Speed control of two-inertia system by PI/PID control

Our purpose is to develop systematic analysis and design methods for a two-inertia system. A conventional PI speed control system with a torsional load is redesigned, and the damping characteristic of the system is derived and analyzed. It is shown that the dynamic characteristic of the system strongly depends on the inertia ratio of load to motor. Three kinds of typical pole assignments with identical radius/damping coefficient/real-part are applied and compared, and the merits of each pole assignment design are concluded. Furthermore, for small inertia ratio, we show how to improve the damping by a derivative feedback of motor speed.

[1]  Makoto Kajitani,et al.  A new design method of servo drive system with torsional load , 1998, IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200).

[2]  L. Sweet,et al.  Redefinition of the robot motion-control problem , 1985, IEEE Control Systems Magazine.

[3]  Seung-Ki Sul,et al.  Kalman filter and LQ based speed controller for torsional vibration suppression in a 2-mass motor drive system , 1995, IEEE Trans. Ind. Electron..

[4]  R. Dhaouadi,et al.  Two-degree-of-freedom robust speed controller for high performance rolling mill drives , 1992, Conference Record of the 1992 IEEE Industry Applications Society Annual Meeting.

[5]  Yoichi Hori,et al.  Vibration suppression in 2- and 3-mass system based on the feedback of imperfect derivative of the estimated torsional torque , 1996, IEEE Trans. Ind. Electron..

[6]  Guoguang Zhang,et al.  Control of robot arms using joint torque sensors , 1998 .

[7]  Keiji Saito,et al.  A Microprocessor-Based Motor Speed Regulator Using Fast-Response State Observer for Reduction of Torsional Vibration , 1987, IEEE Transactions on Industry Applications.

[8]  Gene F. Franklin,et al.  Feedback Control of Dynamic Systems , 1986 .