Design and Simulation of Torque Controller for Two-Mass Mechanical System Using Eigenvalue Analysis

Mechanical system in motor drive in industry can be modeled by multi-mass system. In this paper, the equations of the two-mass system are first stated in the state space and the two-mass mechanical system model is determined using the transfer functions. In torque control of this system, in order to have mechanical oscillation, PID controller is often used as a simple control method. Using the torque controller coefficients diagram method, it is designed and the behavior of the system is investigated and simulated using the analysis of eigenvalues. From the prominence of this study, we can mention the expression of electric torque changes in the two-mass system based on the inputs and their relationship with each other. The simulation results show that designing the parameters using the coefficient diagram method can reduce the fluctuations of the electric torque in the two-mass system. In this design, the eigenvalues of the system are placed on the left side of the imaginary axis.