Desired Compensation Adaptive Robust Control for NC Rotary Table Direct Drive Rotary Feeding System

Abstract

For the characteristics of direct drive NC rotary table servo system using ring permanent magnet torque motor being influenced by varying of external disturbance, parameters varieties and load disturbances, the desired compensation adaptive robust position controller based on projection algorithm is designed to achieve high performance and parameters estimation. The desired compensation adaptation law based on projection algorithm for uncertainties off-line estimation is calculated by desired information only to achieve high requirement of the servo system of the ring permanent magnet torque motor. Compared with adaptive robust controller, the controller can reduce the effect of measurement noises. Therefore the process of uncertainties estimation is faster and the estimators are more accurate. Simulation result shows that the designed method enables the system to be better in robustness in general.