The Switch Control Of Servo Turntable

Small military missile launch vehicle has good maneuverability in combat, now widely used. After the radar target, requiring rapid shift target missile, and then track the target with high accuracy, timely launch missiles. In this process, the turntable carrying missile launch, there are two control procedure: the first is the turntable for fast, stable large-scale turned, then maneuvering target tracking with high accuracy. Based on this feature, select the double-loop switching control strategy to achieve the turntable servo control.Before the design of control strategies, we design a mathematical model for the controlled object first, mathematical models were established without considering the non-linear disturbances and considering saturation characteristics, friction characteristics of the mathematical model, preparing the next control algorithm design.The controller in the process of turning for large deviation is selected so that the turntable can turn quickly and smoothly goal. But in the servo process of turntable, in order to meet the tracking accuracy, select double-loop PID algorithm. The switching strategy in between the two control algorithm is a research focus of this article, the rational design of switching conditions, to improve the control performance of the switching point nearby of the turntable. Switching strategy based on the turntable state and energy function were selected, and then simulate the two switching strategy.System hardware and software design is also a focus of this article, in the projects,system hardware and software will directly affect the final performance of the entire control. Master chip is DSP2407 A, around the master chip has a series of peripheral modules: angle measuring system, the rate of signal acquisition, control signal output module, CAN communication module, bus arbitration module. The bus arbitration module used EPLD chip, which can serve the purpose of simplifying the circuit.The software design has two parts: the software design of the controller and CAN communication software design, DSP2407 A respond to two interrupt vectors: sampling timer interrupt vector and CAN receive interrupt vector, software design of the controller is placed in sampling timer interrupt vector, and CAN communication software design is placed in the CAN receive interrupt vector.The final work is the system debugging and analysis of the debugging results.This article is based on an actual project completion. On the problems and solutions encountered during debugging are described. Analyze the data and make improvements.