Low-frequency Vibration Suppression Control in a Two-mass System by Using a Torque Feed-forward and Disturbance Torque Observer

Given that elastic connection is often used between motor drives and load devices in industrial applications, vibration often occurs at the load side. Vibration suppression is a crucial problem that needs to be addressed to achieve a high-performance servo-control system. Scholars have presented many strategies to suppress vibration. In this study, we propose a method to diminish vibration by using a torque feed-forward and disturbance torque observer. We analyze the system performance and explain the principle of the proposed vibration suppression method based on the transfer functions of the system. The design of controller parameters is another important issue in practical applications. We accordingly provide a succinct outline of the design specifications based on the coefficient diagram method. Furthermore, we build a model under the Simulink environment and conduct experiments to validate the proposed method. Results show that speed and position vibrations are successfully suppressed by the proposed method.