Research of Mechanical Resonance Analysis and Suppression Control Method of the Servo Drive System

Table 3

Dynamic characteristics of impact load.

Control method	MPC	MPC + Notch Filter	MPC	MPC + Notch Filter
Torque	10～30 Nm		30～10 Nm
Overshoot	−34.3 r/min	−12.8 r/min	+32 r/min	+10.2 r/min
Torque ripple	0.65 Nm	0.12 N/m	0.68 Nm	0.09 Nm