Investigation on the efficiency of acceleration feedback in servomechanism with friction (Q1368031)

Motivations for using acceleration feedback in cases of mechanisms with friction are investigated. By examining its effect on the positioning problem of a servomechanism, power transfer analysis is used to demonstrate the efficiency of the acceleration feedback at low velocities. From this conclusion, a proportional-derivative-acceleration feedback controller is proposed. The design of the acceleration feedback gain is performed using an optimal control design approach where the contribution of the acceleration feedback is minimized. Both simulation and experimental results are used to demonstrate the approach.