Speed control of 2-inertia system with gear backlash using gear torque compensator

In this paper, a new speed control method for 2-inertia system with gear backlash is proposed, which uses gear torque compensator. This compensator consists of two elements: the gear torque compensator and the feedback gain. The gear torque compensator consists of the gear torque observer and a gain; it has the characteristics of the motor torque command and speed of a 1-inertia system. However, using only the compensator has a bad effect on the vibration suppression caused by the torsional shaft. Therefore, we introduce the feedback gain and adjust it for vibration suppression. The combination of this method with common PID controller shows good performances in vibration suppression and disturbance rejection, both in the simulations and experiments.