Design And Servo Characteristics Of Two-dimensional Turntable

Nowadays,the two-dimensional turntable is widely used in aerospace and space exploration.The two-dimensional turntable with precision,lightweight,miniaturization and large load needs a lot.People have carried out in-depth research on the temperature characteristics,structural characteristics and control characteristics of the twodimensional turntable.The two-dimensional turntable developed in this paper can realize the rotation movement around the Z-axis and y-axis.The servo motor is used for motion control,which can improve the control accuracy of motor position and speed under heavy load.The main research work of this paper is as follows:(1)The three-dimensional model of the two-dimensional turntable is established by Creo software.Combining the modern additive manufacturing technology with the traditional processing method,the turntable parts are manufactured and the physical prototype is assembled.The main axis of the two-dimensional turntable can rotate 180 ° around the Y axis and 360 ° around the Z axis,and the angle accuracy can reach 0.1 °.(2)Based on the kinematics theory of multi-body system,the topological structure of two-dimensional turntable system is established and the ideal characteristic matrix between each individual is analyzed.The virtual prototype software ADAMS is used to simulate the rotating and pitching motion of the turntable.The key parts of the turntable are selected,the theoretical calculation of the transmission gear and spline shaft and the stress-strain analysis under the environment of ANSYS are carried out,the deformation and stress of the parts in the process of movement are obtained,and then the mechanical structure of the two-dimensional turntable is optimized.(3)Based on the method of adjusting the parameters of the control system,the control parameters of the two-dimensional turntable are adjusted by the experience method,combined with the experience data,set more reasonable parameters,and get better control characteristics.The system is more stable and the control accuracy is higher.On the basis of Lu Gre friction model,PID is used to control the twodimensional turntable system.Combined with MATLAB software,the position and speed tracking curve of two-dimensional turntable with or without motion friction is studied.At the same time,the servo motion characteristics are studied.(4)The servo system of two-dimensional turntable based on speed loop and position loop is designed,and the control circuit of two-dimensional turntable is drawn.After the PID parameters are set in the upper computer software,the two-dimensional turntable is controlled with high precision.