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Two Approaches to Speed Control for Multi-Mass System with Variable Mechanical Parameters


[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication


Published in

IEEE Transactions on Industrial Electronics

Journal year: 2017 | Journal volume: vol. 64 | Journal number: iss. 4

Article type

scientific article

Publication language


  • adaptive algorithm
  • digital filters
  • discrete Fourier transforms (DFTs)
  • frequency response
  • motion control
  • neurocontrollers
  • PI control
  • robust control
  • velocity control
  • vibration control

EN This paper is dedicated to the motion control system of a multimass mechanism with occurring resonances and variable moment of inertia. The proposed concept of control structure for such mechanism consists of a filter damping higher resonance frequencies and an adaptive speed controller. The filter has properly selected fixed characteristics giving a compromised filtering effect in a range of resonance frequency variation, caused by the variable moment of inertia. The used neural adaptive controller realizes active damping of lower resonance frequencies, which are not eliminated by the resonance filter. This original concept is compared with a more complex solution, treated as a reference, which contains an offline-tuned resonance filter together with an offline-adjusted PI-two degrees of freedom controller. Good speed control dynamic properties of the proposed concept in comparison with the reference complex solution are proven by laboratory results.

Date of online publication


Pages (from - to)

3338 - 3347




Ministry points / journal


Ministry points / journal in years 2017-2021


Impact Factor


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