Real-time control of drive with elestic coupling based on motor position measured only

In the paper the problems of active damping of torsional vibrations in small power high dynamic servo drives are presented. Only solutions with position sensor called encoder and without other sensor are taken into consideration. Real time control system is taken as controller which consist all elements of signal conditioning, acquisition, signal processing and actuators like PWM converters. The total delay time, produced by whole elements of controller is important factor of ability active control dumping vibrations into speed control loop. The aim of work is test the ability of simple LQR and Kalman filter speed control using only motor position sensor. It appeared that there is not necessary differentiation of position to receive and speed control. The given structure of controller was tested on laboratory setup and results are presented.