The Positional Servo Drive with the Feedforward Control and the Noise Attenuation

摘要

The paper deals with the design and with the comparison of properties of positional servo drive with the three control structures: 1. A filtered disturbance observer based PID control (DO-FPID). 2. The cascaded control with proportional positioning controller and PI speed controller (P-PI). 3. The cascaded control with proportional positioning controller, the PI speed controller and with filtration of actual speed (P-FPI). It shows that whereas in terms of IAE (Integral of absolute error) all solutions may yield an equivalent closed loop dynamics, the controlls with the feedback filters guarantee a much better quantization noise attenuation.