Study Of Adaptive Sliding Mode Control For Turntable Servo System

For a servo control system, when the system in the low speed tracking, the system appear the low speed crawl phenomenon, as a result of the friction torque existence. Therefore, the study for the friction torque in the servo system provides the theoretical foundation for developing high precision turntable servo system.In this article, it is given some theory analysis and research in view of the friction disturbance when the servo motor running. Then, A kind of friction torque compensation controller is been presented, make the system satisfies high precision requirement. On MATLAB simulation platform, establish simulation model of the adaptive sliding mode controller, the simulation results show that adaptive sliding mode controller not only has the adaptive ability for the randomness model parameters, but also has robust stability for the friction disturbance and other disturbance signal. The servo system using the adaptive sliding mode controller can obtain higher tracking precision and certain robust stability at the same time, and the system chattering is smaller.In the last part of the thesis, from the viewpoint of engineering application, has set up the experiment platform of the turntable servo system, STM32103F is the control core of the system. The experimental platform composed by drive unit, power supply module, angle measure unit, STM32development board and servo motor. In the experiment platform, use the C language to program the STM32chip, completed servo motor system debugging.