Speed Control System and Design of Resonant System with Disturbance Observer

摘要

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 a two-mass system. The shaft torque feedback system with the disturbance observer, which is called “resonance ratio control”, is proposed to suppress the vibration for the two-mass system.In this paper, the design of controller gains in the shaft torque feedback system is examined considering not only the control performance such as the vibration suppression and dynamic responses but also the robust stability against the noise and the model uncertainties. The validity of the control system and the examinations in this paper is shown by several experiments.