Reducing Oscillations During Positioning of A Servomechanism Having Flexibility

This contribution describes the method of harmonic modulation of a velocity set-point signal in control to reduce undesirable oscillations. Especially the combination of this method with the well known input shaping method is of interest. Such a solution seeks for instance to a control structure used for servomechanisms equipped with a gear-box or namely mechatronic drives (MDs); where undesirable oscillations in transient- as well as semi-steady-states could arise. The combination of the methods has been proofed under real conditions in an experimental setup. Based on this, simulations regarding different industry demands and the proper choice of the modulation signal types will be introduced. Further it will be discussed which modulation signal should be used for the corresponding ie industrial demands. Both proposed methods are in the category of feed-forward-control which led to a practical implementation where no additional sensor (for measuring these undesirable effects) is needed to improve the system dynamics.