DSP-based DC servo acceleration control without speed sensor

Abstract

A DC servo acceleration control system is proposed. When the servo motor is regulated by the proposed acceleration control system, the total servo system becomes the acceleration controlled system which is fixed to the nominal mechanical dynamics in the presence of parameter variations and force disturbance. Hence, both fast motion control and force control can be carried out easily. For the purpose of realizing this fast and accurate control, the proposed system is constructed by the software algorithm of a digital signal processor (DSP). Moreover, as the system uses only information from a position sensor, such as rotary encoder, it is economical and produces little noise at low motor speeds. Experimental and numerical examples show that the method is valid for both fast motion control and accurate force control. >