Suppression of torsional oscillations based on IMPACT controlling structure

In this paper, an algorithm for suppression of the torsional oscillations, in the computer controlled servo systems, is purposed. A few modification of the IMPACT structure (Internal Model Principle and Control Together) in the digitally controlled electrical drives are proposed. The IMPACT structure suitable for suppression of the torsional oscillations in a servo system with the flexible coupling has been presented. The approach, proposed in this paper, gives better solutions for the problem of the mechanical resonance in the modern servo drive than the previous ones. The presented structure is simple with a small number of adjustable parameters that could be easily set to achieve the desired robust, filtering, and dynamic properties of the system.