Analiza wrażliwości struktur sterowania układu napędowego z połączeniem sprężystym na zmianę parametrów mechanicznych

In the paper the analytical design procedure of a speed control system with PI controller and different additional feedbacks for a drive with an elastic joint is shown. The comparative analysis based on the location of closed-loop system poles is presented. The analytical equations, which ensure required damping coefficient of the drive system are given. The sensitivity of the considered control structures for mechanical parameter changes was checked. The dynamic behavior of considered control structures with different speed controllers have been examined using computer simulations and experimental tests.