Modelling and Control Method for Turntable of X-Ray Angle Sortor

The X-ray angle sortor is the most important equipment in the area of crystal detecting.The operation of the turntable in the X-ray angle sortor is affected by the friction,which causes the performance of the turntable running degradation or instability.The mathematic model of the turntable based on the torque motor was established and the characteristic of the system was analyzed in detail.Based on the steady state of the LuGre friction model,which is called Stribeck model,a friction parameter identification scheme using HGSA(Hybrid Genetic/Simulated Annealing Algorithm) was developed,and a compound controller was designed.The experiment results show that the controlling strategy can restrain the effect of nonlinear friction,and improve the low velocity performance of the turntable.