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Experimental Analysis of Selected Control Algorithms of Electromechanical Object with Backlash and Elastic Joint


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

Year of publication


Chapter type


Publication language


  • backlash
  • two-mass system
  • speed control
  • PI controller
  • 2DOF-PID

EN The paper presents laboratory tests of two selected structures of speed controller utilized in two mass system with elastic joint and backlash between motor and load. Theoretical model of the mechanical system has been derived and tested by simulation in previously published research. The aim of the article is to compare the best structure obtained by simulation with the conventional PI controller, treated as a reference. The PI speed controller was tuned according to symmetry criterion and the 2DOF-PID controller was tuned according to other method known from literature, delays in control path and location of resonances were considered. Comparison of control process was carried out on the basis of quality indicators.

Pages (from - to)

1161 - 1166





Proceedings of the 2016 IEEE International Power Electronics and Motion Control Conference (PEMC), Bulgaria, Varna, 25-30.09.2016

Presented on

17th International Conference on Power Electronics and Motion Control (PEMC), 25-30.09.2016, Varna, Bulgaria

Publication indexed in

WoS (15)

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