Analysis and rejection of angular position-based disturbances for PMSM-actuated testing table systems

High-precise testing table is a typical continuously rotating mechanism which is used to test and calibrate inertial components. High operation smoothness is a significant index associated to these kinds of equipments, which is influenced mostly by the external disturbances acting on the systems. In this paper, the disturbances existing in the system are investigated by experiments, and the characteristic of the disturbances is analyzed using frequency spectrum analysis tools, both in time domain and spatial domain. Accordingly angular position-based repetitive controller is presented to reject these kinds of disturbances in sense of time sampling. Comparisons and simulation results are presented to illustrate the effectiveness of the control design.