Method and apparatus to compensate for cyclic load disturbances in a control system

摘要

A method and apparatus for essentially eliminating cyclic disturbances in a motor control system, the method including identifying frequencies of undesirable components in a feedback signal that exceed a threshold level and generating a combined signal including sine wave components corresponding to each of the identified frequencies, delaying the combined signal to generate a plurality of identical but phase shifted combined signals, weighting each one of the delayed signals as a function of the magnitude of an instantaneous corrected signal which is the difference between a velocity error signal and a compensation signal and adding each of the weighted signals to generate the compensation signal.