中文摘要：

在实际工作中,直接驱动数控转台因为缺少了中间传动环节的扰动缓冲作用,系统稳定性大大降低。扰动成为影响转台正常工作的关键因素,采用自适应律在线调节自适应率参数的方法,通过设计一个自适应抗扰动容错反馈控制器,从而保证转台系统在出现故障的情况下依然具有较高的扰动容许能力。采用线性矩阵不等式技术,仿真比较自适应控制算法与系统固定增益算法,结果表明自适应容错控制器使系统更加稳定。

英文摘要：

In practice, there is no buffer disturbance of intermediate transmission links in the direct driven NC rotary table, greatly lowering stability of the system. Solving perturbation problem is the key to ensure the turntable to work properly. The adaptive law regulating adaptive rate parameters online is used to design an adaptive fault-tolerant controller, ensuring a high disturbance allowable capacity of the turntable system in case of failure. The linear matrix inequality technique is adopted to make artificial comparison between adap- tive control algorithms and fixed gain algorithms, which shows that the adaptive fault-tolerant controller makes the system more stable.