engleski

A Comparative Study of Servosystems with Acceleration Feedback

Benefits and limitations of the acceleration feedback use in electrical servosystems are researched. The performance of a speed control system with a PI controller and following acceleration feedback-based speed controllers are compared by computer simulation: PI controller extended by inner proportional acceleration controller, proportional speed controller extended by feedback compensation action for the estimated load torque, and polynomial speed controller. The comparison is carried out for a wide range of characteristic process parameters, assuming measurement of the acceleration by time-differentiation of the measured speed, and taking into account sensitivity of the speed control loop to noise and inner current control loop modeling errors. Comparative experimental results for a positioning servosystem with friction disturbance are presented too. inner current control loop and sensitivity of control system to noise and current control loop modeling errors are taken into account. Likewise, the comparison is provided for different ratios of the sampling time to the equivalent time constant of the inner current control loop.

Servosystem; electrical drive; control; acceleration feedback

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