The speed servo robustiftcation of the Apr20 robot

This paper deals with the issue of acceleration loop speed servos with subordinate acceleration controller. The acceleration signal is generated by an analog speed sensor using averager and differentiator. By using an acceleration loop in speed (and position) control circuit we are able to achieve better qualities of such circuit. This solution has properties of robust system. The solution is suitable to meet the requirements for a wide range of rpm regulation, run uniformity as well as the devices featuring either non-stationary or extremely high load inertia moment. This paper also deals with the results of application of acceleration loop to the servosystem of industrial robot APR - 20. The results are comparable to the previous theoretical and experimental results.