Compensating structural dynamics for servo driven industrial machines with acceleration feedback

One of the most significant problems with industrial machines is in the area of machine structural dynamics. There are a number of control techniques that can be applied to compensate for machine structural resonances that are both low in frequency and inside the position servo loop. Some of the compensating techniques for machine resonances are notch filters, frequency selective feedback, and acceleration feedback. This work presents the application of acceleration feedback compensation in an industrial machine servo drive. For this discussion it is assumed that the industrial machine servo drive being considered has a structural mechanical spring/mass resonance inside the position loop.