Robust control of torsional oscillations in high speed servo drive systems using a shaft angle control loop

This paper proposes the use of a torsional angle control loop as an effective method to cancel torsional oscillations in two-mass (2M) high speed servo drives. First, an ideal evaluation assuming known the shaft angle and load torque shows the effectiveness of the proposed control. Then, a full-order observer of the unavailable states is developed. Final evaluations using the full-order observer and including the effect of digital implementation and error in the estimated states, show the robustness of the proposed shaft angle control.