Design of a high-dynamic and robust servo control strategy for inertial testing turntable under unbalanced load

As a crucial platform for ground simulation testing of aerospace equipment and weaponry, the Inertial testing turntable is facing increasingly stringent requirements for its control performance. To address the influence of the non - linear eccentric load torque introduced by load eccentricity on the turntable, a 2-order linear active disturbance rejection control (LADRC) - proportional integral (PI) double - loop servo control strategy based on torque compensation is proposed, aiming to enhance the control performance and anti - interference ability of the turntable. First, a 2-order LADRC is designed to replace the series structure of speed and position in the traditional three-loop servo control. Second, a torque observer based on the steady-state Kalman filter for colored noise is proposed to estimate the load torque. This estimated torque is then introduced into the control system as a feedforward compensation signal, effectively reducing the impact of the eccentric load. Finally, a Multibody turntable dynamic model and a control system simulation model are built in the MATLAB environment to verify the effectiveness of the algorithm. The simulation results show that under the eccentric load condition, the proposed control strategy exhibits a faster response speed and stronger anti - interference ability compared with the traditional three - loop control strategy.