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Abstract

A decoupling control method for linkage turntable in the technical field of associative motion control mechanisms. Steps of the technical solution are as follows: measure a length L of a hypotenuse of a triangular structure; convert A-axis coordinates input to the system into Z0-axis coordinates according to Z0=L*cos α and input them on Z0-axis; and in the case of a speed control method, convert the A-axis coordinates into a periodic displacement of Z0 according to ΔZ0=L*(cos α₁−cos α₂), and input the displacement to Z0-axis. The beneficial effect is that the horizontal displacement generated by the movement of the Z0-axis is directly integrated into the closed loop of the X-axis by means of measurement combination and the displacement directly calculated by grating scale has high precision and no delay, and it is possible to achieve a more effective control level on this mechanical structure. In addition, the optimized control algorithm makes the X-axis have the motion characteristics of RTCP in the process of A-axis rotation, thereby reducing the requirements for the dynamic performance of the X-axis motor.

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