Realization of acceleration feedback to improve accuracy of servo drive with mechanical elasticity

The object of investigation is improving accuracy of servo drive control system with mechanical elasticity by means of acceleration sensor mounted on the second mass of mechanical load. Realization of acceleration feedback allows to extend bandwidth of position control loop. Additionally, the disturbance torque compensator was developed. Simulation was carried out in Simulink / Matlab. The simulation results show that the developed control systems allow to improve the control accuracy significantly if the acceleration sensor has a low noise level.