Acceleration control based on compound compensator for opto-electronic tracking system

Friction torque and disturbances are the main factor that influences dynamic response performance of high accuracy of servo systems. To compensate for the friction torque and other disturbances, a compound control strategy based on acceleration control and disturbance compound compensation is proposed. In this control strategy, the system disturbance is divided into equivalent disturbance and friction. Make use of the state-observer to estimate the equivalent disturbance, and obtain the friction estimation by friction observer. The generalized acceleration controller is used for the position loop. The simulation results show that dynamic friction torque is inhibited more effectively, and the robustness of system for the exterior disturbance is also improved simultaneously.