Vibration suppression control using an equivalent rigid-body observer

Abstract

In a mechanical system whose control target is known, a precise control model of the controlled object is defined using a system identification method, and an optimum control method is selected and designed using modern control theory. However, with a general-purpose servo drive, the controlled model cannot be defined completely in advance. This paper proposes a method of suppressing mechanical resonance with an equivalent rigid body observer based on a motor model, which can be installed without clarifying the controlled object model. In addition, the applicability of the proposed method to both semi-closed and full-closed controlled systems is confirmed though experiments.