Vibration control of 2 mass resonant system by resonance ratio control

This paper presents a position control method to suppress torsional vibrations of 2 mass resonant systems without using position sensor on the arm portion. Instead of using a position sensor, the reaction torque caused by the shaft torsion is utilized for the suppression of the vibration. In this paper, the reaction torque is estimated by an observer using motor portion parameters and state variables. The feedback of the reaction torque makes it possible to control the "resonance ratio", which is a novel concept for vibration controls. The proposed control system is based on both the conventional PD control and the resonance ratio control, and the controller gain determination method is discussed. The validity of the proposed method is also confirmed by several experiments.<
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