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Two-inertia systems are prone to resonance vibrations that degrade theircontrol performances. These unwanted vibrations can be effectively suppressedby control methods based on a disturbance observer (DOB). Vibration suppressioncontrol methods using the information of both the motor and load sides havebeen widely researched in recent years. Methods that exploit the springdeflection or torsional force of two-inertia systems have delivered promisingperformances. However, few conventional methods have exploited the relativeposition information, and the discussion of position control is currentlyinsufficient. Focusing on the relative position, this study proposes a newresonance ratio control (RRC) based on the relative acceleration and statefeedback. The structure of the proposed RRC is derived theoretically and theproposed method is experimentally validated.

Design of Resonance Ratio Control with Relative Position Information for Two-inertia System