In the process of rotation, a two-inertia system with a flexible link (TISFL) will have the phenomenon of output speed fluctuation under the influence of flexible factors and external disturbances. The output speed fluctuation will excite the vibration of the TISFL and reduce the tracking error of the flexible link. To suppress output speed fluctuation, the proportional-integral control method containing the disturbance observer (DOB) is proposed. First, the mathematical equations of the TISFL are obtained by the flexible beams’ vibration differential equations. Next, the transmission characteristics of the TISFL and the effect of nonlinear terms on modeling accuracy are analyzed according to dynamic equations. Then, the filter parameters in the DOB are determined using the robust stability theorem. The rotation accuracy of the TISFL is improved by compensating for disturbances torque by the DOB. Finally, simulation and control experiments of the TISFL show that the proposed control method can weaken output speed fluctuation.
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