Design of High-Precision Two-Dimensional Rotating Mechanism Control System

To address the step loss issues in open-loop stepper motor drives using the "TMC429+TMC260" hardware architecture, a high-precision two-dimensional rotating mechanism control system was designed. Without modifying the original architecture, the system achieves closed-loop position control by real-time detection of motor position deviation through encoders and dynamic adjustment of motor drive signals using a micro-step compensation algorithm, effectively solving the low-precision problems in traditional open-loop drives. Taking a small antenna's two-dimensional rotating mechanism as an example, the feasibility and superiority of the system were verified. Experimental results demonstrate that within a speed range of 0.1°/s to 3°/s, the rotation accuracy of the X-axis and Y-axis is better than 0.02° and 0.03°, respectively, meeting the high-precision requirements for antenna pointing. While maintaining hardware compatibility, this design significantly improves positioning accuracy and can be expanded to multiple axes by adding motor drive modules, providing an effective solution for low-cost, high-precision motion control.