Synchronized motion control with the virtual shaft control algorithm and acceleration feedback

Examines the benefits of enhancing the virtual shaft control algorithm with acceleration feedback. The effect of the current regulator is considered in both the ideal analog and digital domains. Disturbance rejection performance is evaluated for the analog current regulator using the concept of dynamic stiffness. An observer topology is developed for estimating the acceleration state. Results of simulations show that the digital current loop significantly reduces the benefits of acceleration feedback