| In recent years,with the progress of the society and the improvement of the degree of informatization,people's demand for the servo system continues to increase.One of the key points to meet the above needs is to improve the performance of the servo control system,so increasing the research on the servo control system has important practical value.However,in the research and experimental teaching of servo control system,there are some practical problems such as the lack of effective servo control experimental platform and the poor universality of the existing experimental platform interface.These objective factors seriously limit the enthusiasm of research and teaching staff.At the same time,there is a lack of servo control design software platform with algorithm design and fast verification in engineering application field.This subject is mainly aimed at the servo control experiment platform and the servo control design software relatively lack of problem,referring to the general control structure framework of the servo system,independently designed the servo control experiment platform,in order to provide a practical experimental verification platform for the research,teaching and engineering application of the servo control.Firstly,based on the analysis of the general control framework of the servo system,this paper designs and builds the servo control experimental hardware platform based on the two-degree-of-freedom PT.The two-degree-of-freedom PT can be used for multi-axis coordinated control.The servo control unit adopts the design of upper and lower computer structure,which makes the embedded bottom control unit with strong real-time performance and the upper computer control unit with strong operation and interaction function combine to realize complementary advantages.Servo detection unit consists of axial Angle detection unit and visual detection unit,which is convenient to meet the requirements of different control schemes.Then,this paper designs the software part of the experimental platform,which mainly includes embedded software,visual detection software and servo control design software.Among them,the embedded software mainly completes the closed loop control of the servo bottom layer and the communication interaction with the servo control design software.The vision detection software mainly aims at using vision to detect the position coordinate of laser spot center.After referring to a large number of servo system control design cases,the servo control design software is developed and implemented a set of relatively standard and perfect servo control design process,which is convenient for the design and fast verification of control algorithm.Finally,on the basis of the experimental platform established above,this paper selected some servo algorithms to study and improve,and put forward a dual-axis and double-closed-loop control scheme.Taking the experimental platform as the actual object,the dead zone nonlinearity of the system is compensated.Model identification of the controlled object,controller design and rapid verification of the angular inner ring were carried out.The design method of PD controller with isolation degree based on frequency domain conversion was proposed,and compared with the output feedback controller design method based on extended LQR.To solve the problem of inconsistent sampling rate of inner and outer rings,a design method of double sampling rate based on zero-order maintainer is proposed,and the model identification of the controlled object,controller design and rapid verification of the visual outer ring are carried out,and the design method of PI controller with isolation degree based on frequency domain conversion is proposed,which is to verify the rationality of the design of this platform,provide theoretical and data support for the subsequent transplantation of the algorithm and software studied on this experimental platform to other servo systems. |
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