Dual-motor high-speed and high-precision servo control system and method based on single-chip microcomputer and FPGA

Abstract

The invention discloses a dual-motor high-speed and high-precision servo control system and method thereof based on a single-chip microcomputer and an FPGA. The system comprises an upper computer, a position loop controller connected to the upper computer, first and second motors connected to the position loop controller, a loading disc connected to the first and second motors, and a rotary transformer connected to the loading disc and feeding back the position to the position loop controller. The position loop controller consists of a PID controller composed of a single-chip microcomputer andan FPGA control architecture, and a driver receiving the 12-channel PWM sent by the PID controller. According to the invention, the cycle running time of the program is short, the running speed is high, and a complicated logic operation can be performed; the dual-motor synchronous control system is realized, and the response speed and control precision are higher; and the control method can effectively eliminate the gear gap and achieve the purpose of precise positioning without affecting the dual-motor synchronization.

Description

technical field [0001] The invention relates to the field of mechanical control, in particular to a dual-motor servo control system and a control method thereof. Background technique [0002] The radar servo system is an electronic device that controls the position of the radar and various motion parameters, and is a typical electromechanical automation control technology. [0003] The azimuth transmission system of the radar servo turntable is an important part of the radar turntable. Its function is to drive the radar antenna for high-speed, high-precision direction positioning, and can automatically rotate the antenna to capture and track targets, so it is also called a servo system. The radar control system consists of a mechanical transmission part and a servo control part, which can realize the forward rotation, reverse rotation, tracking and stop of the radar antenna. [0004] The servo system needs to obtain the position information of the antenna in real time. The ...

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Problems solved by technology

[0007] In order to solve the deficiencies in the prior art, the object of the present invention is to provide a dual-motor high-speed high-precision servo control system and its control method based on single-chip microcomputer and FPGA. The PID controller is composed of single-chip microcomputer and FPGA control architecture, and the program cycle time is short , the operation speed is fast, and complex logic operations can be performed; the synchronous control system of the dual motors is realized, which has higher response speed and control precision; the control method can effectively eliminate the gear gap without affecting the synchronization of the dual motors, and achieve The purpose of precise positioning

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