Observer-Based Speed Controller for the Suppression of Rotational Harmonic Oscillations

In this paper a speed controller with an observer-based structure for the suppression of rotational harmonic oscillations is presented. These rotational vibrations can be found in technical applications with cam or crankshaft mechanisms. The rotational vibrations are modeled as harmonic disturbances acting upon a linear plant. The disturbances are described as a polytopic linear parameter-varying (pLPV) System. In the considered speed range the plant is modeled as an LTI system. Experimental results on a test bench with a camshaft drive show the effectiveness of the control. The disturbance suppression is used as an addition to an existing control.