Abstract
This paper provides systematic analysis and controller design methods for high-performance two-mass drive systems. A non-parametric method is introduced to identify dynamics of two-mass drive system, especially the resonance and anti-resonance frequencies. Compared with the conventional Fast Fourier Transform (FFT) approach, the non-parametric method can easily recognize anti-resonance frequency and tolerate lower Signal-to-Noise Ratio (SNR) of measured signals. Two notch filters are tuned using the identified characters to suppress resonance, and together with simple Proportional-Integral (PI) controllers to improve the position tracking performance. Simulation and experimental results are presented to demonstrate performance improvement obtained by the proposed method.
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