Wideband Load-Side Acceleration Control Based on Load-Side Acceleration Sensing of Two-Inertia System

Load-side acceleration sensing based on load-side acceleration control is proposed for a two-inertia resonance system. The proposed method is divided into two stages. In the first stage, the feedback component from the load-side is canceled using the estimated value of the instantaneous state observer and the load-side acceleration. The two-inertia resonance system is converted into a simple second-order system using this method. The proposed method configures a control system of cascaded loops for the second-order system. Therefore, the load-side acceleration control is achieved by two specified bandwidths. The proposed method is easy to implement for conventional robots and yields superior cost-savings compared with other types of load-side acceleration control. The effectiveness of the proposed load-side acceleration controller is verified by theoretical analysis, numerical simulations, and experiments.