Research on internal model control method based on disturbance observer for high performance turntable servo system

An improved internal model control (DIMC) based on Disturbance Observer was proposed for turntable servo control system. IMC is a novel advanced control method, whose design idea is to achieve satisfatory control effect by using the diffenence between outputs of object model and actual object as the feedback and let the controller approach to the inverse of the model. Taking into account that the traditional method of internal model controller lacked of tracking accuracy, differentiator was introduced to construct an improved controller to improve the tracking accurary. Then disturbance observer (DOB) was introduced to compensate the friction to further improve the tracking accuaray. Simulation result proves that the control scheme proposed effectively increases the tracking accurary and enhances the system robustness against parameter variation and distrubance.