Control system for two-axis turntable based on programmable multi-axis controller

For realizing the control system of a two-axis turntable,the industrial PC and open multi-axis controller were used as the master computer and slave computer respectively to construct the two closed-loop structure with the inner velocity loop and outer position loop.According to the analysis of the selection principle and method of the kernel parts for the turntable,and in view of the uncertainty of the load moment at the turntable running status,an adaptive PID control technology was proposed to tune the proportion,differential and integral parameters dynamically by useing the PLC program of a multi-axis controller to monitor the information of turntable.The experimental results indicate that this technology can restrain this influence of the load-variant effectively,improve the rapid response capability and reduce the following error.