Additional internal speed feedback loop for suppression of the servomechanism residual vibration

This paper describes a residual vibration active damping method of flexible servomechanism. The method basically uses an additional feedback loop from the internal motor speed sensor. By means of phase shifting and weighting is the signal adjusted into an appropriate scale and phase and returned back into the drive control structure as an additional speed setpoint. This method was implemented into the conventional drive system by means of standard configuration tools and its damping effect proven experimentally.