Angle Controller for Motor with Reduction Gear that Utilizes Torsional Torque Estimator Including Backlash Model and High-Pass Filter

This study presents the design of a load-side angle controller for an electromagnetic motor with motor- /load-side encoders, a reduction gear, and low-sti ffness coupling. A method that estimates a shaft torsional torque and feeds back the estimated value to the controller is proposed to suppress shaft torsional vibration during high-speed operation. However, feedback of the shaft torsional torque deteriorates the disturbance suppression characteristics in the low-frequency range and may lead to an angle tracking error. Therefore, this study aims to improve the disturbance suppression characteristics by suppressing the amount of feedback of the low-frequency component of the torsional torque. The e ffectiveness of the proposed load-side angle controller is demonstrated by experiment.