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本文中所介绍的随动系统,用光栅作测角元件,用十六位MC68000微机作主控制器,发挥了这种微机速度快、精度高的特点。系统的内环用LQ指标设计,并设计了前馈补偿环节以克服i_f的影响。外环则利用传统的综合方法设计。实验结果证实了这种设计的可行性。
The servo system introduced in this paper uses the grating as the angle measuring element and uses the 16-bit microcomputer MC68000 as the main controller to exert the characteristic of high speed and high precision of the microcomputer. The inner loop of the system is designed with LQ index, and the feedforward compensation is designed to overcome the influence of i_f. Outer ring is the use of traditional integrated design. The experimental results confirm the feasibility of this design.