Load-Side Reaction Force Control Based on Model-Matching Controller for Two-Inertia System with Environment

In a two-inertia system, load-side control is relatively simple to design using a cascade controller with a torsion torque controller in the minor-loop. However, the control bandwidth of the outer controller, such as the load-side reaction force controller, is affected by the bandwidth of the minor-loop. Thus, this paper proposes load-side reaction force control based on model-matching control. To realize a simple model-matching control, an equivalent disturbance compensator (EDC) is applied to torsion torque controller. The EDC is able to be used to suppress disturbance, such as the reaction force to the torsion torque. Moreover, the torsion torque and environmental vibration mode are separated. The effectiveness of the proposed control is verified through numerical simulations and experiments.