基于未知动态观测器双惯量伺服系统低频主动谐振抑制

In this paper, an active resonance suppression method based on unknown dynamics estimator is developed for dual inertia servo systems. The first-order low-pass filter of the motor position is obtained via filtering operation. Then, the unknown disturbance observer is designed based on an invariant manifold to estimate the unknown the transfer torque which is compensated in the control design. To eliminate the chattering problem, a novel reaching law is designed based on hyperbolic functions is proposed to guarantee that the sliding mode surface infinitely method to the equilibrium point. A sliding mode control based on the unknown disturbance estimator proposed to achieve the precise position tracking. The closed-loop control system stability is proved using Lyapunov stability theory. Finally, Comparative experimental results based on a test-rig dual inertia system are provided to show the effectiveness and superior performance of the proposed control scheme. Moreover, the proposed control method has a simple structure and does not need the acceleration information of motor. It is easy to be implemented in practice.