High-precision speed control based on the compensation of equivalent input disturbance

This paper deals with the high precision speed control problem in a 2-mass system, and introduces the concept of equivalent input disturbance to design a servo controller. This method rejects the influence of disturbances and to guarantee the high-precision speed tracking of the given trajectory by estimating an equivalent input disturbance. After constructing the dynamical model of 2-mass speed tracking system, this paper presents the servo control system configuration based on the compensation of equivalent input disturbance, and designs the controller by employing the concept of perfect regulation. The validity of the presented system is demonstrated by experiments.