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This paper proposes the use of a torsional angle control loop as an effective method to cancel torsional oscillations in two-mass (2M) high speed servo drives. First, an ideal evaluation assuming known the shaft angle and load torque shows the effectiveness of the proposed control. Then, a full-order observer of the unavailable states is developed. Final evaluations using the full-order observer and including the effect of digital implementation and error in the estimated states, show the robustness of the proposed shaft angle control.