Design of the control structure for two-mass system with help of the D-decomposition technique

The paper presents the application of the D-decomposition method to the selection of parameters of the speed control structure of the drive system with an elastic coupling. After an introduction where the issue of control structures of drive systems with an elastic joint is briefly presented, the main point of the paper is described. Then the mathematical model of the two-mass drive system is demonstrated. Next, the control structure with PI controller and additional feedback from the shaft torque is shown. Next, the idea of a D-decomposition is discussed. Then the simulation and experimental results showing the properties of the presented methodology are demonstrated.