Design of Resonance Ratio Control with Relative Position Information for Two-inertia System

Two-inertia systems are prone to resonance vibrations that degrade their control performances. These unwanted vibrations can be effectively suppressed by control methods based on a disturbance observer (DOB). Vibration suppression control methods using the information of both the motor and load sides have been widely researched in recent years. Methods that exploit the spring deflection or torsional force of two-inertia systems have delivered promising performances. However, few conventional methods have exploited the relative position information, and the discussion of position control is currently insufficient. Focusing on the relative position, this study proposes a new resonance ratio control (RRC) based on the relative acceleration and state feedback. The structure of the proposed RRC is derived theoretically and the proposed method is experimentally validated.