提出了一种有限维重复控制方法，以实现对有严重非线性扰动力矩的伺服机构的高精度速率控制。
A finite dimensional repetitive control method is proposed for the high precision velocity control of servomechanisms subject to significant nonlinear disturbance torque.
按照转台的四种功能：位置、速率、伺服和正弦摇摆，设计并实现了各控制系统的硬件、软件，实现四种功能，通过精度检测，达到了技术指标的要求，取得了令人满意的效果。
According to four functions of turn table, position, speed, gyro servo and sinusoidal movement, the hardware circuits and software programs of four control systems are designed and accomplished.
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