Design of robust load position servo system for two inertia resonant system based on the estimated load information

Abstract

This paper proposes a new robust load position servo system without mechanical vibrations and offset angles for use in industrial machines. Generally, industrial machines use sensors mounted on the actuator side because it is difficult to connect signal lines if the sensor is mounted on the load side. Therefore, the load position response does not reach the desired position owing to the effect of an external disturbance force, which is called offset angle. The proposed robust servo system uses the estimated load information as the effect of the external disturbance force is suppressed. The proposed position servo system includes a state disturbance observer and a robust speed control system and uses a coprime factorization controller. The control performance and effectiveness of the proposed robust control system based on the estimated information are confirmed by the experimental results. © 2010 The Institute of Electrical Engineers of Japan.