Position Controller Design Based on the Extended State Observer for Servomechanism with Elasticity

This paper proposes a novel design method for position control of servomechanism with elasticity. The extended state observer, offering extra torque shaft feedback, promotes the speed loop nature frequency attaining anti-resonant frequency. The speed reference is compensated in speed loop output reasonably, taking the optimal amplitude-frequency response into account. The position loop proportional and feedforward gain are designed to achieve good position response using the polynomial design method. Compared with typical P-PI position control, The proposed scheme removes the residual vibration, and the parameter design method is simple and distinct. The experimental results validate the effectiveness of the proposed strategy.