Comparison of disturbance suppression strategies for servo drives

Different control structures for servo motor drives are compared regarding their disturbance suppression capabilities. Starting with the classical cascade control for position, velocity and current, alternative concepts are reviewed. All presented control structures are stimulated as time discrete control algorithms. Comparison is done with respect to a performance index for position errors. Though the cascade control structure was optimized for good disturbance suppression, all simulated control schemes showed better dynamic performance. In the case of a faultless optical encoder, state variable feedback of acceleration gives the best results