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Mechanical Resonance Suppression of Servo System Based on ADRC and MAFC

In view of the mechanical resonance caused by the elasticity of the transmission in the dual inertia servo system, combined with the advantages and disadvantages of the Active Disturbance Rejection Controller (ADRC) and the Motor Acceleration Feedback Controller (MAFC), an active mechanism is proposed to adaptive suppress the mechanical resonance of the servo system in this paper. First, a MAFC is designed to dynamically adjust the equivalent motor inertia of the dual inertia servo system, and directly affect the resonant frequency. Then, since ADRC does not rely on the accurate model of the control object, the core is the design of the state observer of ADRC. By observing the motor speed and electromagnetic torque, an adaptive extended state observer is constructed to realize the online compensation of the forward gain missing caused by the MAFC. Through simulation analysis, using the mechanical resonance suppression method based on ADRC and MAFC, the dynamic response, anti-disturbance ability and resonance suppression effect for the AC servo system are obviously improved.