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Study On Double Closed-loop Control Methods Of Turntable Servo System

Posted on:2020-07-22Degree:MasterType:Thesis
Country:ChinaCandidate:H WangFull Text:PDF
GTID:2428330590974477Subject:Control Science and Engineering
Abstract/Summary:PDF Full Text Request
There are many disturbances and nonliner factors in the practical position servo turntable.To satisfy both the dynamic and the static performance requirements,the designed controller is required to be robust.Double-loop cascade control method is known as a control strategy which can improve the anti-disturbance performance of a system.Howerver,when applying the double closed-loop control method on the servo turntable system,some practical problems are to be resolved.Aim at improving the tracking performance of the position servo turntable,the influence of choosing different feedback signal of the inner loop on the anti-disturbance performance is compared.Furthermore,with frequency controller designing method,double closed-loop controller based on position and speed is designed,and the control method is realised in practical application.The main aspects are given as following.Firstly,the structure and mechanistic model of the position servo turntable are given.Nonliner disturbances and model perturbation in actual turntable system are summarized comprehensively,and their effect on system performance is analyzed in detail.Then,the necessity of applying double closed-loop control strategy to improve the anti-disturbance performance is illustrated.Secondly,double closed-loop control method based on position and speed and double closed-loop control method based on position and acceleration are comparatively analyzed from the point of the anti-disturbance performance of the turntable.On condition that the controllers are properly designed,the equivalency of the two kinds of double closed-loop control method is verified via theoretical analysis and simulation experiment.Thirdly,the controller design rules and implementation issues of double closed-loop control method based on position and speed are deeply studied.Combining adaptive nonliner tracking differentiator with position difference method,a fusion speed estimation method is designed,which can solve the problem of how to obtaining the speed signal.Then,the controllers of the postion outer loop and the speed inner loop are designed.The efficiency of double closed-loop control method is validated by the comparative simulation experiment with the traditional single loop control method.Finally,double closed-loop controller is discretized and programmed in the practical engineering application.Through comparative experiments under different working conditions,the superiority of the double closed-loop control method is verified in the application on a real two-axis turntable,which illustrates the improvement of the tracking precision and the anti-disturbance performance.
Keywords/Search Tags:Simulation turntable, Double-closed loop control, Servo system control, Speed feedback, Acceleration feedback, Sliding mode control
PDF Full Text Request
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