Research On Servo Control Algorithm Based On IMAC400C

With the development of the technology, servo systems are approaching more functions and higher accuracy. However, they have complicated and various system structure which is hard to debug. For example, a turntable system is made up of relatively independent subsystems such as industrial control computers, D/A chips, digital axial angle conversion circuit and DSP, so it is complicated for the design and debugging, and also it has a long development cycle. In this paper, IMAC400C controller with high performance-price ratio, integration level and safty is used as a substitute for the conventional controller and RTX system in the turntable system, which can simplify the design of the system, reduce the development period, make the system safe, reliable and small in the physical size, so it is easy to deploy, transport and maintain.The PID controller built in the IMAC400C needs modifying or replacing for some systems, so this paper focuses on the "open servoing algorithm", and finish the work of designing, programming and debugging of the lead corrector. Practice shows that the IMAC400C provides enough redevelopment resources for users to design their own servoing algorithm to improve the performance, and it has strong flexibility, universality and the ability of second development. The experience can be referred to the deployment of IMAC400C in other servo systems.Sinusoidal tracking system is widely used in the aerospace engineering, such as angular and linear vibration tables. In this paper, IMAC400C is applied in a vibration table control system, numbers of studies and experiments are carried out. Using a single-axe table as the control object, this paper test the sinusoidal tracking response of the turntable system with PID controller, feedforward compensation PID controller and double-loop lead corrector respectively. The results show that the angular vibration obtained a higher accuracy with the IMAC400C controller and lead correction PID control algorithm, it can track the signal of 1Hz/±0.1o and 5Hz/±0.1o with the distortion less than 3%, motion accuracy less than 1%. The velocity feedforward and the acceleration feedforward have greatly improved the dynamic response of the system, improved the phase lag and the accuracy.Angular vibration tables mostly use feedforward compensation PID controller, which is popular for the simple and practical, however, there is a limit for this control method. Aiming at the problem of the narrow broadband of the angular vibration tables, an adaptive feedforward based sinusoidal tracking controller is used in this paper. The simulation result shows that the adaptive feedforward based sinusoidal tracking system can track sinusoidal signals in a wider range of frequency accurately, comparing with the conventional feedforward compensation PID controller, the motion accuracy can be improved by one order of magnitude.