Robust HighSpeedPosition Servo System Considering Current & Voltage Limitation andLoadInertia Variation

Ahighspeed position servo system isimportant for performance improvement ofmotion control inseveral industry applications. Itoften hasthedesired position reference. An industrial servo system hasthelimitation values basedoneach output ofactuator andpoweramplifier. Hence, ahighspeed position servosystem should keepthetracking control forthe desired position reference within thelimitation values. Moreover, anindustrial servosystem mustrealize therobust control against loadtorque andloadinertia variation. Anordi- naryposition servo system hasthecomplicated control structure caused bythetriple minorcontrol loops. Oncondition ofboth loadinertia variation andthesaturation caused bycurrent & voltage limitation, anindustrial servosystem sometimes hasa large overshoot andanoscillated response. Therefore, forthe desired quick position reference, itisdifficult forahighspeed position servo system tokeeptherobust tracking control against loadinertia variation within eachlimitation ofmotorcurrent andmotorvoltage. Inorder toovercome this problem, this paperproposes anew robust highspeedposition servosystem considering current & voltage limitation andloadinertia variation, whichisbased ondisturbance observer. Theexperimental results confirm that theproposed systemrealizes thedesired & quick& robust response keeping eachlimitation ofspeed, current andvoltage oncondition ofbothfull loadtorque andthree times loadinertia variation.