle of X and Y axes of carrier was used as positional loop of the system, photoelectric encoder was used as the speed loop. The search and tracking of turntable was realized by Z axis. Control programs about horizontal stabilization of turntable and searching and tracking of azimuth axis were compiled with PMAC language. The PID parameter was adjusted in the order of proportion, integral and differential, and was decided by trying from small to large.