Application of fuzzy cooperative coevolution adaptive control for damping of torsional vibrations in multi-mass drive system

This paper describes fuzzy cooperative coevolution adaptive control which uses a common genetic algorithm to obtain the coefficients of the adaptive fuzzy regulator. The plant under consideration is multi-mass drive system with elastic couplings. A comparison between systems with fuzzy control and conventional PID-control is considered. It is shown that fuzzy method allows to suppress torsional vibrations occurring at low speeds under the action of “dry friction” torque if there is only motor position encoder. The effectiveness of proposed algorithm is proved by simulation in MATLAB\Simulink and by the experimental results obtained on the real object.