Design Of "PID+Feedforward" Tracking Controller Based On The Modularization

With the development of science and technology, the traditional motion control system can not meet the competition of the volatile manufacturing market, because of its own restrictions such as closed structure, lack of flexibility, poor compatibility, fault tolerance,scalability and reliability, lack of network etc. The open motion control system with high speed, high precision, high reliability and modularization is highly demanded.In this paper, a new optoelectronic platform design approach based on the modularized method in industrial fields is developed for a group of researches that need the servo system to drive the load with large inertia. The "AC-Servo+Reducer" is used as actuator.Started from the mathematical model of permanent magnetism synchronous servo motion the research gradually goes deep into the controller of the servo system.and modularized controller is used to structure compensation-loops. Via amelioration of controller arithmetic, which embedded in the modules, by adopting "PID+feedforward-control", the design have fulfilled the needs of the experimentation. Complete the optoelectronic platform’s function,example searching and tracking. The experimental results show the effectiveness of this method.