The compound controller design of a position servo system based on the acceleration signal

According to the parametric uncertainties, high performance requirements and a variety of nonlinear disturbances in the position tracking servo system, the compound controller composed of feed forward and feedback parts is proposed in this paper. In this feedback pathway, three closed loops are designed to obtain satisfactorily dynamic responses and restrain corresponding system disturbances such as the friction and the payload variation by adjusting the position, velocity and acceleration errors in time. And there introduces two feed forward controllers on the basis of 3-loop control system when we take account of the contradiction between accuracy and dynamic performances, in this way the compound control system not only has prospective responses to how the servo system vary unpredictably, but also possesses high precision. And it has been found that the design of the feed forward adjusters is no longer reliant on the exact system model by adding the acceleration closed loop. In order to illustrate the effectiveness of the proposed compound controller, the simulations have been carried out in a PC, and the results show the satisfactory performances in precise, rapidity and so on.