Torsional vibration suppression of a twin-drive geared system using model-based control

This paper deals with a control technique of eliminating the transient vibration of a twin-drive geared mechanical system with backlash. This technique is based on a model-based control equipped with a local current compensating loop. The control model as a dynamical compensator is composed of a linear reduced-order model related to the velocity control loop and a delay element related to the backlash. This control model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is dynamically calculated, and it is added to the velocity command to suppress the transient vibration generated at the load. To avoid the interference of the output torque of each motor, a local current compensating loop is integrated into the current loop. In this paper, the performance and the effectiveness of this control method are verified by simulations and experiments. They show satisfactory control results. The settling time of the residual vibration can be shortened down to about 1/2 of the uncompensated vibration level.