Servo System End-of-System Oscillation Suppression Based on Acceleration Limiting and Notch Filtering

The end-of-system oscillation in servo systems is a common cause of reduced control precision. Notch filter is a commonly employed passive resonance suppression technique. However, it may fail when inappropriate commands are applied. Based on an analysis of the mechanical characteristic and control system, this article elucidates that this failure stems from system saturation. Consequently, an adaptive acceleration-limiting approach is proposed. This method can be easily integrated into existing control systems with little impact on system performance.