Detection and Reduction of Middle-Frequency Resonance for Industrial Servo with Self-Tuning Lowpass Filter

Table 1

Simulation parameters.

Speed loop sample rate	3.3 kHz
Speed control law	PI
Speed controller output saturation value	6.0 A
Current loop bandwidth	1 kHz
Rotor inertia	0.94e−3 kg·m^2
Motor torque coefficient	1.1 Nm/A
Baseline speed loop cross-over frequency	320 Hz
Damping coefficient	0.03
Notch filter bandwidth	0.2