Robust Control Strategy of Speed Loop with Variable Inertia

In this paper, a robust control strategy based on model reference control is proposed to achieve the high-performance speed control when the moment of inertia is variable. This strategy consists of a model reference controller and a robust compensator. The model reference controller is proposed to achieve the ideal dynamic response and the robust compensator is proposed to compensate the effect of inertia mismatch. The two controllers are proportion-integral (PI) controller, which parameters are designed and discussed. The tunning parameters are reduced to two adjustable parameters, which are expected response angular frequency and maximum inertia ratio. Although the inertia is variable, the maximum ratio of inertia can be known. The effectiveness of this strategy is verified by simulation results and experiment results.