Absolute stabilization of multi-mass resonant system by phase-lead compensator based on disturbance observer

Vibration suppression and attainment of robustness in motion control systems is an important problem in industry applications. To address this issue, several control methods to suppress the vibration have been developed. However, in the conventional vibration control systems, much research has not considered the higher order of resonant frequencies. This paper proposes a novel vibration control of multi-mass resonant system based on the phase-lead compensator. The paper clarifies the influence of the parameter variation of a disturbance observer on acceleration control system. The effect of phase-lead compensation on the acceleration reference is attained by setting the nominal inertia value larger than the real inertia. The phase-lead compensator can stabilize all resonant poles of multi-mass resonant system. Since the proposed phase-lead compensation system is based on the disturbance observer technique, it can realize both suppression of vibration and robustness in motion systems. The experimental results show viability of the proposed method.