高精密伺服转台控制系统的设计  

Control system for high-precision turn table

作　　者：黄令龙[1] 郭阳宽[1] 蒋培军[1] 李晟[1] 李庆祥[1] 陈张玮[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《清华大学学报（自然科学版）》2004年第8期1054-1056,共3页Journal of Tsinghua University(Science and Technology)

摘　　要：该文设计并研制了高精密伺服转台的控制系统。该控制系统采用圆光栅作为转台位移检测工具,采用了数字位置环和模拟电流环共同组成双闭环随动系统,其中位置控制器是带有速度前馈和加速度前馈的数字PID伺服滤波器。实验结果表明,该转台运行1.148h过程中位置伺服精度在±1″范围内,控制系统速度阶跃响应时间小于50ms;运动稳定,速度变化范围小于±10%,满足高精密伺服转台位置伺服的精度要求。High-precision servo turn tables are widely used in inertial navigation systems, where their precision mainly depends on the control system. This paper describes a control system developed for a set of high-precision servo turn tables. The system has a double closed-loop control system with a digital positioning loop and an analog current loop. A circular grating is used for accurate positioning. The digital singnal processor (DSP) based position controller combines a PID servo with velocity feedforward and acceleration feedforward control to improve performance. Test results showed that the positioning precision was within ±1″ during stable operation of 1.148 h. The step response interval is less than 50 ms and motion fluctuations are less than ±10%, so the system provides accurate positioning servo control.

关 键 词：导航系统 高精密伺服转台 前馈控制 圆光栅 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]