Application of torque ripple rejection based on internal model principle in test turn table

In order to eliminate the influence of periodic disturbances on the rate smoothness of the system, an adapting algorithm based on the internal model principle is studied. This method can eliminate periodic disturbances caused by single sinusoidal signal, multi-sinusoidal signal, and even time-varying sinusoidal signal. Furthermore, the ripple phenomenon occurred in the frequency estimation is studied when the frequency of disturbances changes rapidly. The method is simulated in test turn table, and the result shows that the method has the capability to identify the frequency of periodic disturbances and restrain periodic disturbances with uncertain frequency.