Modeling and pole placement control for vibration suppression in motor-gear coupled systems with friction torque

The motor gear coupled system (MGCS) plays a critical role in electric drive systems, however, its dynamic performance is significantly constrained by nonlinear factors, including elastic coupling vibrations, gear friction torque, and backlash. Suppressing the resulting dynamic coupling and disturbances has therefore become a key challenge in improving overall system performance. In this study, a two-inertia system model incorporating gear friction and meshing nonlinearities is established for the MGCS. Based on this model, the dynamic interactions between the motor and load are systematically analyzed. Furthermore, an active disturbance suppression strategy based on pole placement is proposed. This strategy achieves precise regulation of electromagnetic torque through multi-loop control and optimizes the system’s dynamic response using three pole configuration methods. Simulations and experimental results validate the effectiveness of the proposed method in reducing overshoot and enhancing stability. These findings provide theoretical and methodological support for the design of high-performance electric drive systems.