| Abstract |
In this paper different control structures for servo drives are compared regarding their disturbance suppression capabilities. Starting with the classical cascade control for position, velocity and current alternative concepts are reviewed. All presented control structures are simulated as time discrete control algorithms. Comparision is done with respect to a performance index for position errors. Though cascade control structure was optimized for good disturbance suppression, all simulated control schemes showed better dynamic performance. In case of a faultless optical encoder, state variable feedback of acceleration gives best results. |
