Motor-driven test turntable trajectory tracking control method with stable preset time

The invention discloses a motor drive test turntable trajectory tracking control method with stable preset time, which innovatively introduces a preset time compensation gain coefficient, and designs a nonlinear robust trajectory tracking controller with output conforming to the preset time. Aiming at the trajectory tracking problem of the motor-driven test rotary table, the invention not only realizes the stability of transient performance, avoids the strong buffeting phenomenon of the traditional PID controller during transient response and ensures the safety and reliability of the system, but also solves the problem that the traditional PID controller cannot reach the specified tracking precision within the preset time. And the high-precision tracking performance of the system within the preset time is ensured. 本发明公开了一种预设时间稳定的电机驱动测试转台轨迹跟踪控制方法，该控制方法创新地引入预设时间补偿增益系数，设计带有输出符合预设时间的非线性鲁棒轨迹跟踪控制器。针对电机驱动测试转台的轨迹跟踪问题，本发明既实现瞬态性能的稳定性，避免传统PID控制器在瞬态响应时的强抖振现象，保证系统安全可靠，又解决传统PID控制器无法在预设时间内达到指定的跟踪精度的问题，保证系统在预设时间内的高精度跟踪性能。