Vibration Suppression and Pole Assignment of Two-Mass System by State Feedback Control

Abstract

In the industrial motor drive systems such as industrial plants and industrial robots, a torsional vibration is often generated because of the elastic elements in torque transmission. This vibration makes it difficult to achieve quick responses of speed and may result in damage to the plant. Such system is simply modelled as the 2-mass system. Many researches with respect to the 2-mass system have been reported. The state feedback control is useful to suppress the torsional vibration. In many papers, however, it is not described in detail how to determine the feedback parameters in order to suppress the vibration and improve the dynamic characteristics considering the variations of plant parameters.In this paper, we discuss the procedure of tuning feedback parameters in the state feedback control system for the 2-mass system. The dynamic characteristics such as not only load speed but also motor speed, motor torque and torsional torque are taken into account for the pole assignment. The effects of variations of plant parameters on the stability and the control performances are examined in detail. These examinations are carried out with respect to three types of 2-mass system.