Mechanical Parameter Measurement of 2-Mass Resonant System Using Disturbance Observer

Abstract

In application fields of a 2-mass resonant system, control theory-based various techniques by using feedforward / feedback control have been proposed to achieve the high performance motion control. Although these schemes are effective to suppress the resonant vibration, they are quite sensitive to system parameters because the design of such controllers basically relies on system mechanical parameters. This paper presents a disturbance observer-based novel mechanical parameter measurement scheme of 2-mass resonant system. In the proposed measurement, the load inertia and the torsional constant of the resonant system can be measured by using error components of the estimated disturbance torque due to setting errors of the parameters in the observer. This measurement algorithm has a distinctive feature that no additional tool but the observer is required for the parameter measurement. The effectiveness of the proposed measurement scheme is verified by experimental results which are obtained by a prototype. © 1996, The Institute of Electrical Engineers of Japan. All rights reserved.