Decentralized Critical Damping Position Synchronizer for Multiservo Drives via Feedback-Loop Intelligentization Approach

This work presents an advanced decentralized multiloop output-feedback solution enabling closed-loop systems to reduce the position synchronization errors via feedback-loop intelligentization and a model-free observer while handling the challenges of the practical concerns, system model and load information dependence, imperfect output measurement, complicated feedback system structure. The contributions of this article fall into three parts: 1) the model-free observer for estimating the speed and acceleration specifies its gain for two design parameters, resulting in diagonalized estimation error dynamics; 2) the observer-based proportional-integral-derivative inner loop control exponentially stabilizes speed errors according to the desired first-order convergent system through the order reduction technique; and 3) the outer loop control injects the desired critically damped position dynamics by incorporating a simple feedback-loop intelligence mechanism. The effectiveness of the proposal is validated through an experimental study using a hardware platform comprising QUBE-servo2 and a MyRIO1900 processor.