한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2000년도 추계학술대회 논문집
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- Pages.136-139
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- 2000
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- 2005-8446(pISSN)
주파수역에서 시스템 감시를 이용한 제어기 Auto-tuning기법
Controller Auto-tuning Scheme using System Monitoring inFrequency Domain
초록
Controller refinement scheme to improve the performance of a conventional system automatically in frequency domain is proposed. The controller automatic tuning method features using experimental frequency responses of the conventional closed-loop system, the conventional controller, and the improved closed-Imp system; instead of poorly modeled plant due to non-linearities and disturbances. The improved closed-loop system characteristics is automatically acquired by the conventional closed-loop system characteristics and the proposed performance index in system bandwidth. And the proper controller is realized by least squares approximation in frequency domain. To testify the usefulness of the approach, experimental results of robot path-tracking control applied with various controllers is used, and then is analyzed with respect to a equivalent proportional controller. Experimental results and analytic results are well-matched.
키워드