Analysis of speed control system for electrical drives with elastic transmission

The behavior of the speed control system for electrical drives with elastic transmission is analyzed. Several speed controller types and optimization methods are discussed. The control system is analyzed in regard to stability, well-damped behavior with respect to the speed reference and the load torque, and robustness to inner current loop modeling errors and sampling time choice. An algebraic analysis method based on the optimum damping characteristic ratios is applied. The analysis is provided for a wide range of characteristic process parameter ratios. The results of the analysis are experimentally verified on a laboratory model of the electrical drive.