A method for suppressing the mechanical resonance of servo drives in a two-mass system coupled with a flexible shaft is proposed. Active disturbance rejection control considers the disturbance component of all torques, except for the torque of the moment of inertia of the drive motor, as the total disturbance, which is estimated using an extended state observer. In this paper, we use reduced-order active disturbance rejection control (RADRC) based on a reduced-order extended state observer to lower the order of the observer's gain. RADRC can reduce the order and thus increase the observer’s bandwidth. In addition, by lowering the moment of inertia of the drive motor used in the observer, the observer’s bandwidth can be increased, and the stability of the servo system can be ensured. The speed controller uses only the P controller to reduce the magnitude of the overshoot for the step response. To accurately reflect the system, the proposed method was designed in the discrete time domain. As a result, the proposed method can reliably suppress vibrations caused by the resonance of the mechanical system. Simulations and experiments on a 1.1 kW surface-mounted permanent magnet synchronous motor confirmed the effectiveness of the proposed method.

提出了一种在与软轴耦合的两质量系统中抑制伺服驱动器机械共振的方法。主动抗扰控制将所有转矩的扰动分量（驱动电机的转动惯量转矩除外）视为总扰动，使用扩展状态观测器估计。在本文中，我们使用基于降阶扩展状态观测器的降阶主动抗扰控制（RADRC）来降低观测器增益的阶数。RADRC 可以降低阶数，从而增加观察者的带宽。另外，通过降低观测器所用驱动电机的转动惯量，可以增加观测器的带宽，保证伺服系统的稳定性。速度控制器仅使用 P 控制器来降低阶跃响应的超调幅度。为了准确地反映系统，所提出的方法被设计在离散时域。结果，所提出的方法可以可靠地抑制由机械系统的共振引起的振动。在 1.1 kW 表面贴装永磁同步电机上的仿真和实验证实了所提方法的有效性。