Optimized fuzzy speed controller for electrical drive with complex mechanical structure

This paper presents results of simulation research on fuzzy speed controller in application of an electrical drive with complex mechanical structure. Presence of elasticity and backlash were assumed in the modeled mechanical construction. These features, related with phenomena of resonance and non-linear character of the system make the design of proper speed control solution very complex. Particle Swarm Optimization method was applied to find the fuzzy speed controller parameters. The results are presented for different backlash widths and compared with more standard solution, PI controller with two degrees of freedom (PI-2DOF).