Design of Second-Order Controller for Resonant Mechanical System

Abstract

Suppression of torsional vibration is one of important topics on motion control. A torsional vibration is generated because of elastic elements of a mechanical system driven by a servo motor. The simplest model of such systems is two-mass system. In recent years, several kinds of controllers for two-mass system are proposed, but their design methods are not simple.
This paper proposes a new design method of a second-order controller for two-mass system. Two types of controllers are designed using this design method. One of them shows good performances in vibration suppression, and the other shows good robustness. The method is very simple because the parameters of these controllers are determined using linear equations of the ratio of moment of inertia of two-mass system. The validity of this method is confirmed by experiments.