A multi-loop vibration control of a torsional plant

This paper addresses the problem of suppressing torsional vibration induced by a disturbance torque in a high performance two-disk system. The plant consists of two inertia disks connected by a weakly damped link and is driven by a brushless DC motor connected to one of the disks. A distributed parameter model of the system is developed and a lumped parameter model including the dominant torsional modes is then extracted. A multi-loop controller is designed on the basis of the lumped parameter model and is shown to be capable of suppressing the vibration to a reasonable level and over a wide frequency range.