Position Compensation Algorithm for Turntable System Based on Dual Encoders

With the rapid advancement of precision manufacturing and high-accuracy motion control technologies, demand for ultra-low-speed high-precision turntable systems has significantly increased. However, harmonic drives – serving as transmission components in turntable systems – undergo deformation during operation, leading to a degradation positioning accuracy. To address this positioning error caused by harmonic drive transmission inaccuracies, this paper proposes a dual-encoder position compensation algorithm. By installing high-precision encoders at both the motor-end and output-end, real-time position deviation is monitored, and an error observer is constructed to achieve dynamic compensation of transmission errors. Experimental results demonstrate that under ultra-low-speed conditions, the proposed algorithm reduces positional errors by approximately 82%, significantly enhancing turntable positioning accuracy and validating the optimization efficacy of this compensation strategy.