A vibration suppression method in position drives with elastic joint

The paper presents an observer-based approach to improve the dynamics of position drive with elastic joint. Computer simulations show good dynamic properties of the proposed control structure, i.e. strong oscillations damping, eliminating of overshoots and static control error of position angle, nearly time-optimal response at given limits of speed and current of the motor. Only measurements of motor current and rotor position are required. The disadvantage of the control is that accurate identification of 2-mass system parameters is necessary.