Control Strategy Of Two-axis Turntables Based On Matlab/XPC Environment

Turntable is an electromechanical device which can effectively eliminate the vibration, impact and posture change of carrier, and it can remain the device on it horizontal. Turntable is widely used in aviation, weapons equipment, transportation etc. Servo control is the key technology of turntable system, the control strategy can influence the performance indicators of it. Turntable is usually driven by motor in small load cases, simple structure and high reliability.First, the kinematics of turntable is analyzed based on coordinate system of turntable and gyroscope with the method of coordinate transformation. The inverse position kinematics is presented to realize the control system. Second, as the signal output of crossbow lags behind, the Smith controller is developed to improve the control precision of system. The effectiveness of the controller is proved by system simulation. Third, conventional control system drive the motor by the serial port. The poor real-time property leads to the low control precision of the system. The two axis turntable hardware system is designed by driving servo motor with analog signal. The program is designed based on gyroscope analog and digital signal respectively in XPC environment. Finally, the static and dynamic control precision of the system is tested. Test results prove the effectiveness of the control algorithm.