Vibration Suppression for PMSM Flexible Servo Systems Using Enhanced Two-Mode Shapers

Due to the flexibility of loads, multi-mode vibration is excited by rapid motion during servo positioning, which poses significant hazards to industrial production. This article provides a clear explanation of the mechanism behind vibration generation when driving flexible loads with permanent magnet synchronous motors (PMSMs). A novel vibration suppression method based on enhanced two-mode shapers is proposed. The proposed method effectively suppresses the first two vibration modes that have the most significant impact on servo control. This method is designed for flexible servo systems with a large mode ratio where conventional input shapers are not suitable. The effectiveness of the proposed method was verified by simulations.