A torsional vibration is generated because of elastic couplings and joints within servo drive systems. The vibration is an impediment to enhance the performance of the system. Various controllers for the problem are proposed. For example, a PI controller with a first lag filter is able to suppress the vibration and has the robust stability against the model uncertainties. However, when applying the controller to practical problems, the controller has to be modified or redesigned according to various conditions such as the bandwidth of the inner torque control loop within the servo drive system, the sampling period of the controller and the higher resonance modes of the mechanical system. It is not so easy to modify or redesign the controller, because it is not clarified sufficiently why the controller is able to suppress the vibration. In this paper, the frequency characteristics of controllers to suppress the torsional vibration are investigated. Furthermore, to reduce the effects of the bandwidth of the inner torque control loop, the sampling period and higher resonance modes, straightforward design guidelines for designing compensators are proposed. The validity of this method is confirmed by computer simulations and experiments.
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