关键词: 高精度转台, 伺服控制系统, 双电机消除齿间隙, 补偿转矩变换, 扰动补偿

Abstract: In high-precision turntable servo systems,control accuracy directly affects the performance of the equipment.
In practical work, the turntable system had nonlinear factors such as backlash, dead zone and disturbance, which had a
significant impact on the control accuracy of the servo system. This article takes the high-precision servo turntable driven by
dual motors as the research object, analyzes the backlash model and the principle of dual motor backlash reduction,
proposes a dual motor collaborative compensation torque transformation control method and disturbance compensation
method and establishes a simulation model of the turntable dual motor system. The simulation results showed that after
adopting the dual motor collaborative compensation torque transformation control method, the system stiffness was improved
and the load position jitter phenomenon was significantly improved. By introducing ESO state observer, the steady-state error
of load position was reduced, further improving the positioning accuracy of the servo system. The effectiveness of the gap
elimination algorithm was verified by building a physical verification platform.