The Design Of Control System In The Condition Of Low Speed And High Precision

" Vibration Platform" is arotating platform which is used to test the performance of missile seeker.The missile seeker requirements " vibration platform " working in the swing state, and in low speed with high accuracy rate and high starting speed and small volume and light weight.Ordinary servo system is difficult to meet these requirements.According to the requirements of the project,this paper optimized the velocity loop of the servo system.Firstly, this paper introduces the present situation and development of servo system, and the deteriorating situation and improving methods are described and introduced on the performance of servo system in low-speed running conditions.Secondly, this article from the conventional servo system, analyzed the control model and control method. According to the servo system under the condition of low speed, proposes diagonal position sensor "quantizer" model. For the speed error caused by the model, this paper use Kalman algorithm in current theoretical research, proposes to use the Kalman-PID algorithm, to improve the problem of low speed jitter. For the effect of the theory, the corresponding simulation experiment and analysis are also carried out in this paper.Then, I taking MDK as the platform, the STM32 microcontroller as the main hardware, UCOS3 as the operating system, realized the low speed and high precision servo system. And in this system successfully verified that kalman-PID algorithm improved the speed accuracy in low speed servo system. To realize the target of the subject, I based on PC, used QT as the programming environment, developed a software to control low speed high accuracy servo system.Finally, with the high accuracy and low speed servo system as the experimental object, the PID algorithm was tested on the servo system and the Kalman-PID algorithm was tested too,in low speed servo system. The results showed that significant progress was achieved with Kalman-PID algorithm to decrease quantization noise caused by the angular position sensor.