DSP-Based Design And Implementation Of Servo Control For Table

As a key hardware for hardware-in-the loop simulation and measurement in aeronautic and astronautic, the table plays an important role in the research process of aircraft. The performance of table directly impact the reliability and fidelity of the simulation and measurement test, and is the foundation to guarantee the precision and performance of the aeronautic and astronautic products and weapon systems. Therefore, the research and manufacture of the table have great significance to the development of aeronautic and astronautic industry and defense construction.Firstly, inertia equations and dynamics equations are presented according to the structure of the three-axis turn table, the uncertainty of the inertia and torque equations of the motor controlled by PWM controller are presented. Mathematic model is given for the turn table. The ability of uncoupling of the three-axis simulating turn table is proved by using inverse system method, and nonlinear uncoupling network is also obtained. Using state feedback and dynamic compensating uncoupling, the model is transformed three single-input and single-output linear systems and equivalent transfer function.To the friction compensation problem when the practical system can not accurately provide velocity signal, a velocity-observer-based model reference adaptive friction compensation method is presented. It utilizes a reduced-order observer to estimate the velocity signal online, and compensates the friction with the estimated velocity. Based on the detailed analysis of the local convergence of the system's error signals, the sufficient condition of the system error's local convergence is derived. With this method, adaptive friction compensation design for inner loop control system of the turn table is done. Columb and viscous friction compensator is obtained, and the friction compensation problem when the turn table inner loop can not accurately provide velocity signal is solved.In view of the characteristics and requirements of the CNC system and analyzing the functions and traits of such chips as TMS320F2812, a DSP chip newly presented by Texas Instruments, EP1K30, a FPGA chip, the design and realization of servo control board based on DSP and FPGA are introduced. In the...