제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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- Pages.376-381
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- 1992
초기과도 상태를 개선한 자기 동조 제어 방식
Self-tuning control with improved transient state
초록
In this thesis, a self-tuning control method based on Variable Structure System technique for tracking control of Direct-Drive motor is presented. The self-tuning control could not make the tracking error zero in the transient period. This tracking error may be due to disturbances or the error in parameter identification. To overcome this problem, a self-tuning control method based on discrete time VSS technique is presented. The STC based on VSS technique gives good tracking performance of the reference signal in the transient period. The proposed controller is robust to parameter errors and disturbances. The performance of the proposed controller is compared with that of simple STC through digital computer simulation.
키워드