Automatic Detection and Self-Adjustment Compensation for Mechanical Oscillations and Disturbances in Servo Systems

In order to simultaneously achieve mechanical oscillation suppression and anti-disturbance of the servo system without manual adjustment, this article proposes a complete scheme based on integrated absolute error (IAE) self-detection and state feedback-based self-adjustment. First, a control structure with positive and negative state feedbacks is constructed. Then, an IAE-based detection method for mechanical oscillations and disturbances is proposed according to the real-time motor speed response characteristic. The effect of different feedback coefficients on system performance is investigated, which can verify the effectiveness of the detection strategy and provide guidance for developing self-adjustment rules. Since in the state feedback structure, the suppression of oscillation is a negative feedback to the transmission torque, while the anti-disturbance is a positive feedback to the load torque, this article proposes a strategy for online automatic adjustment of compensation coefficients based on real-time detection results to effectively balance this contradiction. Simulations and experiments show that the proposed algorithm can automatically detect, autonomously judge and adjust the oscillations and disturbances of the servo system without any human intervention.