Abstract
Vibration suppression is a very important subject of motion control. To suppress vibration, various control strategies have been proposed mainly for controlling 2-inertia system. We propose a method of vibration suppression in a 2-inertia system. The feedback of torsion torque is known to be effective in vibration suppression. We use a disturbance observer for feedback of the torsion torque. A torsion torque is estimated by passing the output of the disturbance observer through a high-pass filter. By feedback of the estimated torsion torque, the vibration can be suppressed. The coefficient diagram method is used to design the filter and controller. The validity of this approach is confirmed by simulation.
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