Laboratory Model of Coupled Electrical Drives for Supervision and Control via Internet

  • Milan MatijevićEmail author
  • Željko V. Despotović
  • Miloš Milanović
  • Nikola Jović
  • Slobodan Vukosavić
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 22)


Servo drives are used in a wide range of industrial applications including metal cutting, packaging, textiles, web-handling, automated assembly and printing. Servomotors in a typical industrial environment are linked to their end effectuators by transmission mechanisms having a finite stiffness. The elastically coupled two-mass motor/load system introduces finite zeros and the pair of conjugate complex poles in the transfer function of the system plant and, thus, brings up the problem of mechanical resonance. The resonance phenomenon may provoke weakly damped oscillations of the link. Vibration suppression and disturbance rejection in torsional systems are important issue in a high performance motion control. For experimental verification of mentioned phenomena at Faculty of Engineering at University of Kragujevac is developed a laboratory model of coupled electrical drives. The paper describes development and potential use of this laboratory model for engineering education and training. This experimental setup is very expensive according to Serbian standards and unique at Faculty of Engineering. In order to enable wider access to the laboratory model, and exemplary teaching/learning materials concerning with the laboratory model, the laboratory model is integrated in WEB laboratory.


Electric drive control Disturbance rejection Remote laboratories High-performance speed servo drives Torsional resonance Oscillation suppression 



Work on this paper was partly funded by the SCOPES project IZ74Z0_160454/1 “Enabling Web-based Remote Laboratory Community and Infrastructure” of Swiss National Science Foundation.


  1. 1.
    Vukosavic, S.N.: Digital Control of Electrical Drives, Power Electronics and Power Systems. Springer, New York (2007)Google Scholar
  2. 2.
    Vukosavic, S.N.: Electrical Machines, Power Electronics and Power Systems. Springer, Heidelberg (2012)Google Scholar
  3. 3.
    Matijević, M.S., Vukosavić, S.N., Schlacher, K.: Eliminating instabilities in computer controlled motion control systems caused by torsional resonance. Electronics 10(1), 35–40 (2006)Google Scholar
  4. 4.
    Vukosavic, S.N., Stojic, M.R.: Suppression of torsional oscillations in a high-performance speed servo drives. IEEE Trans. Ind. Electron. 45, 108–117 (1998)CrossRefGoogle Scholar
  5. 5.
    Milanovic, M.: Development of laboratory model of coupled electrical drives for supervision and control via Internet (in Serbian). M.Sc. thesis, Faculty of Engineering at University of Kragujevac (2016)Google Scholar
  6. 6.
    The Go-Lab Project and the Go-Lab Portal (2016).
  7. 7.
    Tawfik, M., Salzmann, C., Gillet, D., Lowe, D., Saliah-Hassane, H., Sancristobal, E., Castro, M.: Laboratory as a service (LaaS): a novel paradigm for developing and implementing modular remote laboratories. iJOE 10(4) (2014)Google Scholar
  8. 8.
    Nedic, Z., Nafalski, A.: Development of online power laboratory with renewable generation. iJOE 11(3) (2015)Google Scholar
  9. 9.
    Krein, P.T., Sauer, P.W.: An integrated laboratory for electric machines, power systems, and power electronics. IEEE Trans. Power Syst. 7, 1060–1067 (1992)CrossRefGoogle Scholar
  10. 10.
    Huang, T.C., El-Sharkawi, M.A., Chen, M.: Laboratory set-up for instruction and research in electric drives control. IEEE Trans. Power Syst. 5, 331–337 (1990)CrossRefGoogle Scholar
  11. 11.
    Dom´ınguez, M., Fuertes, J.J., Reguera, P., Mor´an, A., Alonso, S., Prada, M.A.: Remote laboratory for learning of AC drive control. In: Proceedings of the 18th IFAC World Congress, Milano (Italy) (2011)Google Scholar
  12. 12.
    Matijević, M.S., Sredojević, R., Stojanović, V.M.: Robust RST controller design by convex optimization. Electronics 15(1), 24–29 (2011)Google Scholar
  13. 13.
    Khan, I.U., Dhaouadi, R.: Robust control of elastic drives through immersion and invariance. IEEE Trans. Industr. Electron. 62(3), 1572–1580 (2014)CrossRefGoogle Scholar
  14. 14.
    Szabat, K., Orlowska-Kowalska, T.: Vibration suppression in a two-mass drive system using PI speed controller and additional feedbacks – comparative study. IEEE Trans. Ind. Electron. 54, 1193–1206 (2007)CrossRefGoogle Scholar
  15. 15.
    Szabat, K., Tran-Van, T., Kaminski, M.: A modified fuzzy luenberger observer for a two-mass drive system. IEEE Trans. Ind. Inform. 11(2), 531–539 (2014)CrossRefGoogle Scholar
  16. 16.
    Li, Q., Xu, Q., Wu, R.: Low-frequency vibration suppression control in a two-mass system by using a torque feed-forward and disturbance torque observer. J. Power Electron. 16(1), 249–258 (2016)CrossRefGoogle Scholar
  17. 17.
    Yaskawa America Training in Servo Basic Concepts., YouTube Channel, 2014 (21.11.2016.)
  18. 18.
    Yaskawa eLearning Curriculum (eLearning Modules and eLearning Videos), 21 Nov 2016.
  19. 19.
    Web Laboratory Aggregator Service from the SCOPES project I37430/160454 “Enabling Web-based Remote Laboratory Community and Infrastructure” of Swiss National Science Foundation, at Faculty of Engineering at University of Kragujevac (2016)

Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Milan Matijević
    • 1
    Email author
  • Željko V. Despotović
    • 2
  • Miloš Milanović
    • 1
  • Nikola Jović
    • 1
  • Slobodan Vukosavić
    • 3
  1. 1.Faculty of EngineeringUniversity of KragujevacKragujevacSerbia
  2. 2.Institute “Mihajlo Pupin”, University of BelgradeBelgradeSerbia
  3. 3.Faculty of Electrical EngineeringUniversity of BelgradeBelgradeSerbia

Personalised recommendations