Kalman filter and LQ based speed controller for torsional vibration suppression in a 2-mass motor drive system

Abstract

In this paper, a high-performance speed control for torsional vibration suppression in a 2-mass motor drive system, like a rolling mill which has a long shaft and large loadside mass or a robot arm which has flexible coupling, was studied. The speed control method which has better control response than a typical one in command following, torsional vibration suppression, disturbance rejection, and robustness to parameter variation, was proposed. The performance of command following, torsional vibration suppression, and robustness to parameter variation was satisfied by using a Kalman filter and LQ based speed control with an integrator. Also, disturbance rejection performance was improved through load torque compensation. Through various experiments of a real 22 kW field oriented controlled AC motor drive system having 2-mass mechanical system, the characteristics of the proposed speed controller and typical PI speed controller were compared and analyzed.