Damping of torsional vibrations of two-mass system using adaptive low computational cost fuzzy PID controller

In the paper an adaptive fuzzy logic control based structure for damping of torsional vibrations is proposed. Firstly, the commonly-used control methodologies for two-mass drive system are presented. Then the mathematical model of the plant is introduced shortly. Next the adaptive control structure with fuzzy PID controller is described in detail. The computational effort of fuzzy controller is reduced by applied the additional Petri-like transition layer. This allows to implement much more complicated fuzzy controller using simple microprocessor. Different aspect of the proposed control structure is investigated: e.g. working under different trajectories, robustness to the parameter changes. The theoretical considerations and simulation study are confirmed by experimental tests.