A Robust Repetitive Control Approach For Rejection Of Rate Fluctuation Of High Precision Turntable

摘要

A robust repetitive control scheme presented in this paper to improve the rate smoothness of BLDCM driven turntable. The method synthesizes VSC (Variable Structure control) law and RC (Repetitive Control) law. The VSC strategy can stabilize the system and suppress aperiodic disturbance, while RC strategy can eliminate the rate fluctuation steady state. The system stability and asymptotic position tracking performance are validated by using Lyapunov function. Computer simulation results show the effectiveness of proposed approach for improvement of rate smoothness.