Resonant suppression of flexible system using band-stop filter

A method is proposed for the resonant suppression of a flexible system based on vibration signal feedback. In addition to a torque, speed and position feedback control structure, this method filters some specific vibration frequencies of the output and then feedback them to the input of the system. Thus it is featured by a concise control structure and simple parameter design procedures. The paper firstly cites a three-mass system as an instance, in which the transfer function and the procedures of controller design are explained and the essential of resonant suppression is presented. Then we extend the controller design to a general flexible system which can be modelled as a more-masses system even with unequal qualities/inertias. Finally, a load force compensator is added to mitigate the disturbance caused by a load force. Simulation results show the validation of the method.