Additional internal speed feedback loop for servomechanism residual vibration active damping

This paper describes an alternative approach for an residual vibration active damping of special types of servomechanism. The main idea of this method is to generate an additional speed setpoint by means of an internal motor speed signal (as a carrier of residual vibration). By means of weighting and phase shifting, the compensation signal is adjusted into an appropriate scale and phase and returned back into the drive control structure. This method was successfully implemented into the conventional drive control system and its damping effect proven experimentally.