What question did this study set out to answer?

The aim is to develop a controller that enhances load-side angular acceleration in motors equipped with double encoders.

April 12, 2026Open Access

Load-Side Angular Acceleration Control of a Motor with Double Encoders Using Shaft Torsional Angle and Load-Side Angular Acceleration

Key Points

The aim is to develop a controller that enhances load-side angular acceleration in motors equipped with double encoders.
Estimate shaft torsional torque using values from input and output shaft encoders.
Estimate load-side angular acceleration from the output shaft encoder value.
Shape the estimated values in the frequency domain for controller feedback.
Verify effectiveness through frequency analysis, simulations, and experiments.
The proposed controller showed optimal performance in load-side angular acceleration control.
Performance was compared against four different types of controllers.
Frequency analysis and time-domain simulations supported the findings.

Abstract

This study proposes a load-side angular acceleration controller for a motor with double encoders installed on both the input and output shafts of a reducer. The shaft torsional torque between the shafts is estimated from the two encoder values. Additionally, the load-side angular acceleration is estimated from the encoder value on the output shaft side. To improve the load-side angular acceleration control performance, these estimated values are shaped in the frequency domain and fed back to the controller. The effectiveness of the proposed method is verified through frequency analysis, time-domain simulations, and experiments. It is demonstrated that the proposed method exhibits optimal load-side angular acceleration control performance among four different types of controllers, including the proposed controller.

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