| Abstract: | In application fields for two-mass resonant system, control theory-based various techniques that use feed-forward/feedback control have been proposed to achieve high performance motion control. Although these schemes effectively suppress 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 for a two-mass resonant system. In the proposed measurement, load inertia and 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. With this measurement algorithm no additional tool other than the observer is required for parameter measurement. The effectiveness of the proposed measurement scheme is verified by experimental results that are obtained by a prototype. © 1997 Scripta Technica, Inc. Electr Eng Jpn, 118 (2): 19–29, 1997 |
