VIBRATION SUPPRESS CONTROLLING SYSTEM AND METHOD FOR DUAL INERTIA SYSTEM

摘要

PURPOSE: A vibration suppress controlling system is provided to remarkably reduce vibration by reducing the influence of the twist torque at the same time with providing a variable position control gain. CONSTITUTION: A twist estimator(120) inputs a torque command with respect to a driving inertia system and a speed of the driving inertia system, estimates a twist of dual inertia system to be fed back to the torque command with respect to the driving inertia system. A variable position controller(107) has a position command with respect to the dual inertia system and a variable position control gain according to a deviation of a position instruction, multiplies the deviation by the variable position control gain, and outputs a predetermined speed command.