Research on System of Three-Axis Swing Turntable Based on Robust Compensation Control

Nonlinear coupling disturbance is an important factor to the precision of three-axis swing turntable. The paper studied platform model and anti-disturbance compensation control algorithm based on robust control idea. A three-axis turntable mathematical model is proposed using theory of DC motor and coupling torque equation. The robust controller is designed according to the adaptive robust compensation control method. By analyzing simulation data the method can be proved that it has better stability and transient performance than traditional control methods. the system performance has been optimized greatly.