Speed control of two-mass mechanical loads in electric drives

Seppo Saarakkala, Marko Hinkkanen, Kai Zenger

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

13 Citations (Scopus)
223 Downloads (Pure)


This paper deals with model-based two-degrees-of-freedom (2DOF) speed control of two-mass systems. An analytic gain selection of a proportional integral (PI) type feedback controller is proposed. The gains are given as functions of system parameters and desired dominant closed-loop poles. An analytic design of a prefilter is given to complete the 2DOF structure, using the pole-zero distribution of the feedback loop. The prefilter design covers step, ramp, and parabolic reference tracking. The proposed 2DOF controller is evaluated by means of simulations and experiments. The experimental setup consists of two 4-kW servo motors coupled together with a toothed belt. It was found that the proposed controller gives good reference tracking for step and dynamic commands as well as robust and fast load-torque rejection.
Original languageEnglish
Title of host publicationIEEE Energy Conversion Congress and Exposition (ECCE 2012)
Place of PublicationRaleigh, NC, USA
ISBN (Electronic)978-1-4673-0801-4
Publication statusPublished - 15 Sep 2012
MoE publication typeA4 Article in a conference publication


  • speed control
  • tuning
  • two-mass system


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