Realization of Resonance Ratio Control Focusing on Duality of Torque and Velocity for Two-Inertia System with Environment

Conventionally, the two-inertia system with environment has two resonant frequencies and one anti-resonant frequency. In the case of using resonance ratio control (RRC) for a two-inertia system with environment, it is difficult to determine the resonance ratio. Thus, this paper focuses on the duality between torque and velocity, and a two-spring resonant system is constructed based on motor-side velocity control. In addition, RRC based on motor-side velocity control and load-side velocity observer (LVOB) is proposed, and the duality between the two-inertia resonant system and two-spring resonant system is demonstrated. Finally, load-side torque control based on RRC is confirmed, and that the RRC is the same as conventional RRC. Compared with the RRC of two-inertia system and RRC of two-spring system, a duality is demonstrated, and the effectiveness of the proposed control method is verified through numerical simulation and experiment.