云台精密转动控制的研究

针对云台高速、精度等发展特性,本文对云台的伺服系统进行了研究,为了提高系统位置定位的动态性能,提出对三环伺服控制系统加入速度的前馈控制这一方案。首先对无刷直流电机的数学模型进行建立,根据各个控制环路的等效进而建立系统的三环控制系统,并以此来确定加入速度前馈控制的复合控制系统。对两种控制模型进行simulink仿真,输入相同的激励信号后分别对系统的阶跃、斜坡、加速度的信号响应进行对比。对比结果表明,加入速度前馈控制后,不仅可以有效的提高云台控制系统的动态响应,而且同时不会影响到其稳定性。

Research on Precision Turning and Control of Pan-Tilt

In view of the developmental features of Pan-Tilt, such as high-speed, precision and so on, this paper studies its servo sys- tem. In order to improve the dynamic performance of the system position location, it puts forward the scheme of feed-forward control by adding speed to the three-ring serve control system. First of all, it establishes the mathematical model of the brushless dc motor, then according to the equivalent of each control loop, it establishes the three-loop control system, finally, based on this, it determines the compound control system of adding the speed feed-forward control. Simulink simulation on the two control models is made and the com- parisons on signal responses such as step, slope and acceleration are made after inputting the same excitation signal. The results show that the joining of speed feed-forward control can effectively improve the dynamic response of the turntable control system, and at the same time, it will not affect its stability.