Research On Servo Control System Of Load Eccentric Two-dimensional Turntable

With the continuous development of two-dimensional turntables and servo technology,a more portable new structure of two-dimensional turntable has wider application area.The two-dimensional turntable used in this paper is unable to carry out counterweight because of its application restrictions,and there is more obvious load eccentricity in the actual operation.At present,there is less research on the load eccentricity in China,and it is very important to study the load eccentricity of the new structural turntable.The purpose of this paper is to study,analyze and eliminate the influence of load eccentric on the performance of the control system.According to the research object and research purpose,this paper mainly carried out the following three parts:1)Based on the knowledge of mechanical arm,the positive inverse kinematics model of L type turntable is established and the eccentricity of load eccentric is obtained.2)The servo control system for the pitch and azimuth motors is established respectively.The lload eccentric model is added to the servo control system.The influence of load eccentric on the control system is studied through simulation and it is concluded that the load eccentric has a great influence on the pitching motor precision,and the bearing,the motor has less influence.3)According to the influence of load eccentric on system performance,three control strategies of composite controller,torque observer and fuzzy control are proposed to eliminate the influence of load eccentric on system performance.4)With airborne high precision optical axis stabilization system for experimental platform,selection of motor,encoder,servo drive and control the development board hardware platform are introduced,analyzed the design idea of the main program,and draw the control strategy for the interrupt subroutine programming flow chart.5)Finally,three kinds of control strategies are simulated and verified.and implements in the experiment platform based on the compound disturbance feed-forward compensation controller,with the result of the experiment data analyzed,controller is proved feasibility in practice.