关键词: 动不平衡, 三轴测试台, 有限维重复控制, 周期性扰动, 自适应算法

Abstract: Through analysis of dynamic unbalance factors of a three-axis test turntable, it is found that the test turntable has periodic disturbance torque. The periodic disturbance torque mainly consists of acceleration torque, coriolis coupling torque and centrifuge coupling torque, which is related to three-axis moment of inertia, position angle and rotating speed of test turntable and will influence the positioning precision and speed precision of test turntable. In order to suppress the periodic disturbance torque with uncertain frequency caused by dynamic unbalance of three-axis test turntable, an adaptive finite-dimensional repetitive control used to eliminate periodic disturbance is proposed. Adaptive algorithm is adopted for on-line identification of disturbance frequency, and finite-dimensional repetitive controller parameters are adjusted to eliminate the disturbance. The convergence of the algorithm and the stability of the system are proved by using averaging method. Simultaneously the algorithm can eliminate multi-period disturbance of different frequency by regulating the structure of adaptive multi-period finite-dimensional repetitive controller. Simulation results show that the proposed method can effectively suppress period disturbance caused by dynamic unbalance of three-axis test turntable and improve the positioning precision and speed precision of test turntable system.

Key words: Adaptive algorithm, Dynamic unbalance, Finite-dimensional repetitive control, Period disturbance, Three-axis test turntable