Vibration Suppression Control for Motor Drive System with Torsional Shaft and Backlash

Abstract

With the development of modern control theories, various novel control methods have been proposed on torsional vibration system recently.To solve the problem of torsional vibration and gear backlash, this paper proposes a simple control method of vibration suppression for drive system with gear backlash.The proposed controller consists of a PI controller and PD feedback compensation of the gear torque estimated by a disturbance observer. Although the control design approach is easy to apply, the performance of the proposed method is better than conventional PID controller, and the effectiveness is shown by both simulations and experiments.