Two-stage open-loop velocity compensating method applied to multi-mass elastic transmission system

 In this paper, a novel vibration-suppression open-loop control method for multi-mass system is proposed, which uses two-stage velocity compensating algorithm and fuzzy I + P controller. This compensating method is based on model-based control theory in order to provide a damping effect on the system mechanical part. The mathematical model of multi-mass system is built and reduced to estimate the velocities of masses. The velocity difference between adjacent masses is calculated dynamically. A 3-mass system is regarded as the composition of two 2-mass systems in order to realize the two-stage compensating algorithm. Instead of using a typical PI controller in the velocity compensating loop, a fuzzy I + P controller is designed and its input variables are decided according to their impact on the system, which is different from the conventional fuzzy PID controller designing rules. Simulations and experimental results show that the proposed velocity compensating method is effective in suppressing vibration on a 3-mass system and it has a better performance when the designed fuzzy I + P controller is utilized in the control system.