Vibration Suppression Method Using Back-EMF for Reaction Force Control

To realize vibration suppression for the reaction force control system, this paper proposes a current control system based on resonance frequency damping disturbance ob-server using back-EMF. The compensation voltage for achieving vibration suppression of reaction force response is calculated using the estimation disturbance voltage vdis including the resonance frequency component, and the compensation voltage is feedback to q-axis current reference. Through the proposed method, vibration suppression of reaction force response is achieved only by changing the current control system, and the reaction force controller is the same as the conventional method. The performance of the proposed method is confirmed by the numerical simulations.