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High performance speed control for torsional system based on H control theory

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4 Author(s)
Morimoto, S. ; Osaka Prefecture Univ., Japan ; Ohashi, M. ; Takeda, Y. ; Taniguchi, K.

This paper presents a speed control strategy for the torsional vibration systems such as industrial plants and industrial robots. The H control theory is applied to design the speed controller for the two-mass resonant system. This controller determines the closed-loop characteristics such as the suppression of torsional vibration and the rejection of torque disturbance. Moreover, the two-degrees-of-freedom controller based on the H controller is designed to improve the tracking characteristics for the commanded speed. The high-order H controller is suitably reduced to make it easy to apply the practical system. The experiments show the excellent performance of the proposed control strategy compared with the conventional PI control

Published in:

Power Electronics and Drive Systems, 1995., Proceedings of 1995 International Conference on

Date of Conference:

21-24 Feb 1995