ENERGY-SHAPING CONTROL OF TWO-MASS ELECTROMECHANICAL SYSTEM

A novel energy-shaping control system of two-mass electric drive as port-controlled Hamiltonian system are created. First of them were made only for mechanical part of the drive (ignoring singularity of electric circuit), second ? in synthesize procedure both electric (on PMSM example) and mechanical parts were considered. The results of comparative computer simulations of synthesized control system with different setting parameters and classical system of modal regulation are shown. Here are also the results of comparative researches, where the gap was included into mechanical part of the system. The achieved controllers were analyzed and conclusions were made.