Optimization of fuzzy-logic speed controller for DC drive system with elastic joints

This paper deals with the analysis of a DC drive system with elastic joints and different speed controllers. The control structure with one and two speed feedbacks was analyzed. The dynamics of the drive system with classical proportionalintegral (PI) and fuzzy-logic (FL) speed controllers was compared. Parameters of the classical PI and FL speed controllers were optimized using the same control indexes. Controllers were parameterised using the hybrid genetic-gradient algorithm. The simulation results for different parameters and operation modes of the drive system were demonstrated and compared.