Load-side acceleration control of a 2-inertia resonant system for fine torque servoing

This paper proposes a load-side acceleration control system for fine torque servoing. In the case of a 2-inertia resonant system, conventional motor-side acceleration control based on a disturbance observer induces resonant vibration that deteriorates load-side torque control. In order to solve the vibration problem, the proposed system consists of the motor-side acceleration controller, an I-PD torsion torque controller, and a load-side disturbance observer. Numerical simulations confirm that the proposed method reduces the resonant vibration caused by the 2-inertia system, and that actual load-side acceleration converges with an acceleration reference. Furthermore, this paper investigates the effect of the inertia and stiffness variation. Finally, the effectiveness of the load-side torque control system with the proposed load-side acceleration controller is confirmed by simulations.