Page 18 - Journal Cover.pdf

14 | Matrood & Nassar

(a)

Fig. 7: Simulink Implementation of (2DOF) rotating system
with (PD – I) dual loop controller

For the purpose of comparing the results, the
uncontrolled system will be simulated with PID – D and
I – PD controlled system in order to show the summary of
response among the system torsional state variables. Fig.
8 shows the Simulink model implemented for the (b)
comparisons while Fig. 9 illustrates the response belonging
to it which shows that the I – PD controller proposed in this
work gave the best response by eliminating most aliasing
and oscillations in the original system. Table 2 illustrates the
parametric results and the effects of such controllers on the
system response.

(c)

Fig. 8: Simulink model of 2DOF torsional system for
comparison purposes (d)

The subsystems represent the torsional system as Fig. 9: Response comparisons of 2DOF torsional system (a)
implemented in Figure 5, the green, dashed line shows the angular displacement, (b) angular velocity,
response of uncontrolled system while the blue and red lines (c) angular acceleration,(d) shaft torque
indicate the response of PID – D and I – PD controlled
system respectively.