This study proposes a load-side angular acceleration controller for a motor with double encoders installed on both the input and output shafts of a reducer. The shaft torsional torque between the shafts is estimated from the two encoder values. Additionally, the load-side angular acceleration is estimated from the encoder value on the output shaft side. To improve the load-side angular acceleration control performance, these estimated values are shaped in the frequency domain and fed back to the controller. The effectiveness of the proposed method is verified through frequency analysis, time-domain simulations, and experiments. It is demonstrated that the proposed method exhibits optimal load-side angular acceleration control performance among four different types of controllers, including the proposed controller.
Okano et al. (Thu,) studied this question.