Application of adaptive notch filter for resonance suppression in industrial servo systems

Abstract

This paper presents an application of an adaptive notch filter (ANF) for resonance suppression in industrial servo systems. An on-line frequency estimator is utilized for estimating the resonant frequency. The current command of the servo system is an input to the frequency estimator. The ANF automatically changes its notch frequency according to the estimated resonant frequency values and suppress the resonance. Experiments are performed using an industrial servo system with a belt-drive type load for various load conditions. Results show that the controller with the developed ANF identifies the changes in the resonant frequency well and therefore successfully suppresses the resonance.