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伺服转台大多采用间接驱动方式,以减速机作为传动装置,针对该系统具有间隙、摩擦等非线性特征,以位置环作为研究对象,引入复合控制的思想,提出了一种智能PID控制算法,可根据误差大小和运动趋势来改变P、I、D三个参数值,从而有效的对转台伺服系统的转轴进行实时控制。实验结果表明该算法响应速度快,跟踪性能好,抗外界干扰能力强,可较好地提高控制精度。
The servo turntable mostly adopts the indirect drive mode and the gear reducer as the transmission. According to the nonlinear characteristic of the system, such as clearance and friction, the position loop is taken as the research object, the idea of compound control is introduced and an intelligent PID control algorithm is proposed. According to the size of the error and the movement trend to change the P, I, D three parameters, so as to effectively control the rotary axis of the turntable servo system in real time. Experimental results show that the algorithm has the advantages of fast response, good tracking performance and strong anti-interference ability, which can improve the control accuracy.