Model of ADRC speed control system for complex mechanical object with backlash

Abstract

The article presents simulation research concerning speed control of two mass system with elastic joint and backlash utilizing the ADRC method. The model of the plant and the structure of the ADRC speed controller are presented together with mathematical formulas allowing to determine the observer and controller gains. Proper quality indicator of control process is defined and also sample scenario of reference speed and load torque are shown. Finally the simulation results with comparison to 2DOF — FID speed controller, which acts as a reference, are carried out. Conclusions and future plans are presented.