Optimization of fuzzy-logic speed controller for DC drive system with elastic joints

This paper deals with the analysis of a DC drive system with elastic joints and different speed controllers. The control structure with one and two speed feedbacks was analyzed. The dynamics of the drive system with classical proportional-integral (PI) and fuzzy-logic (FL) speed controllers was compared. Parameters of the classical PI and FL speed controllers were optimized using the same control indexes. Controllers were parameterised using the hybrid genetic-gradient algorithm. The simulation results for different parameters and operation modes of the drive system were demonstrated and compared.