Digital Optimal Contorl of Servomotor System Considering Torsional Vibration Characteristics

비틀림 진동특성을 고려한 서어보모터계의 디지털 최적제어

In order to control the transient torsional vibration of rotational shaft system, the torsional stiffness of it has been taken into account in modelling the plant. In this paper the observer and controller has been designed in two ways. One is to consider the torsional stiffness and the other is to idealize the rotational shaft as rigid body. The third order observer considering torsional stiffness shows stable response on computer simulation. When the observer is designed on assumption of the rotational shaft being rigid body, the reduced order observer shows stable response whereas the full order observer shows unstable response.