Control of electromechanical object with backlash and elasticity within interconnection between motor and load

In this paper, an analysis of various control structures for two-mass drive system with backlash are presented. Theoretical model of this complex mechanical system is derived and presented. Conventional PI speed controller is compared with 2DOF-PID controller considering delays in control path and location of resonances, PID controller with additional feedback signals and fuzzy PD-I controller. The comparison of the control process and its dynamics is based on integral and time-domain quality factors.