LQG based speed controller for torsional vibration suppression in 2-mass motor drive system

Abstract

In this paper, an LQG based speed controller for torsional vibration suppression in a 2-mass motor drive system is proposed. Because of the difficulty of measuring the load speed and the shaft torque, the Kalman filter as an optimal full order estimator is used. The Kalman filter can also estimate the load torque disturbance as well as unknown states. The details of the determination of the control parameters of a LQG based speed controller with load torque feedforward compensation is explained, and how the control response is affected based on the selection of each weighting in the performance index is also considered. Simulations are carried out to verify this algorithm in comparison with a conventional PI controller.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>