Development Of Dual Motor Servo System For Two-dimensional Turntable

Two-dimensional turntable system is widely used in various industrial systems and military equipment.Its design requirements are high precision,miniaturization and lightweight.At present,the two-dimensional space turntable system is generally driven by BLDCM and gear.Large torque fluctuation,low control accuracy and gear transmission clearance will affect the overall control performance of the space twodimensional turntable.And the traditional mechanical clearance method has the disadvantages of complex structure and poor reliability.To solve the above problems,this paper designs a two-dimensional turntable system based on dual motor drive to meet the design requirements of high precision,miniaturization and lightweight.First of all,this paper designs the joint drive scheme of the two-motor and establishes the nonlinear dynamic model and control model of the two-motor system based on the gear transmission clearance.Aiming at the problem of backlash nonlinearity,this paper designs a torque control algorithm for two-motor system.According to the single speed loop control structure of dual motor system,this paper designs a single speed loop speed feedback control algorithm.By using the above scheme,the nonlinear system is successfully transformed into a linear system.In addition,the control simulation model of the dual motor system is established to verify the effectiveness of the linear control algorithm.Secondly,according to the specific parameter requirements of the space twodimensional turntable,this paper designs the system structure scheme and establishes the three-dimensional model of the space two-dimensional turntable system.According to the system indexes,this paper designs the hardware circuit of the dual motor controller.Aiming at the main transmission components of the system,the mechanical simulation analysis is carried out to verify that the dual motor system has better mechanical characteristics than the single motor system,and the control difficulty of the system can be reduced at the same time.Then,this paper designs the motor servo system,including the motor structure and specific parameters.According to the design scheme,the electromagnetic simulation and torque simulation are carried out in this paper.In view of the iron and copper losses in the operation of the motor,this paper analyzes the heat output of the motor,simulates the temperature field of the motor,and verifies that the temperature rise of the motor system meets the basic requirements.In order to improve the dynamic control performance of the system,a compound control scheme based on feedforward is designed,and the effectiveness of the control scheme is verified by simulation.At last,this paper builds the experimental platform of the turntable dual motor system.According to the dead time characteristic of the motor servo system,the output measurement experiment of the controller is carried out and the dead time is determined.In this paper,the debugging experiment of PMSM system is carried out to verify the control performance of PMSM.Aiming at the two-dimensional turntable system,the control characteristic experiment of the two-motor system is carried out in this paper.It is verified that the two-motor system of the two-dimensional turntable can eliminate the backlash and improve the control accuracy of the system.