Proposed resonant compensator for high performance drive train systems with large time delay

Torsional vibration limits the speed loop response of industrial drives and servo system, deteriorating the transient response to speed commands and load disturbances. This paper presents damping method for torsional vibration produced by compliant components between the motor and the load in high performance drive train application. The proposed algorithm is a developed method that can solve the limitation of the classical damping approaches due to the large values of system time delay. The proposed damping algorithm is based on a modified linear quadratic Gaussian with loop transfer recovery methodology (LQG/LTR) using a torque sensor as a feedback element. The damping algorithm approach is used for torque feed forward control. The system is greatly simplified when the system is recovered by using the LTR methodology. The result of modification is a low order single-input-single-output (SISO) resonant compensator that mitigates the torsional vibration without affecting the speed loop response. Simulation and experimental results verify the control scheme proposed for high performance drive train system.