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Robustness of vibration suppression feedback loop for speed control system

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3 Author(s)
Godler, I. ; Harmonic Drive Syst. Inc., Minamiazumi-gun, Nagano-ken, Japan ; Ohnishi, K. ; Yamashita, T.

A vibration suppression feedback loop for a speed control system with motor, gear and inertia load is proposed. Robustness of the motor is assured by a motor disturbance rejection control which also dynamically decouples the motor and the load. In this way the design of the feedback loop is much simplified. The parameters introduced into the proposed feedback loop have a clear physical meaning and enable a tuning of the load damping and eigen frequency. In the present paper the authors deal with the system's robustness against the load torque change and against the load parameters variation. Higher degree of robustness than in the case of a PI control without a vibration suppression feedback loop is confirmed

Published in:

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Date of Conference:

15-19 Nov 1993