Modeling of electrical drive system with flexible shaft based on fractional calculus

In this paper a system containing two electrical motors connected by flexible shaft is taken into consideration. The flexible shaft introduces an additional dynamical behavior in the system. The dynamics of the flexible shaft can be described using partial differential equation. In order to include viscoelastic properties of used shaft, the fractional order partial differential equation was used, which gives rise to fractional order model. In this paper an experimental analysis of such a system will be presented. In order to obtain experimental results an experimental setup was build. The setup contains two electrical engines with encoders. Engines are connected by flexible shaft build from gHot glue sticks with length 200mm and diameter 11mm. Engines and encoders are connected to the DS1104 DPS card by specially prepared electronic interface. The results of modeling were obtained in time domain by using different types of models (fractional and integer order as well). The obtained results were presented and discussed.