A programmable motor inertia changing scheme by utilizing virtual inertia

Large inertia is beneficial for constant speed operation, whereas low inertia is advantageous in the applications where rapid acceleration is necessary. But it is not easy to change the inertia physically. In this work, the method of increasing/decreasing inertia is proposed. To realize the virtual inertia, acceleration information of the motor is needed. So an observer is utilized to obtain acceleration and disturbance torque estimates. Effectiveness of the proposed method was supported by simulation and experimental results.