Speed control with vibration suppression of two-inertia servo system based on resonance ratio control

摘要

Torsional vibration in flexible servo system with finite stiffness shaft has received increasing attention. This paper presents a method aimed to suppress the vibration in speed response in both motor and load side. Based on resonance ratio control (RRC), we proposed a 4-order luenberger observer to estimate to tortional torque and the motor speed, which performed better than traditional disturbance observer. The coefficient method(CDM) was applied to design the speed P&I controller parameter. The validity of proposed method has been confirmed by simulation results.