Abstract: For friction of hyraulic motors, disturbance from load and synchronizing drive of outer gimbal dual hyraulic motors which are three primary factors affected on performance of hydr- aulic simulating rotary-table, analysis and summarize fuzzy con- trol rules for synchronizing drive of outer gimbal and rules swit- ch on different control models, fuzzy control rules include equat- ion rules and principal and subordinate rules; Establish direct adaptive fuzzy controller(DAFC) based on PID control experien- ces, present synchronization—disturbance fuzzy controller. Since the deficiency of poor ability of self-learning of fuzzy controller, fuzzy neural net(FNN) controllers for multi-input multi-output (MIMO) system are induced to the above two fuzzy controllers to resolve this problems, and used to noliner system is more suitable. Simulation results of FNN controllers show that the proposed approach can achieve high displacement tracking accuracy and dynamic performance when the loads of the simulating rotary-table are changeable or two hydraulic motors’ rotate speeds are different greatly.

Key words: Disturbance, Friction, Fuzzy controller, Fuzzy neural net(FNN), Synchronizing driver, Three gimbals rotary table