Study of control algorithm for multi-mass elastic transmission system

YANG Hai-qiang， ZHANG De-li， AN Lu-ling
（College of Mechanical and Electrical Engineering， Nanjing University of Aeronautics and Astronautics，
Nanjing 210037， China）

Abstract： Aiming at solving the complicated speed fluctuation problem in the elastic mechanical transmission system，differential equations of motion of the multi-mass elastic system were deduced and the mathematical model of the system was established according to its transmission characteristic. Using the reduced model of the system，the velocities of the loads are estimated according to the input velocity. Velocity differences between adjacent masses were calculated dynamically. P and PI controllers were used to regulate the velocity differences. The total velocity difference calculated was added to the velocity command to increase the damping ratio and suppress the speed fluctuation of the driven machine part. At last，3-mass elastic transmission experimental platform was set up to verify the effectiveness of the control algorithm. Experimental results indicate that multi-mass elastic transmission system is open-loop controlled effectively with model-based control algorithm.
Key words： elastic mechanical transmission system； control algorithm； speed control； open loop control； mathematical model