To alleviate the vibration effect of the feed drive system, a traditional approach is to apply notch filters to suppress vibrations in the velocity loop. The current approach is to adjust the notch filter parameters such as the center frequency, damping and depth based on observing the frequency response diagram of servo velocity closed loop. In addition, the notch filters are generally provided in the velocity loop control for the commercialized controllers such as FANUC, Siemens, etc. However, the resonance of the transmission system also appears in the position loop when the linear scale is used as the position feedback. The notch filter design without consideration of the resonance behavior of the position loop might cause degradation of performance. To overcome this problem, the paper proposes an innovative method which could automatically determine the optimal parameters of the notch filter under the consideration of resonance behavior of position loop. With the optimal parameters, it is found that both the gains of position and velocity loop controller could be increased such that the bandwidths of the position/velocity loops are higher. Based on the simulation results, the rising time is improved by 33% and the time for reaching the steady state is improved by 72% as comparing the cases of using the optimal approach and traditional approach.

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