A comparative study of servosystems with acceleration feedback

Benefits and limitations of the acceleration feedback use in electrical servosystems are researched. The performance of a speed control system with a PI controller and following acceleration feedback-based speed controllers are compared by computer simulation: PI controller extended by inner proportional acceleration controller, proportional controller extended by feedback compensation action for the estimated load torque, and polynomial speed controller. The comparison is carried out for a wide range of characteristic process parameters, assuming measurement of the acceleration by time-differentiation of the measured speed, and taking into account sensitivity of the speed control loop to noise and inner current control loop modeling errors. Comparative experimental results for a positioning servosystem with friction disturbance are also presented.