Cures for Mechanical Resonance in Industrial Servo Systems

Author-  George Ellis, Danaher Motion.  Reprint

Mechanical resonance is a pervasive problem in servo systems.  Most problems of resonance are caused by the compliance of power transmission components.  Standard servo control laws are structured for rigidly coupled loads.  However, in practical machines some compliance is always present; this compliance often reduces stability margins, forcing servo gains down and reducing machine performance.

Mechanical resonance falls into two categories: low-frequency and high-frequency. High-frequency resonance causes instability at the natural frequency of the mechanical system, typically between 500 and 1200 Hz. Low-frequency resonance occurs at the first phase crossover, typically 200 to 400 Hz.  Low-frequency resonance occurs more often in general industrial machines.  This distinction, rarely made in the literature, is  crucial in determining the most effective means of correction.  This paper will present several methods for dealing with low-frequency resonance, all of which are compared with laboratory data.

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