Design of adaptive suppression plan for rate ripple of simulation test table

An adaptive compensation method for efficiently restraining the rate ripple of a table, its principle and the structure disposition are presented; the adaptive control laws are developed, the system stability is analyzed, and the simulation and test are given. The results show that this method can efficiently restrain the rate ripple of the table caused by the periodic errors of position feedback elements, and can raise the rate stability of tables. By the method, with the input of rate 200°/s,the rate ripple falls from 5°/s to 0.4°/s within about 6 s adaptive adjustment time, being 1/12 before adaptive reduction. The experimental results conform with the simulation, and have proved the validity and feasibility of the method.