摘要：工业应用中连接电机驱动和负载设备中经常使用弹性装置，这导致负载侧运作部位发生振动。为了实现高性能高精度伺服控制，二惯性系统中的振动抑制是非常重要的有待解决的问题。为了抑制振动，本文提出了一种新的前馈补偿和负载观测的方法来抑制振动。文中分析了振动问题的来源，然后从系统的传递函数着手研究了传统PI控制下与文中提出的方法下的两者波特图，解释了本文抑制振动方法的原理。此外，本文运用FFT方法对速度误差频谱分析，得到振动频率，再利用CDM方法解决了控制参数的设计问题。最后，本文给出了Simulink仿真环境下本文抑振方法和传统PI控制下的系统性能对比，此外给出了相对应的实验验证。结果都表明文中的振动抑制方法对抑制速度位置振动很有效。
关键词：振动抑制；扰动转矩观测器；转矩前馈；CDM

Abstract: The flexible connections are frequently applied to connect motor drive and loads devices in industrial control systems, which leads to vibration at the load side.To achieve highdynamic and highprecise servo control,vibration suppression in twomass systems is an very important issue to be solved.In this paper, a strategy to suppress vibration based on torque and speed compensation and disturbance torque observer under position closedloop was presented.Firstly illustrated the problem formulation,then analyzed the different bodes of the system transfer functions under classical PI controller and proposed method which explained the principle of vibration suppression at the same time.Additionally, detected the vibration frequency by FFT and gave some specifications about the design of control parameters based on CDM.Simulation under simulink environment and physical experiments were conducted to test the proposed method.The results illustrate that the method can suppress speed and position vibration successfully.
Key words:  vibration suppression; torque forward compensation; disturbance observer; CDM