Application of fictitious reference iterative tuning to vibration suppression controller for 2-inertia resonance system

Abstract

In this paper, we propose an off-line tuning method of the vibration suppression controller gains for 2-inertia system using Fictitious Reference Iterative Tuning (FRIT). FRIT is one of data-driven design methods using only one-shot experimental input-output data without model parameters of the controlled object. We use the modified-IPD speed controller which consists of the 2-degree of freedom PID control, considering response speed, and in addition, we use the first lag element in order to increase degree of freedom of the control design. Then, we consider the current loop for the high speed torque control. In this paper, a PI controller is used for the current control. Here, in this paper, we use the particle swarm optimization as the optimization searching method, and the performance index is the IAE. So, we confirmed the effectiveness of the proposed method which used only one-shot experiment result by experimental setup.