In view of the uncertainty in the load moment of inertia and the disturbance of test table with three or more axes, a discrete time model reference adaptive control is presented in this paper.
针对多轴转台中负载转动惯量和干扰力矩的不确定性，提出了一种离散的模型参考自适应控制方法。
The simulation experiment shows that the system has better performance of vibration suppression control and stronger robustness for modeling error of load inertia moment.
仿真实验表明，该系统具有良好的防振控制性能，而且对负载惯性矩的模型化误差具有较强的鲁棒性。
Based on mechanics analysis of elevating system with balancing weight, the additional driving moment that the motor have to supply for accelerating a inertia load is obtained.
首先对有对重的提升系统进行了力学分析，得出了加速阶段由于惯性的作用电动机必须提供的附加力矩。
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