Design of Spatial Repetitive Controller with Fractional FIR Filter

Rate turnable is a high precision position servo system. Due to the existence of spatially periodic disturbances, the control accuracy and riding quality of rate turnable are affected. In this paper, the spatial repetitive controller is introduced to reject spatially periodic disturbances. Spatially periodic disturbances of rate turnable system are analyzed. Traditional repetitive controller is talked about and the design method of fractional FIR filter based on window function is given. Based on these, repetitive controller design method of fractional FIR filter based on window function is proposed. However, the speed changes in systems, the period of disturbances also changes. For this problem, the spatial repetitive controller with fractional FIR filter is presented. The simulation results are made to illustrate the effectiveness of the spatial repetitive controller.