Abstract: When the bandwidth of a servo system covers the natural frequency of the transmission device, it is easy to cause mechanical resonance in the system, which seriously affects the dynamic performance and control accuracy of the system. To solve this problem, a resonance suppression strategy of a servo system based on IP control with load-side acceleration state feedback is proposed in this paper. By using IP control in the speed loop, the overshoot of the system is effectively reduced, while the acceleration feedback is introduced in the current loop to increase the degree of freedom of pole placement. On this basis, according to the pole assignment method with the same damping coefficient and taking the optimal damping ratio as the design goal, the value range of the key parameters of the system controller and the state feedback gain are discussed.Finally, the effectiveness of the proposed control method is verified by simulation.

Key words: dual inertia elastic system, acceleration feedback, pole configuration, resonance suppression