A torque control method of three-inertia torsional system with backlash

Proposes a torque control method of a three-inertia torsional system with gear (or coupling) backlash. The proposed controller consists of a PID controller, and a proportional feedforward compensation, and a proportional feedback compensation of the gear torque estimated by a disturbance observer. The parameters of the controller can be designed by the coefficient diagram method. Analysis and experiment results show that the mechanical vibrations of a three-inertia torsional system can be suppressed well, and a good torque transfer performance can be obtained by using the proposed controller.