Harmonic amplitude-phase adaptive control and its application in three-axis simulators

This paper proposes a compensation method for using the Harmonic Amplitude-Phase Adaptive Control(HAPAC) to increase the precision of sinusoidal motion simulators. It also expounds on the HAPAC principle and structural disposition, develops the HAPAC control laws and analyzes the system stability in the HAPAC. A nethod for further improving the precision using online identification of the system' s frequency-response models is presented. The tested data and tracking errors of the simulator demonstrate that the HAPAC makes the sinusoidal motions achieve higher precision than the common classical controls. The HAPAC can also be used in other tracking systems of precision sinusoidal motions.