Experimental analysis of selected control algorithms of electromechanical object with backlash and elastic joint

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.