Research And Implementation Of Control Method For Ultra-Low Speed Turntable

With the rapid progress of aeronautic and astronautic technologies, the performance requirements of guidance equipment are also rising. Accordingly, turntable mainly used for guidance equipment performance simulation and testing, also needs to be improved in capability. Since low speed performance of turntable occupies important position in turntable properties, so researching on turntable low speed performance improvement issue is meaningful in practical application.Aiming at resolving the low-speed crawling problem based on ultra-low speed turntable control system, main factors impacting the low speed performance is analyzed in the paper and a model reference adaptive controller is developed for the turntable. Furthermore, a servo motion control card based on DSP and FPGA is designed and implemented. And applications on the real control system demonstrated the controller's applicability. The main content of this paper is as follows.1.The domestic and international development and research of turntable is introduced, and the key problem of turntable control system is investigated. Considering the task in this paper, adaptive control methods of turntable are explored.2 . Intended to the real turntable system, the mathematics model of turntable is deduced, the"crawling"phenomenon is analyzed, which indicated that friction is the key factor impacting the low-speed performance of turntable, and also the sources, modeling and compensation of friction are examined in detail.3.Problem of controller design for the turntable system is studied. Based on the obtained system model, a model reference adaptive controller is designed whose adaptive control law is derived by Lyapunov direct method. The simulating results show the reference adaptive controller's ability to solve the crawling problem which traditional multi-loop PID controller is helpless.4.According to the actual needs of the control system, a servo motion control card based on DSP and FPGA and corresponding software are implemented, lending a good hardware and software platform for debugging and realizing the turntable control on real system.5.The debugging results of the proposed algorithm for the real turntable system, agree to the simulating results and demonstrate the effectiveness of the model reference adaptive control in degradation of friction impact on turntable low speed performance.