Vibration Suppression Control Using Resonance Frequency Damping Disturbance Observer for Robot Servo System

Abstract

To suppress the residual vibration of the resonance frequency of a three-inertia system, this paper proposes a current control system that has a resonance damping structure focusing on the vibration modes of the three-inertia system. Because the conventional position/velocity control system based on the two-inertia model focuses only on the primary resonance frequency, its residual vibration is induced by using the conventional control system based on a two-inertia model as against the three-inertia system. The conventional current control system does not include a resonance damping structure. The proposed current control system damps the secondary resonance frequency of the three-inertia system, whereas the ordinary position/velocity control system suppresses the primary resonance frequency of the three-inertia system. The effectiveness of the position/velocity control system using the proposed current control is confirmed through experiments.