Research On The Mechanical Structure And Control System Of A High Precision Servo Pan-tilt Turntable

Pan-tilt turntable is a photoelectric integrated device with a complicated structure, which is used to carry on instruments of high precision. According to the design requirements, this degree thesis presents a high precision servo Pan-tilt turntable based on a DSP motion control system that consists of DC servo motors with photoelectric encoders, circuits based on a DSP control chip, software system. The mechanical structures of the servo Pan-tilt turntable have been designed which includes worm gear reducers. This degree thesis includes contents as follows:Firstly, according to the requirements of the subject, the total solution of mechanical structure designing has been introduced, in which, transmission mechanism of the worm gear reducer has been described in detail, and the mathematical model of transmission system has been deduced, which consists of a servo motor and a worm gear reducer.Secondly, hardware solution of the control system and the principle and method of PWM control have been introduced. Each module of the hardware circuit has been analyzed in detail, and its realization has been presented.Thirdly, the solution and realization of the control system software of the Pan-tilt turntable have been introduced. The PI algorithm and its application in control software have been described in detail. And the method of solving the gap issues which is brought by transmission mechanism has been introduced.Fourthly, experiments of load and motion control are performed on the servo Pan-tilt turntable, and the results of the experiments prove that this servo Pan-tilt turntable can meet the design requirements.