Suppression of mechanical resonance based on dynamic surface control and acceleration feedback

This paper proposes a new method to suppress mechanical resonance by designing the dynamic surface control combined with acceleration feedback. The high-order sliding mode acceleration observer is designed to estimate the acceleration signal and the acceleration feedback of motor is introduced to reduce the influence of mechanical resonance. The dynamic surface control combined with acceleration feedback is utilized to make the stator current rapidly converge. Stability analysis of closed-loop system is given, which shows that the control law can guarantee that the system is semi-global stability. Simulation results show that, compared with the PI controller combined with acceleration feedback, the proposed method suppresses mechanical resonance more effectively and ensures the desired dynamic response performance. Moreover, the robustness with respect to the load disturbance is enhanced.