Abstract: Since two-inertia resonant system is inclined to produce low frequency mechanical resonance, the two degree of freedom speed controller with feed forward & feedback control and the full state feedback controller are proposed to solve the problem. Based on the kinetic equation of the motor and the load, the mathematical model of the two-inertia resonance system is established. And the two degree of freedom controller and the state feedback controller are designed based on this model. Considering the reference input tracking ability and the anti-disturbance torque capability of the control system, the gain of the control system is obtained by different pole allocation strategies. Contrast simulation results show that the proposed speed control algorithm is feasible and effective.

摘要： 双惯量谐振系统易产生低频机械谐振现象，针对此问题设计了带有前馈+反馈控制的双自由度速度控制器和全状态反馈控制器。结合电机和负载的动力学方程建立双惯量谐振系统数学模型，基于此模型设计双自由度及状态反馈控制器，考虑控制系统的参考输入跟踪能力以及抗扰动力矩能力，采用不同的极点配置策略对控制系统的增益进行求取。对比仿真试验结果验证了本文该速度控制算法的可行性和有效性。

关键词: 双惯量谐振系统, 双自由度控制, 全状态反馈控制, 极点配置