A Novel Method of Vibration Suppression in Position Servo Systems

A novel control scheme is presented to eliminate the vibration in the position loop of the servo system. First of all, the mathematical model of the servo system is built, and the mechanism of the vibration is analyzed. Secondly, a notch filter is designed to suppress the positioning resonance, in which the resonance frequency, the bandwidth and the attenuation of the notch are fully analyzed. Thirdly, a controller based on modified active disturbance rejection control (ADRC) is proposed to reduce the phase lag introduced in the position controller. The extended state observer (ESO) of the active disturbance rejection control is linearized to reduce the computation load and to simplify the model. Finally, simulations and experiments are carried out, which indicated that the proposed method has better resonance suppression performance and faster response than traditional methods.