Abstract
The performance of a gearless servo system is significantly degraded by mechanical resonances present in the system. For applications on a machine the parameters of the mechanical resonances differ from workpiece to workpiece and thus cannot be calculated a priori. Adaptive notch filters can dampen these resonances. This paper compares different metrics, typically used in optimal control theory, regarding the usability for a later automatic notch filter qualification. It uses a time domain approach with a invasive test signal including a feed forward generator. This approach is first shown by a simulation and afterwards transferred to a machine using a cascaded PI controller architecture. After the notch filter has been appropriately designed, different metrics are used to show the impact on different controller settings and the impact on using an optimal notch filter in a single measurement.
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