Comparative Analysis of diffetent PI/PID control structures for two-mass system

Abstract

In the paper the analytical design procedure of a speed control system with PI and PID controllers and different additional feedbacks for a drive with an elastic joint is shown. The comparative analysis based on the location of closed-loop system poles is presented. The analytical equations, which ensure required damping coefficient of the drive system, are given. Moreover, the performances of the two-mass drive system with PI speed controller designed using the pole placement method was compared to the performances of the drive system with linear PI and fuzzy-logic PI controllers, both designed using genetic algorithm for the control index optimization. The dynamic behaviour of considered control structures with different speed controllers have been examined using computer simulations and experimental tests.