Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1996.11a
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- Pages.1004-1011
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- 1996
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- 2005-8446(pISSN)
Time Delay Controller Design for the High Speed Precision Servo-Control of the Direct Drive Multi-axis Manipulator
고속정밀 서보제어를 위한 직구동 다관절 메니플레이터의 시간제어기 설계
Abstract
This paper covers the technology developmental stage work for the automatic ammunition loading system mainly focusing on the controller design of the electro-hydranlic type direct drive multi-axis manipulator. Mathematical model of the plant derived and PIDM servo-controller structured. Comparative study between the analytical and experimental work has been carried out to help understand the response property of the direct dine multi-axis robot. In the direct drive robot, non-negligible amount of disturbance and load Induced dynamics variation are transmitted to the drive axis and nonlinearity is highly observed. Thereupon a robust controller Implementing time-delay control law is proposed, and computer simulation confirms the possibility for the time-delay control application against the unpredictable disturbance and load-Induced dynamics variation.