Design Of Turntable Servo System Based On PC/104and Study Of Backlash Nonlinearity Compensation

The paper mainly discusses the design and development process of a turntableservo system. In allusion to the backlash nonlinearity in the system, a compensationcontroller based on the backstepping is designed to compensate it.Firstly, the overall design scheme of the hardware system is put forward in thispaper. According to the system’s various performance and technical requirements, theembedded computer PC/104is chosen as the main control unit and the other majorhardware of the system are selected. The performance parameters of each majorcomponent are also described in the paper.Secondly, the communication protocol between the upper and lower software isestablished according to the functional requirements of the system. The detailed designcourse of the upper control software and the lower control software running on DOS isintroduced. The servo functions including pointing, tracing and etc are completed. Thenthe performance test of the system is carried out.Finally, an approximate dead zone model of the backlash is created for thebacklash presenting in the mechanical transmission parts of the system. On this basis,the compensation controller is designed based on the backstepping method and thecompensation effect of the controller is demonstrated by simulation.