| Abstract: | This paper considers the vibration control of a motor system which has a motor and a load connected with a flexible shaft. However, this system often generates a shaft torsional vibration. Traditional methods of treating this problem to adjust the PID controller so that the closed-loop frequency response is slower than that of the vibration mode. On the other hand, one method has already been proposed in which the vibration is suppressed by a disturbance observer. This paper proposes a new approach based on H∞ control theory. For comparison, a PI control system based on classical control theory also is constructed. The results of several experiments show that compared with the PI control system, the H∞ control system is effective in suppressing the vibration. Further, the H∞ controller obtained in the study consists of a PI controller and a series compensator that functions as an active vibration controller. |
