Low-speed performance analysis and design of velocity servo control system

This paper studies the effect factors of the performance in low-speed servo control system, from some practical and often neglected perspectives. First of all, the quantization error in the motor driver´s angle measurement is considered, which is actually necessary in some practical systems. Then an experiment-based method is proposed to describe the motor disturbance torque and the friction torque with the appropriate accuracy. In addition, on the basis of these analysis results, an hinf controller with the torque compensation is presented completely. At last, the strategy proposed is verified in a real rotary servo system.