Research of Methods for Stabilizing the Position of a Two-Mass Electromechanical System with Backlash and Motor Current Limitation

The paper deals with the problem of stabilization of a two-mass system with a backlash in the kinematic transmission and motor current limitation. A model of the two-mass system accounting for internal viscous friction is constructed. The structures with state feedback position controller and cascade position controller with internal state feedback speed controller are proposed. Based on the results of the simulation, recommendations for the choice of the control system structure and controller settings are formulated.