Single inertialization of a 2-inertia system based on fine torsional torque and sensor-based resonance ratio controllers

This paper achieves “single inertialization” of a 2-inertia resonant system by using a I-P-I-P torsional torque controller and a torque-sensor-based resonance ratio controller(RRC). Since the torsional torque controller with the RRC changes the dynamics between the torque reference and the actual torsional torque into a series connection system of a second order low pass filter(LPF), the 2-inertia resonant system is able to be regarded as a fourth order LPF and a single inertia system. Furthermore, this paper theoretically derives the I-P-I-P controller gain and the resonance ratio gain for suppressing effectively the resonant vibration. The simulation results confirm the effectiveness, and verify the control responses against the parameter variation. By using the single inertialization, general control systems developed for a single inertia system are able to be applied to a 2-inertia resonant system.